--- Step 0 ---
qpos:
[ 1.37635738e-04, 7.32795973e-05,-6.26789307e-05,-5.08871213e-04,
  1.18995879e-04, 3.66871732e-05,-3.11379127e-04, 2.45111968e-04,
  3.04320910e-04, 3.71762630e-05,-1.84059322e-04, 4.77474616e-04,
  1.99797348e-03,-1.99811235e-04, 1.01898319e-03, 9.74329315e-04,
  9.50015662e-02,-6.99756193e-02, 1.10104140e-01, 9.99999967e-01,
 -2.55455400e-04, 1.85257012e-05, 5.15011145e-06]

qacc:
[ 1.20786008e+03,-7.78416300e+02, 5.05958135e+03,-1.38145710e+04,
  1.03702866e+03, 1.42190692e+03,-6.03718096e+03, 1.07526720e+04,
  2.67231097e+03, 1.54201589e+03,-7.45078776e+03, 1.59893950e+04,
  6.68026462e+02,-2.17786686e+03,-1.44640045e+03, 7.24512642e+03,
  3.91542361e-01, 6.09517631e+00, 2.60349097e+01,-1.27727702e+02,
  9.26285070e+00, 2.57505575e+00]

qfrc_actuator:
[ 0.00707451, 0.00402587,-0.00370383,-0.02593614, 0.00612286,-0.00321855,
 -0.01810773, 0.0116864 , 0.01567228, 0.00229068,-0.00906027, 0.02409487,
  0.12400547,-0.0105655 , 0.07743456, 0.05900153, 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: -0.01199982876569354
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.31299764e-15,  1.38779858e-14,  1.00000000e+00,  3.20997485e-29,
        1.00000000e+00, -1.38779858e-14, -1.00000000e+00,  0.00000000e+00,
       -2.31299764e-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([ 0.09490888, -0.08976257,  0.06170849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08571315e-03, 4.09889941e-03,-3.63079305e-03,-2.58979027e-02,
  6.12285590e-03,-3.14523902e-03,-1.80344109e-02, 1.17247830e-02,
  1.56610831e-02, 2.36371424e-03,-8.98723211e-03, 2.41331086e-02,
  1.24494398e-01,-1.05691258e-02, 9.85458692e-02, 6.38313662e-02,
  0.00000000e+00, 0.00000000e+00,-7.84800000e+00, 6.84088627e-04,
  9.47041201e-03, 0.00000000e+00]


--- Step 1 ---
qpos:
[ 2.77106630e-04, 1.51567417e-04,-1.34130574e-04,-1.01656252e-03,
  2.39433967e-04, 3.88388913e-05,-6.40152381e-04, 4.81425196e-04,
  6.11674854e-04, 7.73794987e-05,-3.63542578e-04, 9.49667773e-04,
  5.64860240e-03,-4.03429025e-04, 2.56807059e-03, 2.10328038e-03,
  9.49910252e-02,-6.99683778e-02, 1.10294107e-01, 9.99999940e-01,
 -3.33632340e-04,-9.34347666e-05, 1.96422422e-05]

qacc:
[  15.78999438,  33.54693949,-115.03302294, 145.83044882,  12.73321619,
  -15.17281834,  24.97619596,-123.98815903,  26.78435558, -19.72331508,
   98.32451603,-199.15508291, 554.69710806, -30.89411064, 315.97557105,
   32.33320861,  -3.02678587,  -4.28479364,  21.45693811,  88.63880715,
  -65.24473242,   4.65598491]

qfrc_actuator:
[ 0.00696525, 0.00397548,-0.00361534,-0.02542035, 0.00602233,-0.00326376,
 -0.01784959, 0.01147118, 0.01538348, 0.00227812,-0.00890915, 0.02360138,
  0.12382787,-0.01032911, 0.07731719, 0.05794883, 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: -0.01190356781280999
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.66340446e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.66340446e-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([ 0.10734679, -0.05431711,  0.06171086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.45922481e-05, 3.83288535e-04,-4.07489719e-04, 6.25326301e-05,
  7.25377479e-05,-5.02303764e-03,-2.20463767e-03,-7.45971528e-04,
  1.56257208e-04, 4.93023285e-04, 3.67816406e-04,-2.34797192e-04,
  2.44574301e-02,-3.40137278e-04, 4.74819838e-02, 1.40630302e-02,
  2.14641322e-05,-9.89607874e-07,-7.84693178e+00, 6.02561232e-04,
  9.47631163e-03, 4.38959562e-06]


--- Step 2 ---
qpos:
[ 4.15286667e-04, 2.29497090e-04,-2.04141990e-04,-1.51391716e-03,
  3.57432294e-04, 1.64064371e-05,-9.72678496e-04, 7.10657268e-04,
  9.13670423e-04, 1.19162359e-04,-5.38833528e-04, 1.41185564e-03,
  1.06572877e-02,-6.07141169e-04, 4.35209124e-03, 3.27775827e-03,
  9.49701621e-02,-6.99757089e-02, 1.10550924e-01, 9.99999915e-01,
 -2.62051176e-04,-3.15728398e-04, 4.19575667e-05]

qacc:
[ -11.30396894,  16.81326111,-104.2203192 , 281.00442067, -21.17280417,
  -36.55165376, 113.14105833,-211.66643188, -47.06223704, -30.14977581,
  152.91237878,-334.08021912, 455.8361256 ,  -4.18594811, 209.85693649,
 -229.71241867,  -2.58054112,  -3.6431693 ,  16.71236237,  74.87832968,
  -55.16935484,   3.88619497]

qfrc_actuator:
[ 0.00689605, 0.00391093,-0.00352839,-0.02489075, 0.00589523,-0.00328878,
 -0.01753501, 0.01123504, 0.01510319, 0.00219943,-0.00876718, 0.02308406,
  0.12350064,-0.01013905, 0.07711444, 0.05659532, 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: -0.011713276558291227
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.99734107e-15,  2.96197817e-16,  1.00000000e+00,  2.36879497e-30,
        1.00000000e+00, -2.96197817e-16, -1.00000000e+00,  0.00000000e+00,
       -7.99734107e-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([ 0.10737676, -0.05427459,  0.06171548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.64334451e-05, 6.70173003e-05, 1.18997625e-04, 5.34222689e-04,
 -1.26681029e-04,-3.31803260e-03,-1.01704406e-03,-5.41965028e-04,
 -2.75647632e-04, 2.63546384e-04, 2.81872919e-04,-4.88719413e-04,
 -5.84717342e-02, 4.35299201e-05, 2.07760604e-02, 4.97868048e-03,
  3.12452612e-05, 1.76489322e-05,-7.84769574e+00, 5.76399522e-04,
  9.44153021e-03, 6.80030130e-06]


--- Step 3 ---
qpos:
[ 5.51908004e-04, 3.06801109e-04,-2.72731511e-04,-2.00100159e-03,
  4.72982342e-04,-2.17976476e-05,-1.30488865e-03, 9.33467044e-04,
  1.20996271e-03, 1.61493127e-04,-7.09779558e-04, 1.86436264e-03,
  1.67669579e-02,-8.10500346e-04, 6.23804303e-03, 4.46021871e-03,
  9.49594419e-02,-6.99889455e-02, 1.10863861e-01, 9.99999897e-01,
 -1.29216517e-04,-4.30651535e-04, 5.65808663e-05]

qacc:
[ -13.6576121 ,  16.37852669,-102.89378852, 278.74300551, -21.26999236,
  -34.92007344, 121.44007547,-221.55009999, -50.0750855 , -31.26630118,
  153.55659577,-328.60838241, 369.55968568, -10.00451527, 126.8221425 ,
 -224.60955779,   2.53574634,  -1.47636876,  14.03012764,  30.62778409,
   53.68496711,  -3.84161373]

qfrc_actuator:
[ 0.00681779, 0.003859  ,-0.00346684,-0.02438026, 0.00577323,-0.00326231,
 -0.01719324, 0.01098817, 0.01481743, 0.00215231,-0.00857889, 0.0225948 ,
  0.12304   ,-0.00997898, 0.07695316, 0.05541038, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.79143857, -7.18532486, -4.79143857, 16.80049941,
       -5.44414564, -7.18532486, -5.44414564, 12.26671994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011459882363466636
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.84395472e-15, -3.63296604e-15,  1.00000000e+00, -1.75979230e-29,
        1.00000000e+00,  3.63296604e-15, -1.00000000e+00,  0.00000000e+00,
       -4.84395472e-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([ 0.08387117, -0.06282903,  0.06172165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.02292842e-05, 3.16591093e-05, 1.09415247e-04, 5.28951357e-04,
 -1.26693673e-04,-2.05815466e-03,-4.83983248e-04,-4.34501980e-04,
 -2.93441850e-04, 1.37905326e-04, 2.61385305e-04,-4.78388630e-04,
 -1.26802854e-01, 2.11412237e-04, 8.86717038e-03, 1.51637130e-03,
  2.06235190e-05, 9.58258111e-05,-7.84711483e+00, 5.95937645e-04,
  9.36812368e-03, 3.71821246e-06]


--- Step 4 ---
qpos:
[ 6.85492639e-04, 3.83154223e-04,-3.39574918e-04,-2.47779133e-03,
  5.85475405e-04,-6.98422490e-05,-1.63457574e-03, 1.15064103e-03,
  1.49983632e-03, 2.03729159e-04,-8.76129712e-04, 2.30753930e-03,
  2.37539446e-02,-1.01208720e-03, 8.16727945e-03, 5.63456535e-03,
  9.49573866e-02,-7.00072593e-02, 1.11218803e-01, 9.99999893e-01,
  5.55228274e-05,-4.54618131e-04, 6.46915163e-05]

qacc:
[ -26.65102868,  15.11787639, -99.08132913, 275.02600393, -26.65826132,
  -31.61931773, 117.74257402,-212.15353208, -56.35230975, -32.08327059,
  153.779609  ,-322.71888746, 294.47659769,  -1.04766307,  88.81464381,
 -217.49509598,   2.16620519,  -1.26929013,  10.50102477,  25.95351214,
   45.47722105,  -3.26162474]

qfrc_actuator:
[ 0.00666387, 0.00379729,-0.00338557,-0.02386753, 0.00561977,-0.00322169,
 -0.01685549, 0.01075477, 0.01449538, 0.00210677,-0.00836464, 0.02212605,
  0.12248422,-0.0098018 , 0.07680963, 0.05431041, 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: -0.011147740108770704
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48979393e-15, -3.73469089e-15,  1.00000000e+00, -9.29861069e-30,
        1.00000000e+00,  3.73469089e-15, -1.00000000e+00,  0.00000000e+00,
       -2.48979393e-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([ 0.08381737, -0.06279771,  0.06172924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56301595e-04,-1.07958300e-07, 1.20432903e-04, 5.29203959e-04,
 -1.57736606e-04,-1.22416115e-03,-1.58179304e-04,-3.46452983e-04,
 -3.30283803e-04, 6.53712369e-05, 2.59186927e-04,-4.63760234e-04,
 -1.82371214e-01, 3.73646035e-04, 3.62241495e-03, 1.48416077e-05,
 -1.99803723e-05, 4.08207359e-05,-7.84750019e+00, 6.41164168e-04,
  9.33092061e-03, 8.94161387e-07]


--- Step 5 ---
qpos:
[ 8.14812070e-04, 4.58545550e-04,-4.05069343e-04,-2.94536680e-03,
  6.94905155e-04,-1.23887453e-04,-1.96001824e-03, 1.36235409e-03,
  1.78325074e-03, 2.45724654e-04,-1.03869875e-03, 2.74205867e-03,
  3.14242578e-02,-1.21072981e-03, 1.01138683e-02, 6.79291598e-03,
  9.49627714e-02,-7.00299619e-02, 1.11603949e-01, 9.99999877e-01,
  2.84359280e-04,-4.01285023e-04, 6.73032428e-05]

qacc:
[ -37.47743815,  14.00944887, -90.55276271, 248.40285371, -26.72460194,
  -30.99576414, 122.14427225,-219.10638995, -56.73176801, -28.61103436,
  138.28155748,-294.16825984, 229.33565819,   8.88712556,  74.3177407 ,
 -222.44563431,   1.86004789,  -1.09720288,   7.55123755,  22.04980265,
   38.64826691,  -2.76163073]

qfrc_actuator:
[ 0.00644889, 0.0037303 ,-0.00332888,-0.02341087, 0.00546678,-0.00317219,
 -0.01650473, 0.01051349, 0.01417229, 0.00206262,-0.00819006, 0.02169088,
  0.12186782,-0.00961593, 0.07665704, 0.05320331, 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: -0.010790343125716625
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.71678211e-15, -1.02890428e-14,  1.00000000e+00, -7.93983016e-29,
        1.00000000e+00,  1.02890428e-14, -1.00000000e+00,  0.00000000e+00,
       -7.71678211e-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([ 0.08375572, -0.06276145,  0.06173791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.19526173e-04,-2.08995323e-05, 9.06407805e-05, 4.72152858e-04,
 -1.57877311e-04,-6.77509721e-04, 7.03809785e-05,-3.05582564e-04,
 -3.32382644e-04, 2.62959386e-05, 2.04732362e-04,-4.33068394e-04,
 -2.26813008e-01, 4.73292095e-04, 1.29752219e-03,-6.90212651e-04,
 -2.43257278e-05, 4.95710984e-06,-7.84743703e+00, 7.01564311e-04,
  9.32342057e-03,-2.05078860e-06]


--- Step 6 ---
qpos:
[ 9.40546877e-04, 5.32977204e-04,-4.69304893e-04,-3.40414925e-03,
  8.02682064e-04,-1.81632501e-04,-2.28030118e-03, 1.56881653e-03,
  2.06093348e-03, 2.87281756e-04,-1.19827547e-03, 3.16805049e-03,
  3.96102320e-02,-1.40553491e-03, 1.20658921e-02, 7.93394830e-03,
  9.49687809e-02,-7.00422711e-02, 1.12010178e-01, 9.99999856e-01,
  4.07484270e-04,-3.40361467e-04, 7.21055830e-05]

qacc:
[-3.14904376e+01, 1.33847365e+01,-8.65629067e+01, 2.37286127e+02,
 -1.43218382e+01,-3.01033488e+01, 1.22444667e+02,-2.18878285e+02,
 -5.03498168e+01,-2.64126042e+01, 1.29495724e+02,-2.81710412e+02,
  1.73010181e+02, 1.87590142e+01, 6.06711875e+01,-2.00315495e+02,
  1.56147539e-01, 2.59836037e+00, 5.27069989e+00,-5.28550297e+01,
  3.79909104e+00, 1.11543787e+00]

qfrc_actuator:
[ 0.00627073, 0.00367827,-0.00326947,-0.02297312, 0.00538631,-0.00315278,
 -0.01616664, 0.01026956, 0.01388671, 0.00200171,-0.00805806, 0.02126117,
  0.12118495,-0.00942671, 0.07649448, 0.05220957, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.63228904,  8.61318683,  0.63228904, 26.7564924 ,
       -1.33018812,  8.61318683, -1.33018812,  8.73401197,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010409248830272791
  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([ 0.09488499, -0.09020968,  0.06174718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84502948e-04,-2.61639824e-05, 8.33939443e-05, 4.50184967e-04,
 -8.51817283e-05,-3.52758635e-04, 2.00221762e-04,-2.76089111e-04,
 -2.94957763e-04,-2.22691865e-05, 1.48408965e-04,-4.30564745e-04,
 -2.61618804e-01, 5.17443702e-04, 2.56659569e-04,-8.88665931e-04,
 -6.43891211e-06,-1.81146099e-05,-7.84710259e+00, 7.75129703e-04,
  9.34099030e-03,-5.29798736e-06]


--- Step 7 ---
qpos:
[ 1.06385568e-03, 6.06317029e-04,-5.32266338e-04,-3.85373424e-03,
  9.09343902e-04,-2.41493430e-04,-2.59533206e-03, 1.77053792e-03,
  2.33372333e-03, 3.28100893e-04,-1.35454570e-03, 3.58523765e-03,
  4.81675667e-02,-1.59550698e-03, 1.40184783e-02, 9.05330368e-03,
  9.49753403e-02,-7.00455802e-02, 1.12429224e-01, 9.99999863e-01,
  4.39869555e-04,-2.72952206e-04, 7.88311829e-05]

qacc:
[-2.12894879e+01, 1.39805582e+01,-9.06809881e+01, 2.48510244e+02,
 -9.61301982e+00,-2.72274478e+01, 1.13061631e+02,-2.01973875e+02,
 -4.29523962e+01,-2.82722628e+01, 1.36696990e+02,-2.93963365e+02,
  1.24490441e+02, 3.21883228e+01, 6.66532312e+01,-2.31736609e+02,
  1.37482243e-01, 2.24999214e+00, 3.20402462e+00,-4.53692905e+01,
  3.24652011e+00, 9.75749498e-01]

qfrc_actuator:
[ 0.0061512 , 0.00361786,-0.00320889,-0.02251448, 0.00533142,-0.00313357,
 -0.01585652, 0.01004377, 0.01364323, 0.00194881,-0.00789907, 0.02082031,
  0.12044737,-0.00921981, 0.07631572, 0.05106079, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.55373318, -1.19181605,  8.55373318,  9.96685965,
        9.54904736, -1.19181605,  9.54904736, 77.1704324 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010008670068938838
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.54630644e-15,  1.10926129e-14,  1.00000000e+00,  6.15230302e-29,
        1.00000000e+00, -1.10926129e-14, -1.00000000e+00,  0.00000000e+00,
       -5.54630644e-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([ 0.094878  , -0.09032162,  0.06175692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24884229e-04,-3.99096652e-05, 8.18091382e-05, 4.70150158e-04,
 -5.74357024e-05,-1.43158859e-04, 2.56337032e-04,-2.38965024e-04,
 -2.51803230e-04,-5.29588976e-05, 1.58495682e-04,-4.45681891e-04,
 -2.88093903e-01, 5.34440569e-04,-2.06127329e-04,-1.17654373e-03,
 -5.56327865e-06,-1.32422416e-05,-7.84769362e+00, 8.14459738e-04,
  9.36104633e-03,-7.74478870e-06]


--- Step 8 ---
qpos:
[ 1.18442566e-03, 6.78083405e-04,-5.94028598e-04,-4.29423706e-03,
  1.01417190e-03,-3.02164157e-04,-2.90524182e-03, 1.96782676e-03,
  2.60147289e-03, 3.68538326e-04,-1.50788523e-03, 3.99489872e-03,
  5.69725735e-02,-1.77998993e-03, 1.59688019e-02, 1.01513353e-02,
  9.49823881e-02,-7.00410302e-02, 1.12854273e-01, 9.99999899e-01,
  3.93837569e-04,-1.99967635e-04, 8.72599948e-05]

qacc:
[-2.40372107e+01, 1.33211428e+01,-8.87565644e+01, 2.45052502e+02,
 -1.59636631e+01,-2.44869761e+01, 1.04514959e+02,-1.88865146e+02,
 -4.42669590e+01,-2.41143972e+01, 1.17163750e+02,-2.51971786e+02,
  8.28721121e+01, 4.36271193e+01, 6.13789408e+01,-2.19398495e+02,
  1.22106060e-01, 1.96481205e+00, 1.50100465e+00,-3.92081846e+01,
  2.79112383e+00, 8.61080592e-01]

qfrc_actuator:
[ 0.00601386, 0.00349968,-0.00316587,-0.02206498, 0.00523873,-0.00307907,
 -0.01556534, 0.00983045, 0.01339096, 0.00195445,-0.00774315, 0.02044746,
  0.11968202,-0.00900483, 0.07612216, 0.04997229, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.55758731, -1.1638197 ,  8.55758731,  9.29185946,
        4.81987263, -1.1638197 ,  4.81987263, 44.07697434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00959108191327164
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.78778825e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.78778825e-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([ 0.0948706 , -0.09043816,  0.06176707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41003994e-04,-1.04810098e-04, 6.18770664e-05, 4.60731824e-04,
 -9.43682336e-05, 2.25505649e-05, 2.88862781e-04,-2.14844534e-04,
 -2.59376209e-04,-1.01446005e-05, 1.49786964e-04,-3.78920353e-04,
 -3.07380499e-01, 5.09585131e-04,-4.40717650e-04,-1.18634390e-03,
  1.01111926e-06,-9.59549665e-06,-7.84790921e+00, 8.24828960e-04,
  9.38309759e-03,-8.56487379e-06]


--- Step 9 ---
qpos:
[ 1.30275518e-03, 7.47825397e-04,-6.54513480e-04,-4.72585197e-03,
  1.11638314e-03,-3.62986222e-04,-3.20938412e-03, 2.16055239e-03,
  2.86377191e-03, 4.08360164e-04,-1.65837867e-03, 4.39761740e-03,
  6.59196787e-02,-1.95892674e-03, 1.79157817e-02, 1.12311622e-02,
  9.49898740e-02,-7.00295484e-02, 1.13279753e-01, 9.99999949e-01,
  2.79472508e-04,-1.22152965e-04, 9.72110136e-05]

qacc:
[-1.96407291e+01, 1.20976870e+01,-8.44534641e+01, 2.37609454e+02,
 -2.28425656e+01,-2.56790241e+01, 1.10602448e+02,-1.98756426e+02,
 -4.78759013e+01,-2.29777111e+01, 1.10211339e+02,-2.34625297e+02,
  4.73473486e+01, 4.97671600e+01, 5.02974874e+01,-1.83010780e+02,
  1.09535944e-01, 1.73294081e+00, 1.07603012e-01,-3.41661744e+01,
  2.41833212e+00, 7.66983823e-01]

qfrc_actuator:
[ 0.00590263, 0.0033655 ,-0.00311607,-0.02162453, 0.00510678,-0.00302162,
 -0.01525199, 0.00960845, 0.01311777, 0.00190637,-0.00760777, 0.0200999 ,
  0.11889246,-0.00880534, 0.0759679 , 0.0490703 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.56325571, -1.12135116,  8.56325571,  9.24509259,
        4.64858987, -1.12135116,  4.64858987, 44.13555875,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009163867424919842
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.05761178e-15,  6.05761178e-15,  1.00000000e+00,  3.66946604e-29,
        1.00000000e+00, -6.05761178e-15, -1.00000000e+00,  0.00000000e+00,
       -6.05761178e-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([ 0.09486291, -0.09055736,  0.06177744])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15377613e-04,-1.61591712e-04, 5.24562629e-05, 4.48012120e-04,
 -1.34623889e-04, 1.25891921e-04, 3.50066035e-04,-2.14828404e-04,
 -2.80499124e-04,-3.88672868e-05, 1.39308203e-04,-3.50780226e-04,
 -3.20506279e-01, 4.36297839e-04,-4.94544880e-04,-1.02711861e-03,
  1.12247181e-05,-6.98644423e-06,-7.84787848e+00, 8.10171557e-04,
  9.40687214e-03,-7.94696172e-06]


--- Step 10 ---
qpos:
[ 1.41951865e-03, 8.15999606e-04,-7.14075391e-04,-5.14884483e-03,
  1.21621690e-03,-4.22995179e-04,-3.50793440e-03, 2.34970063e-03,
  3.12075677e-03, 4.47503090e-04,-1.80596686e-03, 4.79233886e-03,
  7.49195329e-02,-2.13161982e-03, 1.98593317e-02, 1.22927168e-02,
  9.49977574e-02,-7.00118823e-02, 1.13701141e-01, 9.99999988e-01,
  1.04967045e-04,-4.01129465e-05, 1.08535387e-04]

qacc:
[-1.37236188e+01, 1.31329345e+01,-8.61659513e+01, 2.34971187e+02,
 -2.07577976e+01,-2.18869831e+01, 9.47638754e+01,-1.66280882e+02,
 -4.66732826e+01,-2.54019456e+01, 1.23182526e+02,-2.65896286e+02,
  1.71921124e+01, 6.38159148e+01, 5.03522846e+01,-1.83439798e+02,
  9.93649111e-02, 1.54606632e+00,-1.02278060e+00,-3.00699085e+01,
  2.11578843e+00, 6.89760637e-01]

qfrc_actuator:
[ 0.0058254 , 0.00331156,-0.00306277,-0.02119294, 0.0049883 ,-0.00290948,
 -0.01494578, 0.0094364 , 0.0128522 , 0.00186197,-0.00746806, 0.01969894,
  0.1180783 ,-0.00858189, 0.07581075, 0.04816136, 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: -0.008733063403573715
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.17821758e-15,  6.35643516e-15,  1.00000000e+00,  2.02021339e-29,
        1.00000000e+00, -6.35643516e-15, -1.00000000e+00,  0.00000000e+00,
       -3.17821758e-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([ 0.09485504, -0.09067766,  0.06178789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.06532352e-05,-1.15533672e-04, 4.26262515e-05, 4.36119687e-04,
 -1.22269528e-04, 2.50955755e-04, 3.71753208e-04,-1.58330066e-04,
 -2.73483728e-04,-5.22389128e-05, 1.37382391e-04,-4.05221115e-04,
 -3.28377764e-01, 3.84003927e-04,-4.96259466e-04,-1.03038737e-03,
  2.37406769e-05,-5.08308333e-06,-7.84768763e+00, 7.73706779e-04,
  9.43214611e-03,-6.05448182e-06]


--- Step 11 ---
qpos:
[ 1.53410117e-03, 8.83136528e-04,-7.73059144e-04,-5.56374631e-03,
  1.31454279e-03,-4.81521453e-04,-3.80087413e-03, 2.53592248e-03,
  3.37221486e-03, 4.86080608e-04,-1.95074414e-03, 5.17881869e-03,
  8.38966481e-02,-2.29837632e-03, 2.17994961e-02, 1.33317906e-02,
  9.50060058e-02,-6.99886275e-02, 1.14114809e-01, 9.99999984e-01,
 -1.23083983e-04, 4.56670580e-05, 1.21110668e-04]

qacc:
[-1.91566451e+01, 1.37157410e+01,-8.49678580e+01, 2.24729365e+02,
 -1.31163331e+01,-1.97275862e+01, 8.55751931e+01,-1.46321477e+02,
 -4.85494823e+01,-2.54879318e+01, 1.24745404e+02,-2.71629997e+02,
 -8.24155357e+00, 6.74686956e+01, 6.31471431e+01,-2.28154088e+02,
  9.12480568e-02, 1.39717319e+00,-1.93028906e+00,-2.67725525e+01,
  1.87296381e+00, 6.26333643e-01]

qfrc_actuator:
[ 0.00571555, 0.00328838,-0.00302527,-0.02078772, 0.00491421,-0.00278317,
 -0.01464599, 0.00929517, 0.01257551, 0.00183783,-0.00732694, 0.01928752,
  0.11726296,-0.00838249, 0.07561473, 0.04702481, 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: -0.00830356450163719
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.68521949e-15,  1.33704390e-14,  1.00000000e+00,  8.93843192e-29,
        1.00000000e+00, -1.33704390e-14, -1.00000000e+00,  0.00000000e+00,
       -6.68521949e-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([ 0.0948471 , -0.09079779,  0.0617983 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12276534e-04,-6.15251729e-05, 3.47028214e-05, 4.11140308e-04,
 -7.74867424e-05, 3.41872117e-04, 3.95727309e-04,-1.20316773e-04,
 -2.84420359e-04,-4.21892811e-05, 1.33891613e-04,-4.17367646e-04,
 -3.31783481e-01, 2.72666679e-04,-5.31127463e-04,-1.25729272e-03,
  3.77126051e-05,-3.53981837e-06,-7.84739328e+00, 7.18049782e-04,
  9.45873691e-03,-3.02655039e-06]


--- Step 12 ---
qpos:
[ 1.64647443e-03, 9.49157763e-04,-8.31451132e-04,-5.97019108e-03,
  1.41156021e-03,-5.38581679e-04,-4.08762428e-03, 2.71862442e-03,
  3.61840119e-03, 5.23553793e-04,-2.09214319e-03, 5.55668851e-03,
  9.27877448e-02,-2.46014947e-03, 2.37364272e-02, 1.43441057e-02,
  9.50110888e-02,-6.99699371e-02, 1.14521435e-01, 9.99999939e-01,
 -3.06809569e-04, 9.80518095e-05, 1.35181749e-04]

qacc:
[ -19.40397467,  14.32701717, -88.83746903, 234.95288598, -11.34324913,
  -22.5941624 ,  98.26312183,-170.1873917 , -46.27799069, -28.54967781,
  136.17625057,-289.93930164, -29.51592329,  64.33407202,  76.31077622,
 -273.92405204,  -0.79134779,  -1.14109984,  -1.7602027 ,  22.1606619 ,
  -16.70040169,   0.74685948]

qfrc_actuator:
[ 0.00560511, 0.00323049,-0.00299727,-0.02036573, 0.00484908,-0.00270261,
 -0.01433455, 0.00911994, 0.01231222, 0.001755  ,-0.00716829, 0.01885552,
  0.11646779,-0.00823522, 0.07542745, 0.04567444, 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: -0.007888819622269672
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.51834329e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.51834329e-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([ 0.10797933, -0.05341644,  0.06180837])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13736748e-04,-6.87336351e-05, 3.45030613e-05, 4.29448489e-04,
 -6.72215657e-05, 3.53441048e-04, 4.30343461e-04,-1.48854083e-04,
 -2.71316200e-04,-9.65206031e-05, 1.52632776e-04,-4.37866110e-04,
 -3.31395351e-01, 1.24438490e-04,-5.57644767e-04,-1.48686698e-03,
  5.26261691e-05,-2.04619070e-06,-7.84703163e+00, 6.45305495e-04,
  9.48649725e-03, 1.02032682e-06]


--- Step 13 ---
qpos:
[ 1.75664860e-03, 1.01357476e-03,-8.88582293e-04,-6.36803638e-03,
  1.50669740e-03,-5.94235978e-04,-4.36822351e-03, 2.89678597e-03,
  3.85986214e-03, 5.59672485e-04,-2.23008660e-03, 5.92645689e-03,
  1.01540631e-01,-2.61725288e-03, 2.56695749e-02, 1.53325856e-02,
  9.50132602e-02,-6.99554259e-02, 1.14918262e-01, 9.99999880e-01,
 -4.50187588e-04, 1.20185920e-04, 1.50779011e-04]

qacc:
[ -19.28494742,  12.10438805, -82.45209761, 230.32718017, -16.37322942,
  -24.6577039 , 109.83013467,-199.32803506, -41.46211177, -28.05860078,
  131.78293661,-276.66759469, -47.1444737 ,  68.10133571,  66.61079127,
 -241.22312702,  -0.72790719,  -1.0447886 ,  -2.45005435,  20.17166073,
  -15.12828017,   0.76042876]

qfrc_actuator:
[ 0.00549523, 0.00313451,-0.00293972,-0.01993728, 0.00475423,-0.00265009,
 -0.01403671, 0.00889058, 0.01207669, 0.00167322,-0.00700081, 0.01845034,
  0.11566993,-0.00810289, 0.0752615 , 0.04449311, 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: -0.0074904160471380155
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.41095700e-15, -1.48219140e-14,  1.00000000e+00, -1.09844567e-28,
        1.00000000e+00,  1.48219140e-14, -1.00000000e+00,  0.00000000e+00,
       -7.41095700e-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([ 0.1080415 , -0.05332746,  0.06181807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13229530e-04,-1.10086977e-04, 6.31689360e-05, 4.35931879e-04,
 -9.66494654e-05, 3.37693826e-04, 4.22338970e-04,-2.01861597e-04,
 -2.43209557e-04,-1.22848928e-04, 1.51820897e-04,-4.13112664e-04,
 -3.27846816e-01, 8.81270506e-06,-5.68436705e-04,-1.33273680e-03,
  4.43286953e-05,-4.68671067e-06,-7.84740383e+00, 5.86599608e-04,
  9.50334112e-03, 5.24674722e-06]


--- Step 14 ---
qpos:
[ 1.86326707e-03, 1.07658494e-03,-9.44575681e-04,-6.75834143e-03,
  1.59961274e-03,-6.48386465e-04,-4.64300200e-03, 3.07083019e-03,
  4.09662183e-03, 5.94612092e-04,-2.36470897e-03, 6.28881295e-03,
  1.10112495e-01,-2.77028490e-03, 2.75989895e-02, 1.63023120e-02,
  9.50127149e-02,-6.99447970e-02, 1.15303134e-01, 9.99999825e-01,
 -5.56358320e-04, 1.14548771e-04, 1.67922273e-04]

qacc:
[ -31.2345562 ,  10.55103949, -72.0249724 , 201.58069418, -19.38900918,
  -22.72772212, 101.36133675,-183.09367307, -41.25652066, -26.03123202,
  121.98155547,-254.85431553, -61.59330269,  68.60080855,  51.26017537,
 -187.46436193,  -0.67915882,  -0.97059021,  -2.98846839,  18.60145624,
  -13.88878185,   0.76898433]

qfrc_actuator:
[ 0.00531554, 0.00306987,-0.0028831 ,-0.01956174, 0.00464264,-0.0025794 ,
 -0.01374945, 0.00868442, 0.01184163, 0.00162827,-0.00682947, 0.01808193,
  0.11486759,-0.00799895, 0.07514048, 0.04358074, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.40633156,  6.73486124, -5.40633156, 32.64324664,
       19.27124621,  6.73486124, 19.27124621, 24.10613247,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007099468016961791
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.22172779e-14, -4.88691117e-16,  1.00000000e+00, -5.97047518e-30,
        1.00000000e+00,  4.88691117e-16, -1.00000000e+00,  0.00000000e+00,
       -1.22172779e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10810262, -0.05324034,  0.06182757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83035450e-04,-9.56409529e-05, 5.74443032e-05, 3.82352803e-04,
 -1.14227652e-04, 3.43000725e-04, 4.05598864e-04,-1.80645664e-04,
 -2.41961003e-04,-9.98280785e-05, 1.50992916e-04,-3.76996127e-04,
 -3.21694400e-01,-1.19617708e-04,-5.04712965e-04,-1.05502916e-03,
  3.69252426e-05,-3.67949490e-06,-7.84765550e+00, 5.40654901e-04,
  9.51036801e-03, 8.43871123e-06]


--- Step 15 ---
qpos:
[ 1.96690089e-03, 1.13822818e-03,-9.99478373e-04,-7.14074830e-03,
  1.69012303e-03,-7.01505541e-04,-4.91167363e-03, 3.24213335e-03,
  4.32768741e-03, 6.28905667e-04,-2.49641825e-03, 6.64353674e-03,
  1.18469266e-01,-2.91866989e-03, 2.95248036e-02, 1.72557625e-02,
  9.50095987e-02,-6.99378277e-02, 1.15674408e-01, 9.99999782e-01,
 -6.27760256e-04, 8.30640840e-05, 1.86624657e-04]

qacc:
[ -26.20983965,  11.46275571, -76.72529578, 212.53528213, -20.98147573,
  -21.31398356,  89.61120081,-147.64246691, -50.01707524, -24.62201014,
  118.93793758,-255.39089749, -73.27279274,  81.58357488,  43.93132119,
 -161.58273782,  -0.64275733,  -0.91489521,  -3.39967625,  17.38213891,
  -12.92711988,   0.774361  ]

qfrc_actuator:
[ 0.00516721, 0.00300672,-0.0028274 ,-0.01916706, 0.0045221 ,-0.00255174,
 -0.01345292, 0.00854684, 0.01155544, 0.00162354,-0.00667481, 0.01770264,
  0.11408205,-0.00786007, 0.07499861, 0.04278095, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.72463374,  6.46647859, -5.72463374, 29.90254516,
       18.82649091,  6.46647859, 18.82649091, 25.30304916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0067183191636385475
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.68057509e-15,  8.77907059e-15,  1.00000000e+00,  4.98701697e-29,
        1.00000000e+00, -8.77907059e-15, -1.00000000e+00,  0.00000000e+00,
       -5.68057509e-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([ 0.10816231, -0.05315553,  0.06183684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53645901e-04,-8.95370148e-05, 5.69262065e-05, 4.00851117e-04,
 -1.23675318e-04, 3.00278102e-04, 4.14559821e-04,-1.12017114e-04,
 -2.93035007e-04,-4.53554809e-05, 1.40202225e-04,-3.86210551e-04,
 -3.13385998e-01,-1.83245521e-04,-4.62291111e-04,-9.18066295e-04,
  2.99750646e-05, 4.01130790e-07,-7.84781440e+00, 5.06486342e-04,
  9.50839292e-03, 1.07121431e-05]


--- Step 16 ---
qpos:
[ 2.06898355e-03, 1.19845883e-03,-1.05354228e-03,-7.51506434e-03,
  1.77813960e-03,-7.54127143e-04,-5.17401364e-03, 3.41051500e-03,
  4.55352562e-03, 6.62903648e-04,-2.62571368e-03, 6.99127808e-03,
  1.26583912e-01,-3.06212709e-03, 3.14467518e-02, 1.81926034e-02,
  9.50040155e-02,-6.99343570e-02, 1.16030864e-01, 9.99999756e-01,
 -6.66245230e-04, 2.71923211e-05, 2.06895203e-04]

qacc:
[ -13.59879764,  12.47880604, -81.28980521, 220.91235017, -21.74383036,
  -23.01810142,  95.42775877,-156.55149151, -45.93042053, -21.43241321,
  105.48098084,-230.1334715 , -82.56214923,  90.9976127 ,  44.53420433,
 -164.29560276,  -0.616705  ,  -0.87464343,  -3.70444763,  16.45614163,
  -12.1971    ,   0.77779189]

qfrc_actuator:
[ 0.0050918 , 0.00292725,-0.00279044,-0.01876428, 0.00439726,-0.00256777,
 -0.01315345, 0.00839741, 0.01129473, 0.00162512,-0.00654883, 0.01735551,
  0.11331617,-0.00770242, 0.07479642, 0.04194722, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.98410937,  6.22713512, -5.98410937, 37.82287047,
       28.04744809,  6.22713512, 28.04744809, 35.58920691,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006348760892374794
  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([ 0.10822031, -0.05307337,  0.06184582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.98812850e-05,-1.01731512e-04, 4.00284662e-05, 4.09542905e-04,
 -1.28259960e-04, 2.37377974e-04, 4.12082691e-04,-1.24054267e-04,
 -2.69003810e-04,-1.12313159e-05, 1.21112010e-04,-3.52257466e-04,
 -3.03356146e-01,-2.56956137e-04,-4.84883755e-04,-9.38221215e-04,
  2.31558879e-05, 7.14766027e-06,-7.84789971e+00, 4.83326889e-04,
  9.49804560e-03, 1.21524717e-05]


--- Step 17 ---
qpos:
[ 2.16971137e-03, 1.25728663e-03,-1.10670220e-03,-7.88197522e-03,
  1.86431960e-03,-8.05856747e-04,-5.43121847e-03, 3.57514491e-03,
  4.77517220e-03, 6.96329524e-04,-2.75269805e-03, 7.33287612e-03,
  1.34435352e-01,-3.20093047e-03, 3.33655668e-02, 1.91064959e-02,
  9.49960352e-02,-6.99342752e-02, 1.16371638e-01, 9.99999746e-01,
 -6.73175973e-04,-5.19914103e-05, 2.28740579e-04]

qacc:
[ -11.86915949,  10.89374103, -72.73216368, 200.38607705, -16.008139  ,
  -20.87308008,  92.02193538,-165.87145265, -36.81253748, -19.79981423,
   95.55685176,-205.28617344, -89.77207538,  94.01693768,  64.81188286,
 -233.68459181,  -0.59929953,  -0.84723938,  -3.92055982,  15.77468429,
  -11.65977043,   0.78007602]

qfrc_actuator:
[ 0.00502441, 0.00285631,-0.00274713,-0.01839549, 0.0043064 ,-0.00253889,
 -0.01290813, 0.00820665, 0.0110866 , 0.00157714,-0.00644072, 0.01704783,
  0.11258292,-0.00755341, 0.0746008 , 0.04078041, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.19834846,  6.01392162, -6.19834846, 49.40714844,
       42.0210883 ,  6.01392162, 42.0210883 , 51.94609806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005992122718753504
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.38960316e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.38960316e-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([ 0.1082764 , -0.05299411,  0.06185448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.97769120e-05,-1.03069200e-04, 4.20512785e-05, 3.74591756e-04,
 -9.44345809e-05, 2.46003898e-04, 3.44137442e-04,-1.68412109e-04,
 -2.15715975e-04,-4.42078137e-05, 1.09094148e-04,-3.11335237e-04,
 -2.91944073e-01,-3.53407667e-04,-4.85855168e-04,-1.27412260e-03,
  1.62247187e-05, 1.62859704e-05,-7.84792446e+00, 4.70592101e-04,
  9.47980177e-03, 1.28215316e-05]


--- Step 18 ---
qpos:
[ 2.26850170e-03, 1.31459551e-03,-1.15830974e-03,-8.24162560e-03,
  1.94942943e-03,-8.56410958e-04,-5.68410670e-03, 3.73658055e-03,
  4.99191033e-03, 7.28998186e-04,-2.87756083e-03, 7.66815606e-03,
  1.42008215e-01,-3.33468018e-03, 3.52813463e-02, 1.99978803e-02,
  9.49856986e-02,-6.99375154e-02, 1.16696159e-01, 9.99999745e-01,
 -6.49508698e-04,-1.53731686e-04, 2.52166137e-04]

qacc:
[ -16.97577885,   8.63948946, -64.28974718, 188.47129131,  -9.29733721,
  -17.07485588,  76.64753282,-139.72581031, -43.12430126, -19.86242964,
   96.18469508,-208.52369391, -95.18274955, 103.70419433,  63.61005861,
 -229.29705432,  -0.58909041,  -0.8304818 ,  -4.06320555,  15.29646958,
  -11.28230063,   0.78170261]

qfrc_actuator:
[ 0.00492675, 0.00279107,-0.00266492,-0.01803189, 0.00425402,-0.00248365,
 -0.01269665, 0.00804634, 0.01084008, 0.00151758,-0.00634421, 0.01673027,
  0.11188518,-0.00737576, 0.07445712, 0.03965753, 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: -0.0056493494335592975
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.36958546e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.36958546e-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([ 0.10833044, -0.05291791,  0.0618628 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.97613386e-05,-9.91827132e-05, 7.97105879e-05, 3.68714320e-04,
 -5.49863719e-05, 2.61174736e-04, 3.02121341e-04,-1.40807065e-04,
 -2.52614753e-04,-7.49537139e-05, 9.06173502e-05,-3.22241824e-04,
 -2.79444294e-01,-4.07600908e-04,-4.69911181e-04,-1.24858578e-03,
  8.99108797e-06, 2.76451739e-05,-7.84789721e+00, 4.67850102e-04,
  9.45400929e-03, 1.27627827e-05]


--- Step 19 ---
qpos:
[ 2.36569643e-03, 1.37096058e-03,-1.20899152e-03,-8.59482631e-03,
  2.03324904e-03,-9.05805644e-04,-5.93223395e-03, 3.89550658e-03,
  5.20400824e-03, 7.60761134e-04,-2.99991368e-03, 7.99665862e-03,
  1.49291256e-01,-3.46389113e-03, 3.71934069e-02, 2.08721762e-02,
  9.49730225e-02,-6.99440456e-02, 1.17004099e-01, 9.99999746e-01,
 -5.95862933e-04,-2.77537465e-04, 2.77176523e-04]

qacc:
[ -13.99629945,   9.47581428, -62.75693308, 173.49759598, -11.2172715 ,
  -16.92390462,  73.19533699,-125.13043799, -40.74893748, -22.09513241,
  105.79173866,-226.58331193, -99.05296719, 102.92250364,  46.16322399,
 -169.75660734,  -0.5848423 ,  -0.82250457,  -4.14534713,  14.98658093,
  -11.03704311,   0.7829431 ]

qfrc_actuator:
[ 0.00484755, 0.00276541,-0.00261364,-0.01770974, 0.00418919,-0.00241323,
 -0.01245344, 0.00792301, 0.01060841, 0.00146923,-0.00621987, 0.01639166,
  0.11120895,-0.00721871, 0.07430211, 0.03881828, 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: -0.005321066927964815
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04323347e-14, -1.04323347e-14,  1.00000000e+00,  1.08833608e-28,
        1.00000000e+00,  1.04323347e-14, -1.00000000e+00,  0.00000000e+00,
        1.04323347e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10838233, -0.0528449 ,  0.06187077])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21458175e-05,-4.98738625e-05, 5.40102090e-05, 3.28615571e-04,
 -6.63087556e-05, 2.77262749e-04, 3.32700319e-04,-1.04110708e-04,
 -2.38814613e-04,-8.52295786e-05, 1.09425509e-04,-3.45448356e-04,
 -2.66156463e-01,-5.02420255e-04,-4.68808786e-04,-9.60947891e-04,
  1.29871037e-06, 4.11317845e-05,-7.84782324e+00, 4.74796083e-04,
  9.42091027e-03, 1.20052920e-05]


--- Step 20 ---
qpos:
[ 2.46256438e-03, 1.42629048e-03,-1.25862008e-03,-8.94174512e-03,
  2.11529479e-03,-9.54224509e-04,-6.17511032e-03, 4.05171271e-03,
  5.41202445e-03, 7.91818162e-04,-3.11990441e-03, 8.31852142e-03,
  1.56277037e-01,-3.58933241e-03, 3.91015281e-02, 2.17312987e-02,
  9.49630910e-02,-6.99521126e-02, 1.17297452e-01, 9.99999746e-01,
 -5.26331408e-04,-3.74690120e-04, 2.99630815e-04]

qacc:
[  -2.82200764,   8.63126059, -59.25047788, 166.99212948, -15.45071644,
  -18.96101575,  81.00856699,-137.24737665, -35.84119826, -21.1437991 ,
  102.18567675,-220.48895118,-101.58269668,  98.90610294,  40.02165121,
 -148.7643787 ,   0.68612196,  -0.38421649,  -3.64659959,   7.94621768,
   13.32511895,  -1.27231021]

qfrc_actuator:
[ 0.00483312, 0.00271029,-0.00256315,-0.01739679, 0.00409979,-0.00236968,
 -0.01219337, 0.00778694, 0.01040511, 0.0014458 ,-0.00609784, 0.01606116,
  0.11056201,-0.00709327, 0.07411385, 0.03806402, 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: -0.0050112432738276536
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.53866059e-15, -2.76933029e-15,  1.00000000e+00, -1.53383806e-29,
        1.00000000e+00,  2.76933029e-15, -1.00000000e+00,  0.00000000e+00,
       -5.53866059e-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([ 0.08274774, -0.06218276,  0.06187829])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68546685e-05,-5.87768893e-05, 5.88330605e-05, 3.19839370e-04,
 -9.12020183e-05, 2.67196121e-04, 3.57859663e-04,-1.14386652e-04,
 -2.10064269e-04,-6.31446132e-05, 1.06508498e-04,-3.37569761e-04,
 -2.52278867e-01,-6.03123920e-04,-4.65612839e-04,-8.58879015e-04,
 -6.98722560e-06, 5.67081396e-05,-7.84770540e+00, 4.91230688e-04,
  9.38065957e-03, 1.05667999e-05]


--- Step 21 ---
qpos:
[ 2.55815988e-03, 1.48022643e-03,-1.30709650e-03,-9.28181383e-03,
  2.19563087e-03,-1.00184974e-03,-6.41251385e-03, 4.20508661e-03,
  5.61598584e-03, 8.22236243e-04,-3.23753887e-03, 8.63390045e-03,
  1.62961798e-01,-3.71123105e-03, 4.10056599e-02, 2.25750973e-02,
  9.49558979e-02,-6.99617344e-02, 1.17576055e-01, 9.99999752e-01,
 -4.41379653e-04,-4.45607806e-04, 3.19771649e-04]

qacc:
[ -11.13663332,   9.06686875, -63.85977593, 181.50454442, -14.87544745,
  -20.05460616,  85.03064312,-143.432051  , -35.60583847, -20.71800694,
  100.13685546,-215.77991477,-102.96879091, 100.18217722,  40.39584444,
 -150.19388747,   0.68462028,  -0.3886873 ,  -3.6873935 ,   7.71361131,
   13.11578025,  -1.15271404]

qfrc_actuator:
[ 0.00476816, 0.00262019,-0.00251364,-0.01705626, 0.00401439,-0.00234251,
 -0.01192557, 0.00764445, 0.01020237, 0.00141975,-0.00597803, 0.01573809,
  0.10993308,-0.00697009, 0.07390578, 0.03729468, 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: -0.0047192818435162764
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35252537e-14,  5.88131342e-15,  1.00000000e+00,  1.38359390e-28,
        1.00000000e+00, -5.88131342e-15, -1.00000000e+00,  0.00000000e+00,
       -2.35252537e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08269753, -0.06215412,  0.06188538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.55339182e-05,-9.80663292e-05, 5.62921888e-05, 3.47007892e-04,
 -8.79060915e-05, 2.49830245e-04, 3.66181362e-04,-1.20578335e-04,
 -2.08678267e-04,-5.36806243e-05, 1.08738407e-04,-3.29122681e-04,
 -2.38013087e-01,-6.67649128e-04,-4.70219773e-04,-8.67335612e-04,
 -1.63655765e-05, 4.17528894e-05,-7.84776951e+00, 5.14174036e-04,
  9.34942425e-03, 9.07173521e-06]


--- Step 22 ---
qpos:
[ 2.65119770e-03, 1.53274083e-03,-1.35455526e-03,-9.61478203e-03,
  2.27431794e-03,-1.04826521e-03,-6.64488243e-03, 4.35485127e-03,
  5.81662089e-03, 8.52034284e-04,-3.35285014e-03, 8.94328911e-03,
  1.69344623e-01,-3.82979129e-03, 4.29055819e-02, 2.34035476e-02,
  9.49514553e-02,-6.99729354e-02, 1.17839908e-01, 9.99999764e-01,
 -3.41306016e-04,-4.90516529e-04, 3.37775357e-04]

qacc:
[ -22.4540797 ,   9.94432847, -68.05844472, 190.22730147, -14.3624131 ,
  -19.88179519,  88.49098684,-159.94467706, -29.19525098, -19.5966865 ,
   94.07073073,-201.11279855,-103.39579477, 101.15032438,  40.13742815,
 -149.77310735,   0.68762142,  -0.39479888,  -3.68788539,   7.56462276,
   13.00253398,  -1.06619347]

qfrc_actuator:
[ 0.00463845, 0.0025454 ,-0.00246523,-0.01670228, 0.00393204,-0.00227213,
 -0.01167322, 0.0074638 , 0.01003709, 0.00139234,-0.00586051, 0.01543975,
  0.10933132,-0.00684955, 0.07368065, 0.0365225 , 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: -0.004441125243164534
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.24967190e-15,  1.56241797e-14,  1.00000000e+00,  9.76459970e-29,
        1.00000000e+00, -1.56241797e-14, -1.00000000e+00,  0.00000000e+00,
       -6.24967190e-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([ 0.08264969, -0.0621266 ,  0.06189214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31677200e-04,-1.04090747e-04, 4.76888521e-05, 3.59214581e-04,
 -8.47686000e-05, 2.84700769e-04, 3.47896952e-04,-1.59322266e-04,
 -1.71188094e-04,-4.89312187e-05, 1.08970131e-04,-3.03749744e-04,
 -2.23533915e-01,-7.23475467e-04,-4.88653779e-04,-8.70857255e-04,
 -2.30934679e-05, 2.86093388e-05,-7.84780257e+00, 5.41916534e-04,
  9.32661649e-03, 7.38019116e-06]


--- Step 23 ---
qpos:
[ 2.74195616e-03, 1.58377057e-03,-1.40042416e-03,-9.94127967e-03,
  2.35175049e-03,-1.09324875e-03,-6.87243334e-03, 4.50093211e-03,
  6.01405920e-03, 8.81325548e-04,-3.46562051e-03, 9.24665524e-03,
  1.75426970e-01,-3.94521484e-03, 4.48017937e-02, 2.42149589e-02,
  9.49497898e-02,-6.99857455e-02, 1.18089136e-01, 9.99999782e-01,
 -2.26273489e-04,-5.09485259e-04, 3.53765418e-04]

qacc:
[ -19.98535779,   6.95874416, -54.88569878, 165.29812276, -10.90408472,
  -19.14095769,  86.57891965,-159.12724459, -28.0499027 , -20.12398336,
   96.2999975 ,-204.32597989,-103.01552969, 101.6330315 ,  45.99301037,
 -169.19151832,   0.69426227,  -0.40227353,  -3.65592729,   7.48333083,
   12.96781185,  -1.00606594]

qfrc_actuator:
[ 0.00452494, 0.00248037,-0.00238231,-0.01637872, 0.0038699 ,-0.00219431,
 -0.01143188, 0.00727992, 0.00987741, 0.00138209,-0.00572752, 0.01514058,
  0.10875679,-0.0067318 , 0.07348805, 0.03566601, 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: -0.004176786671127683
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.32259914e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.32259914e-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([ 0.0826042 , -0.06210024,  0.06189856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17352526e-04,-9.89407739e-05, 8.03168998e-05, 3.28465918e-04,
 -6.44591287e-05, 3.06111522e-04, 3.40426204e-04,-1.62453989e-04,
 -1.64513224e-04,-2.79576543e-05, 1.26321216e-04,-3.03859916e-04,
 -2.08983551e-01,-7.71892346e-04,-4.62987592e-04,-9.57289586e-04,
 -2.74506350e-05, 1.68499806e-05,-7.84780611e+00, 5.74386091e-04,
  9.31215459e-03, 5.49390616e-06]


--- Step 24 ---
qpos:
[ 2.83099135e-03, 1.63359483e-03,-1.44471921e-03,-1.02617256e-02,
  2.42783574e-03,-1.13685856e-03,-7.09527696e-03, 4.64438365e-03,
  6.20701336e-03, 9.10264372e-04,-3.57625219e-03, 9.54407388e-03,
  1.81212275e-01,-4.05769815e-03, 4.66946202e-02, 2.50081203e-02,
  9.49509395e-02,-7.00001991e-02, 1.18323972e-01, 9.99999801e-01,
 -9.63357758e-05,-5.02455209e-04, 3.67823247e-04]

qacc:
[ -15.09574708,   6.50030682, -50.96493444, 153.9684041 , -11.72092368,
  -16.7355903 ,  73.44261488,-127.5251189 , -39.39558684, -18.61872947,
   90.95092702,-197.19098625,-101.96192487, 101.65515166,  50.13780201,
 -182.99755668,   0.70381635,  -0.41086504,  -3.59816769,   7.45669888,
   12.99697005,  -0.96697216]

qfrc_actuator:
[ 0.00443965, 0.00243959,-0.00229741,-0.01607561, 0.0038024 ,-0.00213049,
 -0.01119894, 0.00714887, 0.00965128, 0.00136454,-0.00562189, 0.01484334,
  0.10819336,-0.00661687, 0.07330976, 0.03474901, 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: -0.003926142535922897
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.06942638e-15,  1.41388528e-14,  1.00000000e+00,  9.99535787e-29,
        1.00000000e+00, -1.41388528e-14, -1.00000000e+00,  0.00000000e+00,
       -7.06942638e-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([ 0.08256103, -0.06207505,  0.06190464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.87226784e-05,-6.63627821e-05, 8.62988040e-05, 3.08740556e-04,
 -6.92378399e-05, 3.02320280e-04, 3.35348320e-04,-1.09026292e-04,
 -2.30760688e-04,-1.99704246e-05, 1.05405804e-04,-3.00420359e-04,
 -1.94496737e-01,-8.13035048e-04,-4.47632386e-04,-1.01959385e-03,
 -2.95851885e-05, 6.17455236e-06,-7.84778072e+00, 6.11546083e-04,
  9.30601106e-03, 3.41421722e-06]


--- Step 25 ---
qpos:
[ 2.91865503e-03, 1.68259088e-03,-1.48810051e-03,-1.05753444e-02,
  2.50183036e-03,-1.17937693e-03,-7.31363667e-03, 4.78486063e-03,
  6.39506716e-03, 9.38744634e-04,-3.68495797e-03, 9.83529052e-03,
  1.86705396e-01,-4.16776187e-03, 4.85842570e-02, 2.57866895e-02,
  9.49549520e-02,-7.00163340e-02, 1.18544726e-01, 9.99999817e-01,
  4.85413829e-05,-4.69264176e-04, 3.79996838e-04]

qacc:
[ -12.02620691,  10.43581196, -67.55324205, 184.75660227, -18.25661815,
  -17.18248171,  75.97443567,-135.49160974, -43.06374554, -18.68116718,
   92.05720017,-202.2978353 ,-100.34463981,  97.69522764,  39.34253785,
 -144.81646691,   0.71567418,  -0.42035716,  -3.52022062,   7.47405885,
   13.07783059,  -0.94461043]

qfrc_actuator:
[ 0.00437165, 0.00241366,-0.00224745,-0.0157337 , 0.00369676,-0.00211108,
 -0.01099062, 0.00699669, 0.00940561, 0.00132488,-0.0055333 , 0.01453185,
  0.10766839,-0.00652243, 0.07318808, 0.03403452, 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: -0.0036889602512371056
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.12859344e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.12859344e-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([ 0.08252012, -0.06205105,  0.0619104 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.06092669e-05,-3.28669370e-05, 5.81263728e-05, 3.48755695e-04,
 -1.07506247e-04, 2.56923632e-04, 3.11110222e-04,-1.29469202e-04,
 -2.52186533e-04,-4.18064973e-05, 8.75545959e-05,-3.14981598e-04,
 -1.80144963e-01,-8.64847400e-04,-3.91699917e-04,-8.18794971e-04,
 -2.95475814e-05,-3.62463519e-06,-7.84772634e+00, 6.53389015e-04,
  9.30820207e-03, 1.14202588e-06]


--- Step 26 ---
qpos:
[ 3.00447580e-03, 1.73048816e-03,-1.53041955e-03,-1.08820419e-02,
  2.57329357e-03,-1.22102652e-03,-7.52785331e-03, 4.92213443e-03,
  6.57905892e-03, 9.66225593e-04,-3.79090792e-03, 1.01198213e-02,
  1.91912856e-01,-4.27546853e-03, 5.04709435e-02, 2.65512939e-02,
  9.49618817e-02,-7.00341913e-02, 1.18751774e-01, 9.99999818e-01,
  2.08462762e-04,-4.09666739e-04, 3.90307715e-04]

qacc:
[ -16.16644664,   9.86473232, -66.41813442, 185.19384893, -22.13696664,
  -16.98720775,  75.82965766,-138.60941113, -35.65040099, -22.72716968,
  107.46398936,-226.98100937, -98.26220229,  98.1763973 ,  37.79478657,
 -138.88804228,   0.72932641,  -0.43056174,  -3.42681192,   7.52668942,
   13.20029343,  -0.93552513]

qfrc_actuator:
[ 0.00427886, 0.0023435 ,-0.00220067,-0.01538945, 0.00356953,-0.00210083,
 -0.01079873, 0.00683322, 0.00920368, 0.00125447,-0.00540231, 0.01419669,
  0.10718209,-0.00642319, 0.07304722, 0.03333866, 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: -0.0034649216701057584
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40313447e-14, -1.60208964e-14,  1.00000000e+00, -3.85003684e-28,
        1.00000000e+00,  1.60208964e-14, -1.00000000e+00,  0.00000000e+00,
       -2.40313447e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0824814 , -0.06202822,  0.06191584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.48786314e-05,-6.24629190e-05, 5.97643290e-05, 3.52317146e-04,
 -1.30203918e-04, 2.16391725e-04, 2.81555679e-04,-1.43940458e-04,
 -2.09062845e-04,-8.91054612e-05, 1.22728480e-04,-3.40481763e-04,
 -1.65998869e-01,-8.85802709e-04,-3.64654225e-04,-7.82242570e-04,
 -2.73142030e-05,-1.26880837e-05,-7.84764237e+00, 6.99931151e-04,
  9.31877884e-03,-1.32219086e-06]


--- Step 27 ---
qpos:
[ 3.08713605e-03, 1.77714007e-03,-1.57169412e-03,-1.11825385e-02,
  2.64267544e-03,-1.26171944e-03,-7.73781631e-03, 5.05671314e-03,
  6.75954377e-03, 9.92865912e-04,-3.89452125e-03, 1.03988124e-02,
  1.96842705e-01,-4.38023557e-03, 5.23539636e-02, 2.73021464e-02,
  9.49690798e-02,-7.00470823e-02, 1.18946740e-01, 9.99999807e-01,
  3.23611610e-04,-3.46412604e-04, 4.00938383e-04]

qacc:
[-2.77638865e+01, 8.25939746e+00,-5.78970926e+01, 1.64303573e+02,
 -1.81774572e+01,-1.61411969e+01, 7.08236776e+01,-1.25037283e+02,
 -3.07798254e+01,-1.89942071e+01, 8.96035334e+01,-1.88713426e+02,
 -9.58250919e+01, 1.05049782e+02, 3.60910673e+01,-1.34463055e+02,
  6.70800040e-02, 1.24155745e+00,-3.02027543e+00,-2.23854814e+01,
  1.83711678e+00, 1.68687413e-01]

qfrc_actuator:
[ 0.00411895, 0.00226515,-0.00215631,-0.01508212, 0.00346613,-0.00204304,
 -0.01058264, 0.0066999 , 0.00902912, 0.00121958,-0.00528299, 0.01392129,
  0.10672892,-0.00628648, 0.07283103, 0.03264143, 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: -0.00325791730056664
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.7038846e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.7038846e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477332, -0.09221898,  0.06192087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62692491e-04,-8.67005819e-05, 5.15417780e-05, 3.14233965e-04,
 -1.07036837e-04, 2.34465586e-04, 2.93187768e-04,-1.16832055e-04,
 -1.80490985e-04,-7.38362854e-05, 1.04727663e-04,-2.82008565e-04,
 -1.52147410e-01,-8.66133158e-04,-4.24965431e-04,-7.78465054e-04,
 -2.28038123e-05,-2.11079517e-05,-7.84752782e+00, 7.51207986e-04,
  9.33782056e-03,-3.97834549e-06]


--- Step 28 ---
qpos:
[ 3.16723540e-03, 1.82274821e-03,-1.61211416e-03,-1.14777037e-02,
  2.71096725e-03,-1.30120609e-03,-7.94357128e-03, 5.18758625e-03,
  6.93687717e-03, 1.01892193e-03,-3.99601474e-03, 1.06726504e-02,
  2.01503327e-01,-4.48205702e-03, 5.42335175e-02, 2.80401470e-02,
  9.49765590e-02,-7.00549762e-02, 1.19129743e-01, 9.99999798e-01,
  3.94011833e-04,-2.79622444e-04, 4.12048681e-04]

qacc:
[-2.24953909e+01, 7.25615415e+00,-5.02839494e+01, 1.41825881e+02,
 -9.47045592e+00,-1.77819640e+01, 8.13889689e+01,-1.53170640e+02,
 -2.76622630e+01,-1.72587530e+01, 8.22643233e+01,-1.74511990e+02,
 -9.31224854e+01, 1.05440364e+02, 3.36620211e+01,-1.25532637e+02,
  7.03011934e-02, 1.24926980e+00,-2.99094460e+00,-2.23735164e+01,
  1.77706056e+00, 2.46992971e-01]

qfrc_actuator:
[ 0.00399183, 0.00221798,-0.00211381,-0.01481676, 0.00341309,-0.00197491,
 -0.01037155, 0.00651444, 0.00887204, 0.00120625,-0.00517135, 0.01366553,
  0.10628388,-0.00614655, 0.07266568, 0.03200202, 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: -0.0030682350621451804
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80922094e-14,  5.42766282e-14,  1.00000000e+00,  9.81984123e-28,
        1.00000000e+00, -5.42766282e-14, -1.00000000e+00,  0.00000000e+00,
       -1.80922094e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477047, -0.09227178,  0.06192548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31827052e-04,-7.24002282e-05, 4.23391020e-05, 2.70202822e-04,
 -5.60105444e-05, 2.58405513e-04, 2.94233113e-04,-1.67279908e-04,
 -1.62188173e-04,-4.49398778e-05, 9.99935951e-05,-2.61193835e-04,
 -1.38691984e-01,-8.72371831e-04,-3.98811136e-04,-7.27613778e-04,
 -1.55067802e-05,-1.90219181e-05,-7.84772040e+00, 7.87964544e-04,
  9.35856135e-03,-6.18017985e-06]


--- Step 29 ---
qpos:
[ 3.24587612e-03, 1.86751452e-03,-1.65179984e-03,-1.17673968e-02,
  2.77878151e-03,-1.33943541e-03,-8.14546721e-03, 5.31524098e-03,
  7.11094871e-03, 1.04442480e-03,-4.09564564e-03, 1.09409524e-02,
  2.05902897e-01,-4.58198762e-03, 5.61103523e-02, 2.87646741e-02,
  9.49843314e-02,-7.00578286e-02, 1.19300966e-01, 9.99999800e-01,
  4.19561770e-04,-2.09377651e-04, 4.23760201e-04]

qacc:
[-1.27993654e+01, 8.12957388e+00,-5.36358275e+01, 1.47686570e+02,
 -4.09878561e+00,-1.57458081e+01, 7.21522121e+01,-1.34961803e+02,
 -2.86429376e+01,-1.72852074e+01, 8.40387041e+01,-1.82530010e+02,
 -9.01857259e+01, 9.43490556e+01, 3.66469446e+01,-1.34364895e+02,
  7.32865195e-02, 1.26038297e+00,-2.94490992e+00,-2.24243453e+01,
  1.73667678e+00, 3.06199009e-01]

qfrc_actuator:
[ 0.00392057, 0.00218981,-0.00207266,-0.01454267, 0.00339011,-0.00191896,
 -0.01018288, 0.00635304, 0.00870875, 0.00117043,-0.0050828 , 0.01338788,
  0.10584764,-0.00605914, 0.0725416 , 0.03133088, 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: -0.002888445932030026
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.60917264e-15,  1.92183453e-14,  1.00000000e+00,  1.84672398e-28,
        1.00000000e+00, -1.92183453e-14, -1.00000000e+00,  0.00000000e+00,
       -9.60917264e-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([ 0.09476764, -0.09232183,  0.06192985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.50942502e-05,-4.91521080e-05, 4.12837792e-05, 2.78347745e-04,
 -2.44899212e-05, 2.57598503e-04, 2.75093870e-04,-1.43146776e-04,
 -1.67871516e-04,-5.13541301e-05, 8.30081930e-05,-2.81600782e-04,
 -1.25648432e-01,-9.31400468e-04,-3.41632746e-04,-7.53574759e-04,
 -7.99606301e-06,-1.70353504e-05,-7.84784754e+00, 8.10445959e-04,
  9.38038046e-03,-7.56207650e-06]


--- Step 30 ---
qpos:
[ 3.32270452e-03, 1.91130974e-03,-1.69065331e-03,-1.20511835e-02,
  2.84544782e-03,-1.37650244e-03,-8.34325761e-03, 5.44134925e-03,
  7.28170972e-03, 1.06901376e-03,-4.19328337e-03, 1.12042146e-02,
  2.10050912e-01,-4.68012919e-03, 5.79846030e-02, 2.94748999e-02,
  9.49924082e-02,-7.00555843e-02, 1.19460646e-01, 9.99999816e-01,
  4.00056510e-04,-1.35728154e-04, 4.36164247e-04]

qacc:
[-1.59075116e+01, 8.58572977e+00,-5.73307118e+01, 1.58819510e+02,
 -9.97917416e+00,-1.31052249e+01, 5.55171955e+01,-8.97372588e+01,
 -2.90605442e+01,-1.71044266e+01, 8.06094134e+01,-1.70459578e+02,
 -8.70482013e+01, 9.29351250e+01, 3.93552523e+01,-1.43543117e+02,
  7.60925952e-02, 1.27417535e+00,-2.88594980e+00,-2.25268025e+01,
  1.71204437e+00, 3.50262385e-01]

qfrc_actuator:
[ 0.00382947, 0.00213776,-0.00203253,-0.01424787, 0.00333173,-0.0018531 ,
 -0.00997348, 0.00627808, 0.00854311, 0.00110356,-0.00499093, 0.01313505,
  0.1054629 ,-0.00596786, 0.07239973, 0.03061096, 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: -0.002718363232435017
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02103999e-14,  4.08415995e-14,  1.00000000e+00,  4.17009063e-28,
        1.00000000e+00, -4.08415995e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02103999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476487, -0.09236922,  0.06193398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.33015816e-05,-5.98740900e-05, 4.51978244e-05, 3.00163175e-04,
 -5.89928709e-05, 2.64065203e-04, 2.94075677e-04,-5.69385583e-05,
 -1.70390792e-04,-9.03709322e-05, 8.21922198e-05,-2.58038002e-04,
 -1.12963183e-01,-9.33787175e-04,-3.39870754e-04,-7.97359224e-04,
  1.36167605e-07,-1.52049905e-05,-7.84790936e+00, 8.18619341e-04,
  9.40327347e-03,-8.12150747e-06]


--- Step 31 ---
qpos:
[ 3.39784260e-03, 1.95397397e-03,-1.72864162e-03,-1.23288530e-02,
  2.90951651e-03,-1.41271261e-03,-8.53678861e-03, 5.56561076e-03,
  7.44915710e-03, 1.09286722e-03,-4.28853295e-03, 1.14619943e-02,
  2.13957493e-01,-4.77620956e-03, 5.98559602e-02, 3.01684590e-02,
  9.50008000e-02,-7.00481797e-02, 1.19609056e-01, 9.99999841e-01,
  3.35206531e-04,-5.86986887e-05, 4.49328094e-04]

qacc:
[-1.48294699e+01, 8.71441424e+00,-5.89887527e+01, 1.64193154e+02,
 -2.27070171e+01,-1.45325809e+01, 6.13315428e+01,-1.00816677e+02,
 -2.90786246e+01,-1.88841456e+01, 8.91654585e+01,-1.87437249e+02,
 -8.37999950e+01, 9.51523943e+01, 4.60636819e+01,-1.67667171e+02,
  7.87619914e-02, 1.29004871e+00,-2.81724278e+00,-2.26715689e+01,
  1.70002529e+00, 3.82299501e-01]

qfrc_actuator:
[ 0.00374517, 0.00207184,-0.00199341,-0.01394327, 0.00319971,-0.00183496,
 -0.00977118, 0.00618358, 0.0083774 , 0.00108966,-0.00486245, 0.01286331,
  0.10510697,-0.00585715, 0.07221   , 0.02976148, 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: -0.0025577423566065655
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.17031833e-14,  4.34063666e-14,  1.00000000e+00,  9.42056332e-28,
        1.00000000e+00, -4.34063666e-14, -1.00000000e+00,  0.00000000e+00,
       -2.17031833e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476217, -0.09241401,  0.06193788])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.70289668e-05,-7.79816877e-05, 4.32025487e-05, 3.10055991e-04,
 -1.33612428e-04, 2.27477625e-04, 2.93567843e-04,-7.38641962e-05,
 -1.70539095e-04,-5.83731426e-05, 1.11460402e-04,-2.78170189e-04,
 -1.00725294e-01,-9.11637640e-04,-3.93076901e-04,-9.29446991e-04,
  9.19206830e-06,-1.35490090e-05,-7.84790529e+00, 8.12418732e-04,
  9.42723925e-03,-7.85454392e-06]


--- Step 32 ---
qpos:
[ 3.47138452e-03, 1.99575289e-03,-1.76623187e-03,-1.26003531e-02,
  2.97184965e-03,-1.44835543e-03,-8.72585715e-03, 5.68780155e-03,
  7.61331550e-03, 1.11674296e-03,-4.38208090e-03, 1.17137622e-02,
  2.17632247e-01,-4.87071851e-03, 6.17245486e-02, 3.08401985e-02,
  9.50095172e-02,-7.00355452e-02, 1.19746500e-01, 9.99999867e-01,
  2.24653195e-04, 2.17061862e-05, 4.63299920e-04]

qacc:
[-1.40196831e+01, 1.04510801e+01,-6.49312161e+01, 1.71604286e+02,
 -1.51196485e+01,-1.59586892e+01, 6.67811480e+01,-1.10226633e+02,
 -2.88966122e+01,-1.70542326e+01, 8.63295064e+01,-1.93226853e+02,
 -8.04855544e+01, 8.92012327e+01, 6.18522510e+01,-2.22624063e+02,
  8.13265898e-02, 1.30750908e+00,-2.74145382e+00,-2.28508931e+01,
  1.69810807e+00, 4.04765385e-01]

qfrc_actuator:
[ 0.00366555, 0.00203365,-0.00197302,-0.01363535, 0.00311418,-0.00182786,
 -0.0095572 , 0.00607829, 0.00821299, 0.00112547,-0.00476644, 0.01256494,
  0.10474984,-0.00577129, 0.07201297, 0.02864707, 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: -0.0024062943251806357
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15345722e-14,  2.30691444e-14,  1.00000000e+00, -2.66092711e-28,
        1.00000000e+00, -2.30691444e-14, -1.00000000e+00,  0.00000000e+00,
        1.15345722e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475956, -0.09245631,  0.06194156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21769883e-05,-6.03374779e-05, 2.08262161e-05, 3.12699704e-04,
 -8.92570265e-05, 1.95045848e-04, 2.97001070e-04,-8.65825658e-05,
 -1.69242317e-04, 1.44228706e-05, 8.84883194e-05,-3.02803672e-04,
 -8.89959145e-02,-9.27921123e-04,-4.38531232e-04,-1.20835345e-03,
  1.93964575e-05,-1.20483912e-05,-7.84783420e+00, 7.91751122e-04,
  9.45227960e-03,-6.75607128e-06]


--- Step 33 ---
qpos:
[ 3.54374391e-03, 2.03666998e-03,-1.80329640e-03,-1.28660505e-02,
  3.03267182e-03,-1.48301963e-03,-8.91122817e-03, 5.80778476e-03,
  7.77457141e-03, 1.14082524e-03,-4.47444818e-03, 1.19599994e-02,
  2.21085593e-01,-4.96339835e-03, 6.35891412e-02, 3.14973910e-02,
  9.50185695e-02,-7.00176060e-02, 1.19873302e-01, 9.99999878e-01,
  6.79815952e-05, 1.05498071e-04, 4.78112691e-04]

qacc:
[-1.03751333e+01, 9.36235558e+00,-5.94691623e+01, 1.59587591e+02,
 -1.31768516e+01,-1.35626289e+01, 5.95979752e+01,-1.04485008e+02,
 -2.55144683e+01,-1.43694196e+01, 7.50666892e+01,-1.72923529e+02,
 -7.71231120e+01, 9.06583345e+01, 3.80170392e+01,-1.41866644e+02,
  8.38101743e-02, 1.32615064e+00,-2.66080862e+00,-2.30583520e+01,
  1.70428297e+00, 4.19594493e-01]

qfrc_actuator:
[ 0.00360707, 0.00199456,-0.00194599,-0.01334571, 0.00303898,-0.00177418,
 -0.00937361, 0.00596748, 0.0080684 , 0.0011374 ,-0.00470795, 0.01228882,
  0.10441046,-0.00566515, 0.07183828, 0.02793585, 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: -0.002263697129299136
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.67835104e-14,  4.90446805e-14,  1.00000000e+00,  1.80403551e-27,
        1.00000000e+00, -4.90446805e-14, -1.00000000e+00,  0.00000000e+00,
       -3.67835104e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475704, -0.09249622,  0.06194502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.08890402e-05,-5.58648984e-05, 2.84392738e-05, 2.94453876e-04,
 -7.76875819e-05, 2.23602515e-04, 2.59831601e-04,-9.36264318e-05,
 -1.49349370e-04, 2.54228606e-05, 6.23244783e-05,-2.78701902e-04,
 -7.77302996e-02,-8.99430846e-04,-4.68274998e-04,-8.26581067e-04,
  3.09175621e-05,-1.06465248e-05,-7.84769450e+00, 7.56501434e-04,
  9.47839890e-03,-4.81998030e-06]


--- Step 34 ---
qpos:
[ 3.61552835e-03, 2.07675836e-03,-1.83974048e-03,-1.31265540e-02,
  3.09211916e-03,-1.51664001e-03,-9.09376778e-03, 5.92556299e-03,
  7.93215014e-03, 1.16520357e-03,-4.56555323e-03, 1.22020224e-02,
  2.24327542e-01,-5.05438876e-03, 6.54496115e-02, 3.21448762e-02,
  9.50279668e-02,-6.99942843e-02, 1.19989794e-01, 9.99999850e-01,
 -1.35268846e-04, 1.92701509e-04, 4.93787212e-04]

qacc:
[-5.02435749e+00, 7.87739342e+00,-5.15623245e+01, 1.40997516e+02,
 -1.20084617e+01,-1.10523087e+01, 5.07575341e+01,-9.42582013e+01,
 -3.23305983e+01,-1.17541550e+01, 6.03786735e+01,-1.35671729e+02,
 -7.37634642e+01, 8.78272408e+01, 2.31766751e+01,-9.02129376e+01,
  8.62304276e-02, 1.34564182e+00,-2.57715779e+00,-2.32886469e+01,
  1.71694232e+00, 4.28311427e-01]

qfrc_actuator:
[ 0.00357926, 0.00195525,-0.00191526,-0.01308688, 0.00297043,-0.00174644,
 -0.00924478, 0.00585433, 0.00788339, 0.0011703 ,-0.00463661, 0.01208123,
  0.10409979,-0.0055655 , 0.07167189, 0.027468  , 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: -0.0021296051834008567
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.6066405e-14,  2.6066405e-14,  1.0000000e+00,  6.7945747e-28,
        1.0000000e+00, -2.6066405e-14, -1.0000000e+00,  0.0000000e+00,
       -2.6066405e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475462, -0.09253385,  0.06194827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96187062e-05,-5.27624886e-05, 3.33576279e-05, 2.63727476e-04,
 -7.06859579e-05, 2.05574614e-04, 2.06094409e-04,-9.61771052e-05,
 -1.89211542e-04, 4.81692256e-05, 7.50405336e-05,-2.10128984e-04,
 -6.69579929e-02,-8.90272885e-04,-4.28827261e-04,-5.65230769e-04,
  4.38822768e-05,-9.24756341e-06,-7.84748426e+00, 7.06536645e-04,
  9.50560373e-03,-2.03933405e-06]


--- Step 35 ---
qpos:
[ 3.68642011e-03, 2.11604159e-03,-1.87552014e-03,-1.33822686e-02,
  3.15166214e-03,-1.54942585e-03,-9.27322925e-03, 6.04108371e-03,
  8.08628624e-03, 1.18939088e-03,-4.65463548e-03, 1.24396763e-02,
  2.27367724e-01,-5.14414459e-03, 6.73072623e-02, 3.27779473e-02,
  9.50339840e-02,-6.99758771e-02, 1.20099876e-01, 9.99999795e-01,
 -2.96265662e-04, 2.47776833e-04, 5.10549595e-04]

qacc:
[  -7.82085567,   6.95676723, -46.51690419, 128.84806827,   0.92146716,
  -12.15192241,  54.45520485, -99.05905528, -30.23390625, -14.84768891,
   71.12226778,-149.94921403, -70.41055126,  81.67199546,  39.35820479,
 -144.01449315,  -0.84502677,  -1.22861323,  -1.60277093,  21.11877118,
  -16.07455749,   0.54583573]

qfrc_actuator:
[ 0.0035342 , 0.00191613,-0.00188261,-0.01284824, 0.00297736,-0.00171698,
 -0.00909617, 0.00574065, 0.00771155, 0.00114461,-0.00454037, 0.01186239,
  0.10381342,-0.00548808, 0.07152127, 0.02673884, 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: -0.002018459505652548
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75017413e-14,  2.75017413e-14,  1.00000000e+00,  7.56345777e-28,
        1.00000000e+00, -2.75017413e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75017413e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889861, -0.05209988,  0.06195097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.59697247e-05,-5.11202418e-05, 3.54443709e-05, 2.43219658e-04,
  4.98438423e-06, 1.85947756e-04, 2.15409406e-04,-9.93893173e-05,
 -1.77156142e-04, 7.81698156e-06, 1.08570067e-04,-2.18616942e-04,
 -5.66629028e-02,-8.96328491e-04,-3.67704620e-04,-8.07346807e-04,
  5.83874377e-05,-7.71394936e-06,-7.84720127e+00, 6.41709169e-04,
  9.53390247e-03, 1.59348792e-06]


--- Step 36 ---
qpos:
[ 3.75587495e-03, 2.15442319e-03,-1.91087902e-03,-1.36327474e-02,
  3.21082477e-03,-1.58152463e-03,-9.44911175e-03, 6.15364095e-03,
  8.23785419e-03, 1.21277987e-03,-4.74122252e-03, 1.26722065e-02,
  2.30216104e-01,-5.23268056e-03, 6.91616162e-02, 3.33990759e-02,
  9.50366232e-02,-6.99623546e-02, 1.20203354e-01, 9.99999737e-01,
 -4.15386064e-04, 2.71257591e-04, 5.28658709e-04]

qacc:
[ -12.61736803,   8.43997409, -53.85706979, 144.3560893 ,  -3.24200768,
  -15.19241638,  68.0077094 ,-125.53726135, -22.51280658, -18.53982543,
   86.28088778,-178.44448436, -67.0816014 ,  79.8267159 ,  31.17035946,
 -116.38579043,  -0.84450579,  -1.2212088 ,  -1.6508907 ,  20.92997026,
  -15.80816919,   0.67387423]

qfrc_actuator:
[ 0.00346159, 0.00185968,-0.00186686,-0.0125879 , 0.00295764,-0.00168669,
 -0.00891931, 0.00559208, 0.00758437, 0.00106638,-0.00443046, 0.01160315,
  0.10354305,-0.00540646, 0.07135886, 0.02614553, 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: -0.001915843462344538
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.89747844e-14,  2.89747844e-14,  1.00000000e+00, -8.39538130e-28,
        1.00000000e+00, -2.89747844e-14, -1.00000000e+00,  0.00000000e+00,
        2.89747844e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891383, -0.05207673,  0.06195347])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.39820613e-05,-6.79759769e-05, 1.84266439e-05, 2.64665936e-04,
 -1.95153708e-05, 1.77552016e-04, 2.40593022e-04,-1.34864035e-04,
 -1.32177536e-04,-6.07411615e-05, 1.17731304e-04,-2.59757666e-04,
 -4.68340814e-02,-8.75426728e-04,-3.83971759e-04,-6.78423081e-04,
  4.66548208e-05,-7.94262060e-06,-7.84752644e+00, 5.90163087e-04,
  9.55139096e-03, 5.31718083e-06]


--- Step 37 ---
qpos:
[ 3.82391852e-03, 2.19194441e-03,-1.94550782e-03,-1.38781730e-02,
  3.26894652e-03,-1.61319161e-03,-9.62109359e-03, 6.26390193e-03,
  8.38637356e-03, 1.23576638e-03,-4.82594461e-03, 1.29004977e-02,
  2.32882773e-01,-5.31967714e-03, 7.10120404e-02, 3.40100477e-02,
  9.50358806e-02,-6.99537006e-02, 1.20300111e-01, 9.99999693e-01,
 -4.92896826e-04, 2.63537795e-04, 5.48315713e-04]

qacc:
[ -12.3827684 ,   7.25348355, -48.77912261, 135.59894928,  -9.02867512,
  -15.04333421,  64.18981512,-110.52005095, -26.76707183, -14.4244538 ,
   68.64669344,-144.80046955, -63.81882563,  81.29283616,  24.83265183,
  -95.56238754,  -0.84545122,  -1.21709024,  -1.68013007,  20.79636078,
  -15.61159517,   0.773104  ]

qfrc_actuator:
[ 0.0033911 , 0.00182875,-0.00182577,-0.01233464, 0.00290462,-0.00167384,
 -0.00872724, 0.00547745, 0.00743122, 0.00106382,-0.00433137, 0.01139317,
  0.10328331,-0.00530506, 0.07115222, 0.02563702, 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: -0.0018173947652414812
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58165328e-14,  6.10887104e-14,  1.00000000e+00,  2.79887290e-27,
        1.00000000e+00, -6.10887104e-14, -1.00000000e+00,  0.00000000e+00,
       -4.58165328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089286 , -0.05205456,  0.06195586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.26585238e-05,-5.44641873e-05, 3.89326334e-05, 2.56675968e-04,
 -5.35175007e-05, 1.59028100e-04, 2.55905979e-04,-1.01109838e-04,
 -1.56888353e-04,-2.32567440e-05, 9.24330358e-05,-2.13908018e-04,
 -3.74938536e-02,-8.33973869e-04,-4.21019391e-04,-5.88452397e-04,
  3.58304973e-05,-4.99053992e-06,-7.84775814e+00, 5.51872309e-04,
  9.55866705e-03, 8.02356724e-06]


--- Step 38 ---
qpos:
[ 3.89093185e-03, 2.22878190e-03,-1.97915614e-03,-1.41190293e-02,
  3.32563596e-03,-1.64438585e-03,-9.78939179e-03, 6.37229022e-03,
  8.53224713e-03, 1.25882806e-03,-4.90930945e-03, 1.31244620e-02,
  2.35402979e-01,-5.40748945e-03, 7.28589371e-02, 3.46065766e-02,
  9.50317473e-02,-6.99499093e-02, 1.20390093e-01, 9.99999673e-01,
 -5.28970593e-04, 2.24896034e-04, 5.69676110e-04]

qacc:
[  -9.02387306,   5.78380371, -41.17124091, 119.10426872, -12.4734094 ,
  -13.50340553,  57.00121718, -95.69613546, -23.24663816, -12.56149188,
   63.27925514,-140.48016619, -50.78928116,  45.10481902,  38.41813665,
 -142.17287813,  -0.84765119,  -1.21569545,  -1.6939723 ,  20.70979455,
  -15.47276065,   0.84952945]

qfrc_actuator:
[ 0.0033402 , 0.00181345,-0.00176995,-0.0121053 , 0.00283243,-0.00165372,
 -0.00854554, 0.00538369, 0.0072995 , 0.00108883,-0.0042569 , 0.01117841,
  0.10304129,-0.00519259, 0.07093521, 0.02489834, 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: -0.0017232554505611924
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40931681e-14, -3.01996458e-14,  1.00000000e+00, -4.25608684e-28,
        1.00000000e+00,  3.01996458e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40931681e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894289, -0.05203337,  0.06195815])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.30396847e-05,-2.73654626e-05, 5.86936288e-05, 2.33880991e-04,
 -7.36625558e-05, 1.60478525e-04, 2.44712751e-04,-7.98407746e-05,
 -1.36144329e-04, 2.20034187e-05, 7.40193334e-05,-2.17058896e-04,
 -2.86412724e-02,-7.97411862e-04,-4.37259631e-04,-8.18090321e-04,
  2.52750076e-05, 1.55976003e-06,-7.84789986e+00, 5.26734012e-04,
  9.55582655e-03, 9.72572480e-06]


--- Step 39 ---
qpos:
[ 3.95681286e-03, 2.26493250e-03,-2.01215719e-03,-1.43548838e-02,
  3.38101908e-03,-1.67496639e-03,-9.95446842e-03, 6.47872953e-03,
  8.67575242e-03, 1.28195815e-03,-4.99114327e-03, 1.33437460e-02,
  2.37813051e-01,-5.49734662e-03, 7.47020576e-02, 3.51925884e-02,
  9.50242104e-02,-6.99509842e-02, 1.20473293e-01, 9.99999675e-01,
 -5.23699674e-04, 1.55515195e-04, 5.92859199e-04]

qacc:
[  -9.93279044,   7.60337465, -49.48393493, 135.42373078, -11.38325804,
  -12.18482335,  52.88857244, -92.26510066, -20.79862156, -13.78895604,
   69.12706193,-152.71003064, -37.72373066,  19.77772515,  26.18389361,
  -99.85362675,  -0.85091855,  -1.21655236,  -1.69538361,  20.66338192,
  -15.38179518,   0.90785827]

qfrc_actuator:
[ 0.00328346, 0.00177219,-0.00174134,-0.01185635, 0.0027673 ,-0.00162946,
 -0.00838917, 0.00528521, 0.00718146, 0.00109457,-0.00417969, 0.01094481,
  0.10280793,-0.00512499, 0.07077066, 0.02438496, 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: -0.001633497271017012
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.18590702e-14,  1.06196901e-14,  1.00000000e+00,  3.38333452e-28,
        1.00000000e+00, -1.06196901e-14, -1.00000000e+00,  0.00000000e+00,
       -3.18590702e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895663, -0.05201317,  0.06196033])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.82961626e-05,-3.50511679e-05, 3.87126151e-05, 2.54887977e-04,
 -6.71768240e-05, 1.63972657e-04, 2.19003927e-04,-8.44865056e-05,
 -1.21860544e-04, 2.40879579e-05, 8.37247594e-05,-2.34650400e-04,
 -2.15419544e-02,-6.87835099e-04,-4.22257036e-04,-6.08516868e-04,
  1.45094452e-05, 1.19997620e-05,-7.84795386e+00, 5.14680084e-04,
  9.54293596e-03, 1.04322859e-05]


--- Step 40 ---
qpos:
[ 4.02150062e-03, 2.30050859e-03,-2.04460395e-03,-1.45855719e-02,
  3.43519051e-03,-1.70501242e-03,-1.01160234e-02, 6.58315373e-03,
  8.81603763e-03, 1.30452316e-03,-5.07138584e-03, 1.35582501e-02,
  2.40140072e-01,-5.58829483e-03, 7.65415988e-02, 3.57717988e-02,
  9.50132531e-02,-6.99569362e-02, 1.20549745e-01, 9.99999694e-01,
 -4.77107679e-04, 5.54985963e-05, 6.17955476e-04]

qacc:
[ -10.47396871,   8.35241067, -52.6314558 , 141.48371465, -10.54068337,
  -13.26574338,  56.86720461, -97.80676753, -28.28247959, -14.9847672 ,
   72.62097138,-157.58194644, -28.66521491,  20.41359673,  15.24299229,
  -61.12223193,  -0.8550894 ,  -1.21926537,  -1.68688485,  20.65130524,
  -15.33062584,   0.95177982]

qfrc_actuator:
[ 0.00322375, 0.00175114,-0.00171136,-0.01159788, 0.00270685,-0.00160303,
 -0.00821349, 0.00518471, 0.00701915, 0.00101771,-0.0041193 , 0.01070199,
  0.10259242,-0.00504727, 0.07063241, 0.02406187, 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: -0.0015481346701572557
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.01694485e-14, -3.36157476e-14,  1.00000000e+00,  6.78011091e-28,
        1.00000000e+00,  3.36157476e-14, -1.00000000e+00,  0.00000000e+00,
        2.01694485e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896981, -0.05199395,  0.0619624 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.14276031e-05,-2.23612505e-05, 3.67493056e-05, 2.63776308e-04,
 -6.23074644e-05, 1.62521712e-04, 2.35658056e-04,-8.73340701e-05,
 -1.65723732e-04,-5.61076304e-05, 6.79078108e-05,-2.43780139e-04,
 -1.62407556e-02,-5.06518595e-04,-3.69582978e-04,-4.05312339e-04,
  3.16656688e-06, 2.65229363e-05,-7.84792149e+00, 5.15671293e-04,
  9.52003658e-03, 1.01482533e-05]


--- Step 41 ---
qpos:
[ 4.08427879e-03, 2.33543395e-03,-2.07613627e-03,-1.48110275e-02,
  3.48821567e-03,-1.73442682e-03,-1.02736057e-02, 6.68482974e-03,
  8.95294204e-03, 1.32633558e-03,-5.15067957e-03, 1.37678940e-02,
  2.42404294e-01,-5.67959272e-03, 7.83788651e-02, 3.63398539e-02,
  9.49988557e-02,-6.99677822e-02, 1.20619515e-01, 9.99999713e-01,
 -3.89159334e-04,-7.51168050e-05, 6.45032425e-04]

qacc:
[ -16.76714651,   7.39282721, -49.61325501, 139.06397274,  -9.95344759,
  -15.9090587 ,  69.57122625,-123.9894471 , -29.7140617 , -13.59985878,
   67.66874693,-152.86470472, -21.89305223,  21.0467127 ,  30.36350596,
 -111.19648734,  -0.86002138,  -1.22350377,  -1.67061364,  20.66865992,
  -15.31264767,   0.98418371]

qfrc_actuator:
[ 0.00312726, 0.00172462,-0.00166298,-0.01133587, 0.00264964,-0.00155773,
 -0.00801008, 0.00504835, 0.00684983, 0.00094516,-0.00408743, 0.01045561,
  0.10239448,-0.0049636 , 0.07051538, 0.02349839, 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: -0.0014671357718586547
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41886539e-14,  6.85784939e-14,  1.00000000e+00,  9.73036516e-28,
        1.00000000e+00, -6.85784939e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41886539e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10898241, -0.05197569,  0.06196437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.82915156e-05,-2.07502977e-05, 5.78335083e-05, 2.67954738e-04,
 -5.89326758e-05, 1.83855059e-04, 2.65012297e-04,-1.22747350e-04,
 -1.74008636e-04,-1.00320977e-04, 2.05560867e-05,-2.51491639e-04,
 -1.22761387e-02,-3.66854723e-04,-3.06308676e-04,-6.28557461e-04,
 -9.04545871e-06, 4.52433342e-05,-7.84780330e+00, 5.29692568e-04,
  9.48714804e-03, 8.87565048e-06]


--- Step 42 ---
qpos:
[ 4.14472135e-03, 2.36977755e-03,-2.10681446e-03,-1.50319292e-02,
  3.54014230e-03,-1.76301296e-03,-1.04272861e-02, 6.78440828e-03,
  9.08675207e-03, 1.34732396e-03,-5.22814531e-03, 1.39732415e-02,
  2.44620757e-01,-5.77102823e-03, 8.02141013e-02, 3.68924500e-02,
  9.49809960e-02,-6.99835442e-02, 1.20682692e-01, 9.99999711e-01,
 -2.59768735e-04,-2.36349604e-04, 6.74139052e-04]

qacc:
[ -20.52093831,   6.26233067, -42.57601335, 120.32204162,  -9.53881017,
  -14.11174104,  60.79150267,-103.97765043, -27.16392172, -14.99517603,
   70.11661377,-146.89369257, -16.72749371,  17.82407195,  43.7588653 ,
 -157.51544975,  -0.86559173,  -1.22899189,  -1.64837814,  20.71131896,
  -15.32245626,   1.00733157]

qfrc_actuator:
[ 0.00300989, 0.00169514,-0.00162188,-0.01110937, 0.0025948 ,-0.00150141,
 -0.00780962, 0.00494526, 0.00669551, 0.00092886,-0.0039839 , 0.0102446 ,
  0.10218694,-0.00489442, 0.07037382, 0.02270899, 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: -0.0013904316688088114
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.73902923e-14,  1.24761505e-14,  1.00000000e+00,  7.16009924e-28,
        1.00000000e+00, -1.24761505e-14, -1.00000000e+00,  0.00000000e+00,
       -5.73902923e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10899444, -0.05195836,  0.06196623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20212792e-04,-1.82946241e-05, 5.36060413e-05, 2.33310897e-04,
 -5.64672952e-05, 2.11286242e-04, 2.68795390e-04,-8.82343207e-05,
 -1.59264655e-04,-7.88898920e-05, 7.69870084e-05,-2.19802715e-04,
 -9.33390217e-03,-2.78682674e-04,-3.33383268e-04,-8.60225937e-04,
 -2.23700958e-05, 6.82076542e-05,-7.84759927e+00, 5.56749170e-04,
  9.44427141e-03, 6.61404136e-06]


--- Step 43 ---
qpos:
[ 4.20363062e-03, 2.40396239e-03,-2.13716084e-03,-1.52490969e-02,
  3.59100774e-03,-1.79093029e-03,-1.05780601e-02, 6.88241529e-03,
  9.21836161e-03, 1.36720054e-03,-5.30366208e-03, 1.41748292e-02,
  2.46800677e-01,-5.86206454e-03, 8.20465152e-02, 3.74290697e-02,
  9.49672846e-02,-7.00016695e-02, 1.20742614e-01, 9.99999684e-01,
 -1.08395157e-04,-3.60340951e-04, 6.99853542e-04]

qacc:
[ -13.48228024,   6.57959691, -39.46218995, 103.57731349,  -9.23876785,
  -10.45737141,  45.23454331, -77.60729354, -19.28784795, -14.62416198,
   65.95040269,-133.39546152, -13.02902342,  19.27244478,  44.15954581,
 -160.60450087,   1.03708074,  -0.59084796,  -0.81354085,  11.00363502,
   18.61374845,  -1.69382015]

qfrc_actuator:
[ 0.00293445, 0.00169956,-0.00160322,-0.01092335, 0.00254177,-0.00150994,
 -0.00768348, 0.00486259, 0.00658675, 0.00085792,-0.00389189, 0.01005618,
  0.10198521,-0.00481626, 0.0701963 , 0.02189932, 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: -0.001325996552697828
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09318611e-14,  1.04659305e-14,  1.00000000e+00,  2.19071404e-28,
        1.00000000e+00, -1.04659305e-14, -1.00000000e+00,  0.00000000e+00,
       -2.09318611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08210484, -0.06182021,  0.06196779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.89094377e-05, 1.46344328e-05, 2.99517710e-05, 1.92111018e-04,
 -5.45614490e-05, 1.63966631e-04, 2.01762683e-04,-6.58476946e-05,
 -1.13275419e-04,-1.08515679e-04, 7.79331102e-05,-1.93711515e-04,
 -7.13791522e-03,-1.92073622e-04,-4.09105100e-04,-8.97142231e-04,
 -3.70227659e-05, 9.54027401e-05,-7.84730885e+00, 5.96863573e-04,
  9.39139177e-03, 3.36094628e-06]


--- Step 44 ---
qpos:
[ 4.26221099e-03, 2.43793459e-03,-2.16703377e-03,-1.54626842e-02,
  3.64049729e-03,-1.81850645e-03,-1.07264421e-02, 6.97840702e-03,
  9.34729913e-03, 1.38569267e-03,-5.37755631e-03, 1.43722974e-02,
  2.48952510e-01,-5.95232888e-03, 8.38758550e-02, 3.79504414e-02,
  9.49577084e-02,-7.00221759e-02, 1.20799098e-01, 9.99999637e-01,
  6.45563904e-05,-4.47549939e-04, 7.22351472e-04]

qacc:
[  -2.87477622,   5.77498776, -36.08436178,  97.39264458, -12.01201881,
  -10.36143654,  46.1471216 , -85.14735065, -23.44346329, -14.8045675 ,
   67.60349763,-140.56621564, -10.23023671,  19.93413102,  41.58520424,
 -152.12978763,   1.03378895,  -0.59526243,  -0.85955716,  10.80127153,
   18.38379409,  -1.61016694]

qfrc_actuator:
[ 0.0029198 , 0.00168863,-0.00158008,-0.01074487, 0.0024725 ,-0.00153979,
 -0.00758473, 0.00475697, 0.00645242, 0.00075481,-0.0038254 , 0.009847  ,
  0.10180364,-0.00473319, 0.07003994, 0.02113745, 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: -0.001266803566023586
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57297856e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.57297856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08209499, -0.06181518,  0.06196923])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69316129e-05, 1.10623108e-05, 3.68782855e-05, 1.84356851e-04,
 -7.07759473e-05, 1.03235290e-04, 1.57070226e-04,-9.27071873e-05,
 -1.37555907e-04,-1.55899850e-04, 4.73092408e-05,-2.15201168e-04,
 -5.48263975e-03,-1.27356849e-04,-4.24405204e-04,-8.60499594e-04,
 -4.94569367e-05, 6.83138418e-05,-7.84738124e+00, 6.46444475e-04,
  9.35157755e-03, 3.85578076e-07]


--- Step 45 ---
qpos:
[ 4.31912431e-03, 2.47141560e-03,-2.19629987e-03,-1.56720891e-02,
  3.68877126e-03,-1.84554901e-03,-1.08722742e-02, 7.07270019e-03,
  9.47327872e-03, 1.40311150e-03,-5.44987346e-03, 1.45653347e-02,
  2.51082484e-01,-6.04085382e-03, 8.57018979e-02, 3.84588803e-02,
  9.49522598e-02,-7.00450812e-02, 1.20852015e-01, 9.99999567e-01,
  2.58791738e-04,-4.98324756e-04, 7.41757579e-04]

qacc:
[ -14.64510376,   6.29680184, -40.97732343, 112.64537172, -10.60216822,
   -9.89841244,  43.52334751, -77.43048027, -25.96660634, -14.90270612,
   69.87356207,-148.39225787,  -8.46766247,  27.58718794,  34.25251885,
 -126.95042188,   1.03193354,  -0.59970888,  -0.89185192,  10.65436464,
   18.20928697,  -1.55184137]

qfrc_actuator:
[ 0.00283451, 0.00165087,-0.00155453,-0.01053674, 0.00241197,-0.00149362,
 -0.00744981, 0.00467417, 0.00630409, 0.00072189,-0.00373917, 0.00962722,
  0.10161342,-0.0046122 , 0.0698911 , 0.02049867, 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: -0.0012097180399518737
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29438387e-14, -4.58876775e-14,  1.00000000e+00, -1.05283947e-27,
        1.00000000e+00,  4.58876775e-14, -1.00000000e+00,  0.00000000e+00,
       -2.29438387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08208539, -0.06181009,  0.06197062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.58052830e-05,-1.66640037e-05, 3.91220341e-05, 2.13926321e-04,
 -6.25165558e-05, 1.34875936e-04, 1.74235375e-04,-7.45681094e-05,
 -1.52255782e-04,-1.19439680e-04, 5.27516965e-05,-2.29295747e-04,
 -4.25884764e-03,-4.33240487e-05,-4.19880295e-04,-7.37273814e-04,
 -5.68750045e-05, 4.41513234e-05,-7.84739368e+00, 7.02706726e-04,
  9.32360014e-03,-2.83607679e-06]


--- Step 46 ---
qpos:
[ 4.37353752e-03, 2.50422914e-03,-2.22466777e-03,-1.58770133e-02,
  3.73663354e-03,-1.87184233e-03,-1.10154872e-02, 7.16558236e-03,
  9.59684480e-03, 1.42052459e-03,-5.52140769e-03, 1.47544918e-02,
  2.53195190e-01,-6.12771776e-03, 8.75240082e-02, 3.89609797e-02,
  9.49471402e-02,-7.00611824e-02, 1.20902140e-01, 9.99999485e-01,
  3.94660202e-04,-5.43843540e-04, 7.60870069e-04]

qacc:
[-2.19662719e+01, 5.87803612e+00,-4.10556901e+01, 1.17521624e+02,
 -3.54542969e+00,-9.22858510e+00, 4.03107620e+01,-6.94846556e+01,
 -2.12183928e+01,-1.01463073e+01, 5.26204089e+01,-1.21104927e+02,
 -6.84277680e+00, 2.48728692e+01, 1.33600342e+01,-5.52155585e+01,
  8.22080927e-02, 1.70100467e+00,-6.97945164e-01,-2.91815521e+01,
  2.64962089e+00,-1.32940869e-01]

qfrc_actuator:
[ 0.00270832, 0.00161511,-0.00151011,-0.01031285, 0.00239257,-0.00143767,
 -0.00731206, 0.00460554, 0.00618424, 0.00078457,-0.00367721, 0.00943855,
  0.10140782,-0.00450524, 0.06974155, 0.02020384, 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: -0.0011600369833218854
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.39264575e-14,  1.43558745e-13,  1.00000000e+00,  3.43485222e-27,
        1.00000000e+00, -1.43558745e-13, -1.00000000e+00,  0.00000000e+00,
       -2.39264575e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475358, -0.09281011,  0.06197182])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28681759e-04,-2.84461714e-05, 5.35641103e-05, 2.29138328e-04,
 -2.11328789e-05, 1.66631153e-04, 1.86315776e-04,-5.80924487e-05,
 -1.24198257e-04,-2.90557531e-06, 3.62033130e-05,-1.96703175e-04,
 -3.36217425e-03,-2.16709668e-05,-4.05144022e-04,-3.85937640e-04,
 -5.95426458e-05, 2.24646846e-05,-7.84734815e+00, 7.65579358e-04,
  9.30734203e-03,-6.30350923e-06]


--- Step 47 ---
qpos:
[ 4.42739383e-03, 2.53632692e-03,-2.25193793e-03,-1.60776587e-02,
  3.78389095e-03,-1.89762524e-03,-1.11557795e-02, 7.25624132e-03,
  9.71766794e-03, 1.43784558e-03,-5.59145517e-03, 1.49402159e-02,
  2.55294090e-01,-6.21332683e-03, 8.93423935e-02, 3.94579296e-02,
  9.49423585e-02,-7.00705488e-02, 1.20949104e-01, 9.99999413e-01,
  4.72905429e-04,-5.84426987e-04, 7.80034166e-04]

qacc:
[-4.85308402e+00, 4.80686631e+00,-3.65353893e+01, 1.09287320e+02,
 -5.22809749e+00,-1.20562373e+01, 5.33696768e+01,-9.69138928e+01,
 -2.40935344e+01,-1.13014593e+01, 5.46952857e+01,-1.16512896e+02,
 -5.46003650e+00, 1.92123744e+01, 1.00671935e+01,-4.32433317e+01,
  8.45105704e-02, 1.68371794e+00,-7.90103340e-01,-2.88097141e+01,
  2.48960272e+00, 4.04938427e-02]

qfrc_actuator:
[ 0.00268335, 0.00158093,-0.00145489,-0.01009924, 0.00236203,-0.00142954,
 -0.00717369, 0.00449255, 0.00604659, 0.00079747,-0.00359413, 0.00926977,
  0.10120933,-0.00442506, 0.06957579, 0.01995417, 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: -0.0011162046340925935
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.48660279e-14,  1.49196168e-13,  1.00000000e+00,  3.70991607e-27,
        1.00000000e+00, -1.49196168e-13, -1.00000000e+00,  0.00000000e+00,
       -2.48660279e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475393, -0.09282246,  0.06197289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86818912e-05,-2.98249121e-05, 6.42184213e-05, 2.19148917e-04,
 -3.10841385e-05, 1.39731510e-04, 1.95507220e-04,-1.00359425e-04,
 -1.41148902e-04, 1.04529393e-05, 8.04710186e-05,-1.71756322e-04,
 -2.68778169e-03,-2.28498012e-05,-3.75012364e-04,-3.19169224e-04,
 -4.05654360e-05, 1.84846698e-05,-7.84766861e+00, 8.09078094e-04,
  9.29415330e-03,-8.64855602e-06]


--- Step 48 ---
qpos:
[ 4.48087546e-03, 2.56766831e-03,-2.27857305e-03,-1.62734459e-02,
  3.83041510e-03,-1.92312101e-03,-1.12931830e-02, 7.34522106e-03,
  9.83624712e-03, 1.45433099e-03,-5.65961904e-03, 1.51225345e-02,
  2.57381785e-01,-6.29722887e-03, 9.11577684e-02, 3.99414261e-02,
  9.49379220e-02,-7.00732329e-02, 1.20992616e-01, 9.99999366e-01,
  4.94113745e-04,-6.20330249e-04, 7.99524774e-04]

qacc:
[-3.26248390e+00, 7.23702442e+00,-4.77248832e+01, 1.31269427e+02,
 -6.35154704e+00,-1.11397123e+01, 4.73809660e+01,-8.12992140e+01,
 -1.96768124e+01,-1.33453036e+01, 6.04254279e+01,-1.21836316e+02,
 -4.75226066e+00, 2.28822749e+01, 3.62524334e+01,-1.33319954e+02,
  8.62697861e-02, 1.67054874e+00,-8.63231968e-01,-2.85165236e+01,
  2.36242077e+00, 1.78806620e-01]

qfrc_actuator:
[ 0.00266491, 0.00153026,-0.00142927,-0.00985788, 0.00232517,-0.0014324 ,
 -0.00703631, 0.00440758, 0.00593507, 0.00070957,-0.00351716, 0.00909626,
  0.10102075,-0.00432571, 0.06936314, 0.01925362, 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: -0.0010728679375097416
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.58704493e-14,  1.03481797e-13,  1.00000000e+00,  2.67712059e-27,
        1.00000000e+00, -1.03481797e-13, -1.00000000e+00,  0.00000000e+00,
       -2.58704493e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475407, -0.09283471,  0.06197394])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93095965e-05,-4.52731831e-05, 3.52934711e-05, 2.47001148e-04,
 -3.77014231e-05, 1.13726169e-04, 1.88603568e-04,-7.40005501e-05,
 -1.15500574e-04,-7.26795483e-05, 8.34318048e-05,-1.73877972e-04,
 -2.17651303e-03, 1.54848596e-05,-4.02306102e-04,-7.62823425e-04,
 -2.27918028e-05, 1.51110142e-05,-7.84787513e+00, 8.34159160e-04,
  9.28236525e-03,-9.95697686e-06]


--- Step 49 ---
qpos:
[ 4.53337463e-03, 2.59824061e-03,-2.30518679e-03,-1.64647636e-02,
  3.87579046e-03,-1.94806440e-03,-1.14279889e-02, 7.43351540e-03,
  9.95291222e-03, 1.47001367e-03,-5.72650291e-03, 1.53010436e-02,
  2.59460255e-01,-6.37948461e-03, 9.29694425e-02, 4.04105407e-02,
  9.49338358e-02,-7.00692735e-02, 1.21032446e-01, 9.99999347e-01,
  4.58736403e-04,-6.51755934e-04, 8.19561545e-04]

qacc:
[-8.63232564e+00, 8.14584808e+00,-4.93315062e+01, 1.27122217e+02,
 -1.00116174e+01,-7.92152131e+00, 3.22316583e+01,-4.86918539e+01,
 -1.67934344e+01,-1.24524809e+01, 5.90019021e+01,-1.26456859e+02,
 -4.03926507e+00, 2.14029924e+01, 3.80398335e+01,-1.41053043e+02,
  8.76154461e-02, 1.66089601e+00,-9.20460446e-01,-2.82908589e+01,
  2.26155147e+00, 2.89514968e-01]

qfrc_actuator:
[ 0.00261493, 0.00147002,-0.00143912,-0.00963766, 0.00226713,-0.00138859,
 -0.00690065, 0.00437527, 0.00583983, 0.00065074,-0.00346259, 0.00890353,
  0.10083837,-0.00423357, 0.06914373, 0.0185237 , 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: -0.0010303499566827884
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.69380082e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.69380082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475404, -0.09284675,  0.06197498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.05932562e-05,-6.82470306e-05,-5.98812777e-06, 2.24724830e-04,
 -5.90776492e-05, 1.45521982e-04, 1.81534875e-04,-2.21822160e-05,
 -9.85277529e-05,-8.95630930e-05, 4.41363817e-05,-1.96612249e-04,
 -1.78920663e-03, 2.40134763e-05,-4.72243867e-04,-8.20697578e-04,
 -5.21438477e-06, 1.20273947e-05,-7.84797216e+00, 8.41018073e-04,
  9.27195913e-03,-1.02347043e-05]


--- Step 50 ---
qpos:
[ 4.58521091e-03, 2.62795384e-03,-2.33165630e-03,-1.66519411e-02,
  3.92046176e-03,-1.97200935e-03,-1.15602396e-02, 7.51964706e-03,
  1.00675283e-02, 1.48490270e-03,-5.79219427e-03, 1.54758541e-02,
  2.61530967e-01,-6.46082291e-03, 9.47761620e-02, 4.08742492e-02,
  9.49301043e-02,-7.00586972e-02, 1.21068417e-01, 9.99999349e-01,
  3.67109411e-04,-6.78864521e-04, 8.40320682e-04]

qacc:
[-5.81373608e+00, 6.99951064e+00,-4.40375967e+01, 1.16011945e+02,
 -6.11754449e+00,-1.02630536e+01, 4.76594374e+01,-8.99339691e+01,
 -1.79836039e+01,-1.19646890e+01, 5.68149883e+01,-1.22217952e+02,
 -3.20320645e+00, 1.31547315e+01, 9.02798514e+00,-4.22372725e+01,
  8.86454442e-02, 1.65420913e+00,-9.64669279e-01,-2.81228072e+01,
  2.18177046e+00, 3.78514218e-01]

qfrc_actuator:
[ 0.00258228, 0.00142211,-0.0014344 ,-0.00943168, 0.0022326 ,-0.00131715,
 -0.00676689, 0.00426772, 0.00573717, 0.00060965,-0.00340386, 0.00871877,
  0.1006493 ,-0.00418187, 0.06894707, 0.01827954, 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: -0.00098890150376936
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.42012339e-14,  2.24536624e-13,  1.00000000e+00,  1.89062608e-26,
        1.00000000e+00, -2.24536624e-13, -1.00000000e+00,  0.00000000e+00,
       -8.42012339e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475389, -0.09285853,  0.06197598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41498160e-05,-7.82377453e-05,-2.01187249e-06, 2.07630316e-04,
 -3.61698839e-05, 1.91632466e-04, 1.87090761e-04,-9.53014640e-05,
 -1.05471069e-04,-9.03321558e-05, 3.91814244e-05,-1.91154615e-04,
 -1.50774251e-03,-4.85577595e-06,-4.85040375e-04,-3.46436999e-04,
  1.29089964e-05, 9.04721009e-06,-7.84796294e+00, 8.29804915e-04,
  9.26291646e-03,-9.48649431e-06]


--- Step 51 ---
qpos:
[ 4.63625193e-03, 2.65667956e-03,-2.35723582e-03,-1.68355662e-02,
  3.96437141e-03,-1.99497878e-03,-1.16895150e-02, 7.60275996e-03,
  1.01793324e-02, 1.49915608e-03,-5.85647353e-03, 1.56470491e-02,
  2.63594970e-01,-6.54134192e-03, 9.65783684e-02, 4.13359511e-02,
  9.49267304e-02,-7.00415235e-02, 1.21100381e-01, 9.99999358e-01,
  2.19489895e-04,-7.01783987e-04, 8.61943729e-04]

qacc:
[-6.95362877e+00, 3.53660869e+00,-2.94569302e+01, 9.01697766e+01,
 -6.60962792e+00,-1.32296113e+01, 6.18090245e+01,-1.19557968e+02,
 -2.46941956e+01,-1.21859131e+01, 5.75796083e+01,-1.22040308e+02,
 -2.79580480e+00, 1.16624951e+01,-6.05186791e-01,-7.58463188e+00,
  8.93969361e-02, 1.64936113e+00,-1.00169559e+00,-2.79941919e+01,
  2.11824545e+00, 4.50188281e-01]

qfrc_actuator:
[ 0.00254236, 0.00138199,-0.00138557,-0.00925346, 0.00219444,-0.00126531,
 -0.00661751, 0.00411678, 0.00559544, 0.00059727,-0.00332532, 0.00854021,
  0.1004564 ,-0.00413662, 0.06877494, 0.01819933, 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: -0.0009487136517124656
  efc_address: 1
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.92560095e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.92560095e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475364, -0.09286998,  0.06197696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09617531e-05,-7.59133644e-05, 3.99410312e-05, 1.79242857e-04,
 -3.91319705e-05, 1.95782137e-04, 2.10347841e-04,-1.37953736e-04,
 -1.44727425e-04,-6.28283275e-05, 5.84264183e-05,-1.85046667e-04,
 -1.30312240e-03,-3.68981535e-06,-4.10698301e-04,-1.57023313e-04,
  3.21289000e-05, 6.09323456e-06,-7.84784970e+00, 8.00631330e-04,
  9.25522012e-03,-7.71597442e-06]


--- Step 52 ---
qpos:
[ 4.68676158e-03, 2.68473258e-03,-2.38213540e-03,-1.70159905e-02,
  4.00713731e-03,-2.01719857e-03,-1.18158791e-02, 7.68379917e-03,
  1.02882230e-02, 1.51317001e-03,-5.91923053e-03, 1.58147070e-02,
  2.65653050e-01,-6.62074915e-03, 9.83779201e-02, 4.17918722e-02,
  9.49278594e-02,-7.00269295e-02, 1.21131259e-01, 9.99999372e-01,
  9.45884006e-05,-6.87436332e-04, 8.79552972e-04]

qacc:
[  -4.64293488,   3.8112254 , -28.35717735,  83.10024958,  -9.96014389,
  -11.39595186,  50.85932469, -91.99455513, -25.5910317 , -11.80643402,
   56.65761566,-120.22909915,  -2.66275091,  14.35847703,  13.5612079 ,
  -53.16016021,   1.12573805,  -0.64492392,  -0.27166488,  11.3736559 ,
   18.62331919,  -2.01896418]

qfrc_actuator:
[ 0.00251622, 0.00136478,-0.00134657,-0.00909297, 0.00213668,-0.00124335,
 -0.00647796, 0.00401253, 0.00544962, 0.00062003,-0.00323557, 0.00836676,
  0.10026671,-0.00407776, 0.06867094, 0.01791448, 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: -0.0009124897605707893
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12522315e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.12522315e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08203063, -0.0617843 ,  0.06197784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.73698793e-05,-4.42453077e-05, 3.47628752e-05, 1.62511937e-04,
 -5.88075594e-05, 1.71127346e-04, 2.02729108e-04,-9.11074273e-05,
 -1.49934169e-04,-8.08112807e-06, 7.78847606e-05,-1.77959961e-04,
 -1.14778233e-03, 1.60255195e-05,-2.90408742e-04,-3.42282197e-04,
  5.28500950e-05, 3.18493799e-06,-7.84763397e+00, 7.53582588e-04,
  9.24885417e-03,-4.92608578e-06]


--- Step 53 ---
qpos:
[ 4.73725399e-03, 2.71258683e-03,-2.40689249e-03,-1.71927586e-02,
  4.04922336e-03,-2.03883467e-03,-1.19397212e-02, 7.76301032e-03,
  1.03952085e-02, 1.52693620e-03,-5.98045442e-03, 1.59793214e-02,
  2.67705845e-01,-6.69852888e-03, 1.00175800e-01, 4.22354598e-02,
  9.49334409e-02,-7.00148967e-02, 1.21160687e-01, 9.99999399e-01,
 -8.04795305e-06,-6.36026142e-04, 8.93463725e-04]

qacc:
[  -0.14169428,   6.86945371, -40.28607255, 103.4279793 ,  -5.89777637,
  -10.02949988,  44.61820662, -80.7426617 , -16.71540348, -10.84883032,
   51.11393958,-106.12370008,  -2.69335531,  19.41285058,  34.83648762,
 -125.48958139,   1.11311804,  -0.64028657,  -0.36217948,  11.14759077,
   18.52129358,  -1.85865512]

qfrc_actuator:
[ 0.00251615, 0.00137914,-0.00133137,-0.00890867, 0.00210336,-0.0012395 ,
 -0.00636319, 0.00391881, 0.00535583, 0.00061047,-0.00315753, 0.00821551,
  0.10008979,-0.00399359, 0.06855455, 0.01728062, 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: -0.0008833249691429096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.28434078e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -6.28434078e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08202474, -0.06178194,  0.06197855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.94137999e-07, 3.26647986e-06, 1.62792407e-05, 1.87158642e-04,
 -3.49424024e-05, 1.39613787e-04, 1.73507848e-04,-8.09911893e-05,
 -9.80390342e-05,-5.47241133e-06, 8.01166098e-05,-1.52608143e-04,
 -1.01901661e-03, 4.64319667e-05,-2.75526673e-04,-6.87852935e-04,
  3.59643671e-05,-3.51261638e-06,-7.84774077e+00, 7.14249291e-04,
  9.25267138e-03,-2.87167469e-06]


--- Step 54 ---
qpos:
[ 4.78700741e-03, 2.74020473e-03,-2.43153481e-03,-1.73666192e-02,
  4.09092745e-03,-2.06006312e-03,-1.20607876e-02, 7.84014526e-03,
  1.05002367e-02, 1.54117894e-03,-6.04087097e-03, 1.61411390e-02,
  2.69753824e-01,-6.77436894e-03, 1.01971166e-01, 4.26661253e-02,
  9.49434354e-02,-7.00054092e-02, 1.21188366e-01, 9.99999438e-01,
 -8.87876483e-05,-5.47717144e-04, 9.03933349e-04]

qacc:
[  -6.49613695,   5.36759515, -31.82531463,  82.06806493,  -3.2727315 ,
  -11.48766228,  50.51878064, -91.20557275, -17.20983129,  -7.35319701,
   38.99861367, -89.1102451 ,  -2.69784422,  22.39389527,  35.37343771,
 -129.17420758,   1.1032538 ,  -0.63634712,  -0.43761402,  10.96371222,
   18.43962913,  -1.72738377]

qfrc_actuator:
[ 0.00247817, 0.00135898,-0.00133018,-0.00876508, 0.00208469,-0.00122888,
 -0.00622854, 0.00381424, 0.0052579 , 0.00067038,-0.00310489, 0.00807849,
  0.09991001,-0.0038952 , 0.06839346, 0.01662376, 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: -0.0008542663484266966
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.24905408e-14, -6.49810815e-14,  1.00000000e+00, -2.11127048e-27,
        1.00000000e+00,  6.49810815e-14, -1.00000000e+00,  0.00000000e+00,
       -3.24905408e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.082019  , -0.06177945,  0.06197925])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80394692e-05,-7.43899385e-06, 1.06455443e-05, 1.48312933e-04,
 -1.96177300e-05, 1.23111259e-04, 1.83581606e-04,-9.40120698e-05,
 -1.00698199e-04, 6.70206472e-05, 5.63974630e-05,-1.37689075e-04,
 -9.25252485e-04, 6.52732809e-05,-3.54575067e-04,-7.28827698e-04,
  2.54378467e-05,-7.30518738e-06,-7.84778425e+00, 6.81815151e-04,
  9.26849586e-03,-1.07067031e-06]


--- Step 55 ---
qpos:
[ 4.83557360e-03, 2.76732893e-03,-2.45583370e-03,-1.75380714e-02,
  4.13173821e-03,-2.08058863e-03,-1.21794006e-02, 7.91575921e-03,
  1.06032744e-02, 1.55581276e-03,-6.10047397e-03, 1.63000604e-02,
  2.71797313e-01,-6.84843973e-03, 1.03763818e-01, 4.30845235e-02,
  9.49578130e-02,-6.99984540e-02, 1.21214044e-01, 9.99999485e-01,
 -1.47928234e-04,-4.22632898e-04, 9.11173354e-04]

qacc:
[ -10.43054541,   3.36791863, -23.07230789,  64.49543579,  -7.77443025,
   -9.04394312,  40.04284171, -70.83743323, -17.50064627,  -7.68771032,
   40.44827458, -92.22910994,  -2.51195099,  20.47187631,  33.09234594,
 -121.62667918,   1.09577797,  -0.63308285,  -0.50000211,  10.81528574,
   18.37799673,  -1.61909466]

qfrc_actuator:
[ 0.00241817, 0.00131822,-0.00131968,-0.00864663, 0.00203928,-0.00117875,
 -0.006101  , 0.00373964, 0.00515831, 0.0006826 ,-0.00306738, 0.00793322,
  0.09972336,-0.003807  , 0.06825893, 0.01601187, 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: -0.0008256263629322219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -3.36175985e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  3.36175985e-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([ 0.08201342, -0.06177688,  0.06197995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.11155546e-05,-3.68570830e-05, 1.57080325e-05, 1.21757752e-04,
 -4.59249323e-05, 1.54872779e-04, 1.73834027e-04,-6.46539333e-05,
 -1.02412082e-04, 5.55693019e-05, 5.38299780e-05,-1.43350657e-04,
 -8.61831666e-04, 5.83252751e-05,-3.65117452e-04,-6.95418879e-04,
  2.07122788e-05,-8.62498824e-06,-7.84776625e+00, 6.56188963e-04,
  9.29624754e-03, 4.79226735e-07]


--- Step 56 ---
qpos:
[ 4.88338736e-03, 2.79377426e-03,-2.47892734e-03,-1.77064531e-02,
  4.17134247e-03,-2.10039216e-03,-1.22955706e-02, 7.99023656e-03,
  1.07043176e-02, 1.57003264e-03,-6.15879617e-03, 1.64560718e-02,
  2.73836634e-01,-6.92122030e-03, 1.05552697e-01, 4.34957017e-02,
  9.49765522e-02,-6.99940208e-02, 1.21237519e-01, 9.99999530e-01,
 -1.85707137e-04,-2.60857670e-04, 9.15358960e-04]

qacc:
[ -6.57233824,  2.06978868,-21.6042536 , 73.25193116,-10.52244776,
  -8.1929363 , 35.43155868,-59.58086996,-17.50660528,-10.08650843,
  47.51612614,-99.69178098, -2.17225558, 15.37648924, 16.25858109,
 -64.99978621,  1.09038917, -0.63046847, -0.55105489, 10.69690615,
  18.33597584, -1.52899859]

qfrc_actuator:
[ 0.00238121, 0.00130097,-0.00125061,-0.00849067, 0.0019785 ,-0.00114089,
 -0.0059785 , 0.0036833 , 0.00505853, 0.00061283,-0.00302152, 0.00778424,
  0.09954869,-0.00374326, 0.0680872 , 0.01566226, 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: -0.0007976617101723149
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.04388522e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.04388522e-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([ 0.08200803, -0.06177428,  0.06198063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87420461e-05,-2.98946176e-05, 6.79068765e-05, 1.57661439e-04,
 -6.20429172e-05, 1.59557246e-04, 1.75131963e-04,-4.48022867e-05,
 -1.02646250e-04,-3.36158475e-05, 5.92905649e-05,-1.47763349e-04,
 -8.02881939e-04, 3.54434642e-05,-4.02836303e-04,-4.32486726e-04,
  2.13960471e-05,-7.80853357e-06,-7.84768815e+00, 6.37295694e-04,
  9.33586572e-03, 1.78014377e-06]


--- Step 57 ---
qpos:
[ 4.93004051e-03, 2.81948930e-03,-2.50101258e-03,-1.78705928e-02,
  4.20991014e-03,-2.11978254e-03,-1.24086077e-02, 8.06310817e-03,
  1.08033792e-02, 1.58373387e-03,-6.21573934e-03, 1.66094322e-02,
  2.75871985e-01,-6.99334160e-03, 1.07338018e-01, 4.39007448e-02,
  9.49996387e-02,-6.99921014e-02, 1.21258624e-01, 9.99999557e-01,
 -2.02310387e-04,-6.24374429e-05, 9.16636660e-04]

qacc:
[-10.17002191,  4.97205248,-36.97628416,109.21973443, -9.0043052 ,
 -11.49802015, 48.59962115,-81.73974179,-17.38940578, -9.96605405,
  45.79147474,-93.56206053, -1.7843685 ,  8.83197002, 13.29663764,
 -54.16770929,  1.08683806, -0.6284767 , -0.59223059, 10.60421231,
  18.31306663, -1.45330351]

qfrc_actuator:
[ 0.00232261, 0.00126269,-0.00120066,-0.00827833, 0.00192691,-0.00112844,
 -0.00582449, 0.00360264, 0.00495945, 0.00058328,-0.00295369, 0.00765194,
  0.09936538,-0.00371218, 0.06793062, 0.01536337, 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: -0.0007705803979169423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.20381045e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.20381045e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08200284, -0.0617717 ,  0.06198128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.97501467e-05,-3.46899654e-05, 5.78886918e-05, 2.16841252e-04,
 -5.33055401e-05, 1.37828051e-04, 2.08419539e-04,-6.84998947e-05,
 -1.01994517e-04,-4.23288065e-05, 6.33507510e-05,-1.34788856e-04,
 -7.68406819e-04, 3.87680130e-06,-3.72533626e-04,-3.71226825e-04,
  2.72298016e-05,-5.12523638e-06,-7.84755092e+00, 6.25074637e-04,
  9.38730710e-03, 2.83405261e-06]


--- Step 58 ---
qpos:
[ 4.97459298e-03, 2.84454547e-03,-2.52285918e-03,-1.80305137e-02,
  4.24755909e-03,-2.13857476e-03,-1.25189266e-02, 8.13479897e-03,
  1.09011722e-02, 1.59722986e-03,-6.27124084e-03, 1.67596187e-02,
  2.77903440e-01,-7.06483853e-03, 1.09120485e-01, 4.42966427e-02,
  9.50212396e-02,-6.99949690e-02, 1.21278615e-01, 9.99999555e-01,
 -1.77960173e-04, 1.22326234e-04, 9.18231039e-04]

qacc:
[ -18.47124767,   7.18716395, -44.60985356, 117.59684454,  -7.98571333,
   -9.22139153,  39.0393972 , -64.29384539, -11.11630688, -10.8160958 ,
   51.61013823,-108.73988522,  -1.74452549,   8.46891748,  23.4385385 ,
  -88.14419795,  -0.37142747,  -1.19673751,  -0.27862765,  20.47047111,
   -6.84707447,   0.15569348]

qfrc_actuator:
[ 0.00221623, 0.00121213,-0.00119796,-0.00807006, 0.00188115,-0.0010957 ,
 -0.00568875, 0.00354381, 0.00489706, 0.00059588,-0.00287329, 0.00749505,
  0.09917168,-0.00368284, 0.06778324, 0.01490143, 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: -0.0007447521608914695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.54059083e-07, -1.77029709e-07,  1.00000000e+00,  6.26789766e-14,
        1.00000000e+00,  1.77029709e-07, -1.00000000e+00,  0.00000000e+00,
        3.54059083e-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([ 0.10100202, -0.05478118,  0.06198191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08131783e-04,-4.91947943e-05, 1.04422449e-05, 2.13358746e-04,
 -4.72343889e-05, 1.51771885e-04, 1.88904960e-04,-4.69114188e-05,
 -6.52761213e-05,-3.64835607e-06, 7.50644176e-05,-1.59352513e-04,
 -7.54183539e-04, 2.15350798e-06,-3.43934427e-04,-5.27282132e-04,
  3.80613408e-05,-7.98858096e-07,-7.84735514e+00, 6.19477833e-04,
  9.45054414e-03, 3.64278888e-06]


--- Step 59 ---
qpos:
[ 5.01752325e-03, 2.86877747e-03,-2.54434698e-03,-1.81873639e-02,
  4.28436651e-03,-2.15660143e-03,-1.26273402e-02, 8.20560977e-03,
  1.09971118e-02, 1.61074043e-03,-6.32568361e-03, 1.69060589e-02,
  2.79931130e-01,-7.13505883e-03, 1.10899473e-01, 4.46823692e-02,
  9.50389109e-02,-7.00034604e-02, 1.21296586e-01, 9.99999532e-01,
 -1.06228531e-04, 2.72105989e-04, 9.22138673e-04]

qacc:
[ -14.25311094,   4.25925488, -29.66146059,  82.73697708,  -7.33655043,
   -6.11044778,  26.99573655, -45.86434134, -16.28080639, -10.62358591,
   53.77933008,-120.38347517,  -2.05418164,  15.04495083,  25.6195407 ,
  -97.11841792,  -0.98236555,  -1.40595895,  -0.5049552 ,  23.67449834,
  -17.51391169,   1.15642152]

qfrc_actuator:
[ 0.00213584, 0.00115441,-0.00118774,-0.00791917, 0.00183919,-0.00106891,
 -0.00560031, 0.00349829, 0.00480352, 0.00059817,-0.00282147, 0.00730725,
  0.09899851,-0.00361925, 0.06757754, 0.01438263, 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: -0.000729205832213739
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.61254899e-14,  7.61254899e-14,  1.00000000e+00,  5.79509022e-27,
        1.00000000e+00, -7.61254899e-14, -1.00000000e+00,  0.00000000e+00,
       -7.61254899e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908793, -0.05180515,  0.06198229])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.35146171e-05,-7.44073498e-05, 8.99836942e-06, 1.53646353e-04,
 -4.32618108e-05, 1.50479397e-04, 1.42787379e-04,-3.32565565e-05,
 -9.53745756e-05, 9.03765572e-06, 5.50600187e-05,-1.88686516e-04,
 -7.23132686e-04, 3.64256139e-05,-4.08858453e-04,-5.89712218e-04,
  3.27711553e-05,-9.05234695e-06,-7.84743516e+00, 6.27495914e-04,
  9.50947365e-03, 3.91091886e-06]


--- Step 60 ---
qpos:
[ 5.05949964e-03, 2.89248587e-03,-2.56566425e-03,-1.83412038e-02,
  4.32003973e-03,-2.17404713e-03,-1.27339866e-02, 8.27501537e-03,
  1.10904949e-02, 1.62365858e-03,-6.37908686e-03, 1.70491850e-02,
  2.81955158e-01,-7.20325445e-03, 1.12674463e-01, 4.50612007e-02,
  9.50526869e-02,-7.00175369e-02, 1.21312214e-01, 9.99999494e-01,
  1.24076547e-05, 3.87386635e-04, 9.28470076e-04]

qacc:
[  -8.38095839,   5.04773994, -31.66232501,  83.79854593,  -9.9050207 ,
   -7.04497768,  32.19998563, -59.8116184 , -22.45696251, -10.47042275,
   50.26606251,-108.93799659,  -2.43961927,  22.55475192,  14.93928262,
  -60.87337437,  -0.97384622,  -1.39626536,  -0.58562381,  23.4360242 ,
  -17.27129956,   1.21644012]

qfrc_actuator:
[ 0.00208916, 0.00114609,-0.00117324,-0.00776774, 0.00178204,-0.00106383,
 -0.00552278, 0.00342543, 0.00467463, 0.00052312,-0.00278698, 0.00713823,
  0.09882715,-0.00351828, 0.06739559, 0.01404743, 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: -0.0007128536696540122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.81377671e-14,  7.78717338e-14,  1.00000000e+00,  5.30600607e-27,
        1.00000000e+00, -7.78717338e-14, -1.00000000e+00,  0.00000000e+00,
       -6.81377671e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909027, -0.05180138,  0.06198268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.91097643e-05,-4.19349559e-05, 5.84047658e-06, 1.51888062e-04,
 -5.83332164e-05, 1.19048532e-04, 1.26378193e-04,-6.19894409e-05,
 -1.31576489e-04,-6.66174216e-05, 3.68566720e-05,-1.70604810e-04,
 -6.97079803e-04, 7.54742148e-05,-4.18924275e-04,-4.17246033e-04,
  1.80758139e-05,-2.02214529e-05,-7.84755168e+00, 6.50831008e-04,
  9.55698385e-03, 3.10050146e-06]


--- Step 61 ---
qpos:
[ 5.10127882e-03, 2.91587712e-03,-2.58678921e-03,-1.84917085e-02,
  4.35475059e-03,-2.19121288e-03,-1.28386885e-02, 8.34269232e-03,
  1.11819520e-02, 1.63582677e-03,-6.43156658e-03, 1.71895426e-02,
  2.83975548e-01,-7.26932333e-03, 1.14445602e-01, 4.54372690e-02,
  9.50625957e-02,-7.00371688e-02, 1.21325231e-01, 9.99999435e-01,
  1.77577196e-04, 4.68560758e-04, 9.37323587e-04]

qacc:
[ -1.72260933,  5.91530545,-35.75039604, 93.33711717, -8.38662724,
  -8.60684783, 38.55235575,-71.81909322,-16.90968508, -9.24144729,
  43.25920498,-92.16451493, -2.50787058, 23.53342371,  2.66220881,
 -17.60052799, -0.96679741, -1.3888647 , -0.6528867 , 23.25034419,
 -17.07483547,  1.27028789]

qfrc_actuator:
[ 0.00208043, 0.00114967,-0.00115611,-0.00759939, 0.00173416,-0.00107191,
 -0.00543467, 0.00333705, 0.00457923, 0.00047328,-0.00274555, 0.00699932,
  0.09864101,-0.00341387, 0.06725469, 0.0139297 , 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: -0.0006961376219939697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99354084e-14,  9.96770421e-15,  1.00000000e+00,  1.98710254e-28,
        1.00000000e+00, -9.96770421e-15, -1.00000000e+00,  0.00000000e+00,
       -1.99354084e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909275, -0.05179747,  0.06198309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01608404e-05,-1.25654763e-05, 1.47161902e-05, 1.70037105e-04,
 -4.95012199e-05, 8.36538625e-05, 1.27432424e-04,-7.99934972e-05,
 -9.91428315e-05,-8.67054033e-05, 2.65577991e-05,-1.44021790e-04,
 -6.91089646e-04, 8.05449137e-05,-3.61968087e-04,-1.91154486e-04,
  1.87735216e-06,-2.61391873e-05,-7.84755563e+00, 6.88936436e-04,
  9.59317717e-03, 1.14038997e-06]


--- Step 62 ---
qpos:
[ 5.14262774e-03, 2.93908225e-03,-2.60788835e-03,-1.86393693e-02,
  4.38930716e-03,-2.20811976e-03,-1.29412236e-02, 8.40911873e-03,
  1.12715534e-02, 1.64785965e-03,-6.48310530e-03, 1.73263674e-02,
  2.85992361e-01,-7.33393169e-03, 1.16213649e-01, 4.58098927e-02,
  9.50706006e-02,-7.00534685e-02, 1.21338702e-01, 9.99999361e-01,
  3.14161290e-04, 5.34215216e-04, 9.45802062e-04]

qacc:
[  -3.78205632,   5.54633012, -32.10559602,  81.35948923,  -1.29047029,
   -8.28525123,  35.32276623, -60.62832969, -16.30146882, -10.05277362,
   50.55545469,-113.16619866,  -2.13100693,  16.75756213,   5.84314986,
  -27.09911565,  -0.47596889,   0.83307817,   0.11354013, -14.29990018,
   -7.74646084,  -0.19282985]

qfrc_actuator:
[ 0.00205861, 0.00114266,-0.00115525,-0.00745794, 0.00172763,-0.0010523 ,
 -0.00532333, 0.00327574, 0.00448656, 0.00050997,-0.00268251, 0.00682598,
  0.09845679,-0.00334383, 0.06712257, 0.01376355, 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: -0.0006825546668311974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.13285059e-14,  1.14862282e-07,  1.00000000e+00, -9.34157778e-21,
        1.00000000e+00, -1.14862282e-07, -1.00000000e+00,  1.50463277e-36,
        8.13285059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10198037, -0.08036431,  0.06198342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21501437e-05,-4.11712208e-06, 6.22622185e-06, 1.45057918e-04,
 -7.91174574e-06, 9.09629206e-05, 1.42825704e-04,-5.47519738e-05,
 -9.54976107e-05,-1.23692112e-05, 4.36799008e-05,-1.79138069e-04,
 -6.84462899e-04, 4.61658600e-05,-3.03710030e-04,-2.20092698e-04,
 -1.60509601e-05,-2.68096403e-05,-7.84745051e+00, 7.41687752e-04,
  9.61816978e-03,-1.95470962e-06]


--- Step 63 ---
qpos:
[ 5.18304822e-03, 2.96201385e-03,-2.62881702e-03,-1.87838329e-02,
  4.42420614e-03,-2.22454657e-03,-1.30417047e-02, 8.47427446e-03,
  1.13586572e-02, 1.65973626e-03,-6.53356141e-03, 1.74603831e-02,
  2.88005570e-01,-7.39714621e-03, 1.17978076e-01, 4.61797476e-02,
  9.50790511e-02,-7.00626471e-02, 1.21350972e-01, 9.99999285e-01,
  3.90106741e-04, 6.04909017e-04, 9.54609480e-04]

qacc:
[ -8.16126933,  5.76277997,-34.5197252 , 89.70141819,  3.0589938 ,
  -7.72808725, 33.83066779,-59.45155396,-21.94552045, -8.97492683,
  43.63546588,-93.95145471, -2.1181835 , 16.09131969,  3.02138687,
 -18.35518377,  0.1114008 ,  1.78023962, -0.30031691,-30.31700643,
   2.54839762,  0.14748282]

qfrc_actuator:
[ 0.00201148, 0.00112928,-0.00114631,-0.00729796, 0.00174549,-0.00101618,
 -0.00521681, 0.00321313, 0.00436073, 0.0005095 ,-0.00262463, 0.00668712,
  0.09826319,-0.00327684, 0.06693189, 0.01362339, 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: -0.0006752966452559517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.22026166e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.22026166e-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([ 0.09475043, -0.09294749,  0.0619836 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.77898393e-05,-8.58426390e-06, 1.41381846e-05, 1.63163520e-04,
  1.76609593e-05, 1.15811797e-04, 1.42256982e-04,-5.47143658e-05,
 -1.28532529e-04,-5.93048647e-06, 5.47576513e-05,-1.41560642e-04,
 -6.90095217e-04, 4.20707389e-05,-3.41983354e-04,-1.88982491e-04,
 -1.36847043e-05,-1.93031490e-05,-7.84762758e+00, 7.85093020e-04,
  9.63947563e-03,-4.71399297e-06]


--- Step 64 ---
qpos:
[ 5.22293418e-03, 2.98436290e-03,-2.64910017e-03,-1.89245514e-02,
  4.45835818e-03,-2.24068977e-03,-1.31402955e-02, 8.53821184e-03,
  1.14439202e-02, 1.67151997e-03,-6.58328017e-03, 1.75923941e-02,
  2.90015149e-01,-7.45832872e-03, 1.19738836e-01, 4.65438264e-02,
  9.50879531e-02,-7.00647764e-02, 1.21361648e-01, 9.99999221e-01,
  4.06165056e-04, 6.80500771e-04, 9.63849043e-04]

qacc:
[ -4.67281051,  5.14753769,-35.2401207 , 99.37618116, -6.4975932 ,
  -7.40319895, 32.10692911,-56.45051726,-16.17601412, -6.28106249,
  30.73696873,-66.60732906, -2.50357508, 22.52698758, 12.04185719,
 -50.02704547,  0.11288707,  1.76235385, -0.39854211,-29.94134207,
   2.47763967,  0.1969991 ]

qfrc_actuator:
[ 0.00198534, 0.00109449,-0.00111492,-0.00711059, 0.00170654,-0.00102373,
 -0.0051317 , 0.00315026, 0.00426964, 0.00050456,-0.00258812, 0.00658739,
  0.09807475,-0.00317669, 0.06671687, 0.01332201, 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: -0.0006664815876277069
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.16449248e-14,  2.49869549e-13,  1.00000000e+00,  1.04057986e-26,
        1.00000000e+00, -2.49869549e-13, -1.00000000e+00,  0.00000000e+00,
       -4.16449248e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475072, -0.09295013,  0.06198381])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75271446e-05,-3.00877310e-05, 3.72581645e-05, 1.90971958e-04,
 -3.84150550e-05, 8.58897891e-05, 1.25893885e-04,-5.39291888e-05,
 -9.47276099e-05,-2.91961471e-06, 3.73752278e-05,-1.01036643e-04,
 -6.89206066e-04, 7.44790418e-05,-3.78351795e-04,-3.52915954e-04,
 -5.40458458e-06,-1.58750441e-05,-7.84782553e+00, 8.09335248e-04,
  9.66264930e-03,-6.24716555e-06]


--- Step 65 ---
qpos:
[ 5.26185075e-03, 3.00649157e-03,-2.66895098e-03,-1.90623009e-02,
  4.49143345e-03,-2.25686676e-03,-1.32371840e-02, 8.60095553e-03,
  1.15281174e-02, 1.68358708e-03,-6.63205558e-03, 1.77217699e-02,
  2.92021192e-01,-7.51780190e-03, 1.21497070e-01, 4.68983164e-02,
  9.50973121e-02,-7.00599150e-02, 1.21370395e-01, 9.99999171e-01,
  3.62948915e-04, 7.60882634e-04, 9.73594541e-04]

qacc:
[ -8.51450288,  4.63145142,-29.42103891, 80.19741221, -9.39058148,
  -7.24111251, 30.82600344,-54.21922048, -9.35601993, -7.67080643,
  39.05181516,-86.41232486, -2.29531707, 19.23357513, 25.25800469,
 -93.81489576,  0.11422932,  1.74767393, -0.48215768,-29.63507128,
   2.42371724,  0.23181944]

qfrc_actuator:
[ 0.00193627, 0.00110054,-0.00108836,-0.00696189, 0.0016522 ,-0.00105747,
 -0.00506008, 0.0030877 , 0.00421749, 0.00055019,-0.00252902, 0.0064582 ,
  0.09790019,-0.00309335, 0.06659391, 0.01283924, 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: -0.0006564916455865377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.22786425e-14,  1.69114570e-13,  1.00000000e+00,  7.14993446e-27,
        1.00000000e+00, -1.69114570e-13, -1.00000000e+00,  0.00000000e+00,
       -4.22786425e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475087, -0.09295315,  0.06198406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.98925895e-05, 4.69837516e-06, 3.17883076e-05, 1.52725922e-04,
 -5.54062925e-05, 3.95631316e-05, 1.04207182e-04,-5.54601603e-05,
 -5.48264904e-05, 4.74913573e-05, 5.98467472e-05,-1.30180607e-04,
 -6.73412003e-04, 5.81625048e-05,-3.20282959e-04,-5.47884544e-04,
  3.41995079e-06,-1.26064821e-05,-7.84790297e+00, 8.14466673e-04,
  9.68729655e-03,-6.69537674e-06]


--- Step 66 ---
qpos:
[ 5.29987602e-03, 3.02844424e-03,-2.68834917e-03,-1.91971978e-02,
  4.52359998e-03,-2.27305650e-03,-1.33321317e-02, 8.66209950e-03,
  1.16106898e-02, 1.69564879e-03,-6.67965944e-03, 1.78489529e-02,
  2.94023784e-01,-7.57646506e-03, 1.23253025e-01, 4.72434860e-02,
  9.51048342e-02,-7.00517601e-02, 1.21379069e-01, 9.99999133e-01,
  2.91853297e-04, 8.25629322e-04, 9.83272223e-04]

qacc:
[-7.82726876e+00, 4.39242040e+00,-2.79954343e+01, 7.66968792e+01,
 -7.90946521e+00,-8.71868570e+00, 3.78441417e+01,-6.86567437e+01,
 -1.42632407e+01,-7.76982293e+00, 3.69999787e+01,-7.68745201e+01,
 -1.75150121e+00, 1.01710328e+01, 2.48107999e+01,-9.17148966e+01,
 -4.59211543e-01, 8.23354310e-01,-1.80614254e-02,-1.39473147e+01,
 -7.80402676e+00,-4.16832612e-02]

qfrc_actuator:
[ 0.00189185, 0.00109544,-0.00106475,-0.00681935, 0.00160701,-0.00105348,
 -0.00496162, 0.00300803, 0.00413541, 0.00053707,-0.00247461, 0.00634826,
  0.09772343,-0.00305608, 0.06649425, 0.01237803, 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: -0.0006453064860535082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.60229247e-14, -9.06547258e-07,  1.00000000e+00, -7.79838465e-20,
        1.00000000e+00,  9.06547258e-07, -1.00000000e+00,  0.00000000e+00,
       -8.60229247e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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 , -0.08036924,  0.06198433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.58718761e-05, 1.02381757e-05, 3.40272793e-05, 1.47112444e-04,
 -4.67545325e-05, 4.68327159e-05, 1.18736312e-04,-7.53346361e-05,
 -8.36059034e-05, 2.03130123e-05, 6.73113922e-05,-1.08548067e-04,
 -6.64465363e-04, 1.19125102e-05,-2.96101740e-04,-5.30677128e-04,
  1.31136652e-05,-9.52664505e-06,-7.84786409e+00, 8.00682645e-04,
  9.71340286e-03,-6.06805005e-06]


--- Step 67 ---
qpos:
[ 5.33810769e-03, 3.04959724e-03,-2.70643589e-03,-1.93296554e-02,
  4.55566424e-03,-2.28925771e-03,-1.34248910e-02, 8.72214265e-03,
  1.16919818e-02, 1.70730378e-03,-6.72603163e-03, 1.79742185e-02,
  2.96022937e-01,-7.63418094e-03, 1.25006164e-01, 4.75811209e-02,
  9.51082910e-02,-7.00441732e-02, 1.21387750e-01, 9.99999115e-01,
  2.25384475e-04, 8.55281180e-04, 9.93995252e-04]

qacc:
[ 1.87346499e+00, 2.96753080e-01,-1.28812107e+01, 5.35628378e+01,
 -8.28607829e-01,-8.39501285e+00, 3.45623108e+01,-5.71107610e+01,
 -1.12237816e+01,-7.90738071e+00, 3.55482219e+01,-7.04476578e+01,
 -1.83934718e+00, 1.15313634e+01, 1.86161113e+01,-7.11953054e+01,
 -1.01634729e+00,-1.41982109e-01, 1.55348180e-03, 2.29570753e+00,
 -1.75495299e+01, 5.29694855e-01]

qfrc_actuator:
[ 0.00190377, 0.00103045,-0.00100759,-0.00669933, 0.00160308,-0.0010446 ,
 -0.00484798, 0.00295448, 0.00407186, 0.00048887,-0.00242363, 0.0062505 ,
  0.09754547,-0.00301074, 0.06635539, 0.01200433, 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: -0.0006382928765230333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.43550943e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.43550943e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884903, -0.06842282,  0.0619845 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05968494e-05,-4.63388614e-05, 6.87910232e-05, 1.24788924e-04,
 -5.24644962e-06, 5.79170626e-05, 1.36504245e-04,-4.87847914e-05,
 -6.59021439e-05,-2.75186966e-05, 5.99323826e-05,-9.68622311e-05,
 -6.60756422e-04, 1.87306462e-05,-3.23521750e-04,-4.39385292e-04,
  1.51774767e-05,-6.09241017e-06,-7.84784891e+00, 7.77881520e-04,
  9.73425458e-03,-4.71728140e-06]


--- Step 68 ---
qpos:
[ 5.37549462e-03, 3.06959968e-03,-2.72315555e-03,-1.94595961e-02,
  4.58846646e-03,-2.30525651e-03,-1.35159060e-02, 8.78108176e-03,
  1.17722247e-02, 1.71874710e-03,-6.77171049e-03, 1.80970016e-02,
  2.98018653e-01,-7.69017357e-03, 1.26756252e-01, 4.79083853e-02,
  9.51077068e-02,-7.00371474e-02, 1.21396149e-01, 9.99999119e-01,
  1.63467113e-04, 8.50225002e-04, 1.00573740e-03]

qacc:
[-7.37190050e+00,-1.44480262e-01,-1.22769541e+01, 5.44370164e+01,
  6.52213553e+00,-6.89284117e+00, 2.96049700e+01,-5.16295259e+01,
 -9.20846780e+00,-7.31198220e+00, 3.61778451e+01,-8.01305351e+01,
 -2.31162088e+00, 1.92702504e+01, 2.68405351e+01,-1.00483071e+02,
 -1.01022489e+00,-1.40293278e-01,-7.05988466e-02, 2.25803996e+00,
 -1.73561599e+01, 5.15407461e-01]

qfrc_actuator:
[ 0.00186001, 0.00094797,-0.00094909,-0.0065758 , 0.00164122,-0.00103278,
 -0.00476175, 0.00289899, 0.00401973, 0.00047329,-0.00239299, 0.00612513,
  0.09737223,-0.00292552, 0.06616651, 0.01147205, 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: -0.0006306486512449583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20055776e-14,  3.30083663e-14,  1.00000000e+00,  7.26368166e-28,
        1.00000000e+00, -3.30083663e-14, -1.00000000e+00,  0.00000000e+00,
       -2.20055776e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885011, -0.06842267,  0.06198468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.35115301e-05,-8.92160133e-05, 6.19357573e-05, 1.26636530e-04,
  3.80037097e-05, 7.18498927e-05, 1.14457640e-04,-4.91199506e-05,
 -5.39921763e-05,-2.26690606e-05, 2.92045174e-05,-1.26541056e-04,
 -6.52966393e-04, 5.85807102e-05,-3.74151752e-04,-5.95979778e-04,
  1.25004860e-05,-3.57636141e-06,-7.84791314e+00, 7.56497133e-04,
  9.74378439e-03,-3.25276183e-06]


--- Step 69 ---
qpos:
[ 5.41103108e-03, 3.08884107e-03,-2.73970615e-03,-1.95863151e-02,
  4.62112569e-03,-2.32093076e-03,-1.36049403e-02, 8.83886698e-03,
  1.18501836e-02, 1.73021349e-03,-6.81646343e-03, 1.82165862e-02,
  3.00010981e-01,-7.74501213e-03, 1.28502738e-01, 4.82247780e-02,
  9.51031013e-02,-7.00306768e-02, 1.21404021e-01, 9.99999147e-01,
  1.06036269e-04, 8.10768513e-04, 1.01847462e-03]

qacc:
[ -16.26957797,   5.18824683, -33.4804724 ,  89.41279862,  -1.19784173,
   -7.47954623,  32.16784097, -55.55168399, -20.07238532,  -9.10544546,
   46.0832934 ,-103.01602211,  -1.96220125,  13.57043773,  27.5444826 ,
 -104.12133414,  -1.00534124,  -0.13879056,  -0.13168715,   2.22553319,
  -17.20232506,   0.50223899]

qfrc_actuator:
[ 0.00176604, 0.00090893,-0.00094363,-0.00641571, 0.00163278,-0.00100166,
 -0.00465691, 0.00284279, 0.00390373, 0.00049499,-0.00233899, 0.00596678,
  0.09719663,-0.00287077, 0.06596371, 0.01092149, 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: -0.0006223102844597206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.23004314e-14,  1.22652373e-13,  1.00000000e+00, -2.73520082e-27,
        1.00000000e+00, -1.22652373e-13, -1.00000000e+00,  0.00000000e+00,
        2.23004314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885137, -0.0684225 ,  0.06198489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.52608351e-05,-7.10917073e-05,-7.42659329e-07, 1.61154171e-04,
 -7.32846219e-06, 9.43669511e-05, 1.33208731e-04,-5.00150471e-05,
 -1.17525215e-04, 9.71845478e-06, 4.87425380e-05,-1.60952602e-04,
 -6.47937009e-04, 2.91394768e-05,-4.27005235e-04,-6.29092143e-04,
  1.20601926e-05, 3.77080962e-07,-7.84793654e+00, 7.36480072e-04,
  9.74222692e-03,-1.93558278e-06]


--- Step 70 ---
qpos:
[ 5.44585411e-03, 3.10770883e-03,-2.75676209e-03,-1.97104721e-02,
  4.65308541e-03,-2.33635286e-03,-1.36914365e-02, 8.89584615e-03,
  1.19264913e-02, 1.74141798e-03,-6.85958615e-03, 1.83336714e-02,
  3.01999919e-01,-7.79906194e-03, 1.30245555e-01, 4.85307012e-02,
  9.50944893e-02,-7.00247561e-02, 1.21411161e-01, 9.99999194e-01,
  5.30359660e-05, 7.37150591e-04, 1.03218466e-03]

qacc:
[ -6.28837412,  6.20757201,-33.62360327, 78.97466946, -6.05890016,
  -8.40650305, 33.88211625,-52.10099653,-14.4777622 ,-10.02187294,
  45.83314757,-91.55969668, -1.75112297,  9.9460037 , 26.22460031,
 -99.64968131, -1.00162334, -0.13746068, -0.18302752,  2.1974771 ,
 -17.08291409,  0.49000647]

qfrc_actuator:
[ 0.00173207, 0.00089601,-0.00096934,-0.00628865, 0.00159699,-0.00097692,
 -0.00452407, 0.0028044 , 0.00382207, 0.00048566,-0.00225374, 0.00584361,
  0.0970144 ,-0.00283443, 0.06578468, 0.0104001 , 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: -0.0006135309405766454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.91683909e-14,  9.04781610e-14,  1.00000000e+00, -7.16301042e-27,
        1.00000000e+00, -9.04781610e-14, -1.00000000e+00,  0.00000000e+00,
        7.91683909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885277, -0.06842232,  0.0619851 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67344621e-05,-4.62869938e-05,-3.46912939e-05, 1.27396696e-04,
 -3.59704182e-05, 1.04371946e-04, 1.68107973e-04,-3.06067244e-05,
 -8.49778463e-05,-6.77565216e-07, 8.78972525e-05,-1.24373452e-04,
 -6.51963322e-04, 9.76296693e-06,-4.28698685e-04,-6.07963879e-04,
  1.37976108e-05, 5.71754598e-06,-7.84792037e+00, 7.17812469e-04,
  9.72968109e-03,-7.63223414e-07]


--- Step 71 ---
qpos:
[ 5.48034271e-03, 3.12649205e-03,-2.77416753e-03,-1.98325286e-02,
  4.68402256e-03,-2.35114912e-03,-1.37760450e-02, 8.95192017e-03,
  1.20015717e-02, 1.75210368e-03,-6.90175458e-03, 1.84487915e-02,
  3.03985447e-01,-7.85220604e-03, 1.31984697e-01, 4.88282028e-02,
  9.50819923e-02,-7.00244561e-02, 1.21416167e-01, 9.99999251e-01,
  4.73735984e-05, 6.28883012e-04, 1.04847201e-03]

qacc:
[ -2.95243038,  5.19739525,-27.53481098, 64.46060343, -8.91822209,
  -6.29415278, 27.49482015,-46.67426217,-10.76291787, -7.37915717,
  33.64993025,-68.84761144, -1.84060609, 11.10870829, 20.02577113,
 -77.97203364, -0.97125186, -1.40519211, -0.53327353, 23.65011592,
 -17.34918091,  1.30702136]

qfrc_actuator:
[ 0.00171593, 0.00091644,-0.00097764,-0.00618204, 0.0015454 ,-0.0009383 ,
 -0.00442904, 0.00275906, 0.00376129, 0.00042248,-0.00222183, 0.00574213,
  0.09683364,-0.00279149, 0.06562537, 0.00998894, 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: -0.0006055909741015664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.43741611e-14, -2.29161074e-14,  1.00000000e+00,  7.87721968e-28,
        1.00000000e+00,  2.29161074e-14, -1.00000000e+00,  0.00000000e+00,
        3.43741611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10910342, -0.05177667,  0.06198529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.72169470e-05,-7.48938217e-06,-1.75042896e-05, 1.06171952e-04,
 -5.25860724e-05, 1.31831261e-04, 1.37303101e-04,-3.55471563e-05,
 -6.31747090e-05,-5.06837113e-05, 3.84910821e-05,-1.01064566e-04,
 -6.54227031e-04, 1.52784246e-05,-4.07265871e-04,-4.96752935e-04,
  1.76565834e-05, 1.24035296e-05,-7.84786555e+00, 7.00478648e-04,
  9.70622357e-03, 2.66425385e-07]


--- Step 72 ---
qpos:
[ 5.51333421e-03, 3.14517999e-03,-2.79161442e-03,-1.99523731e-02,
  4.71375535e-03,-2.36487966e-03,-1.38592429e-02, 9.00595667e-03,
  1.20746499e-02, 1.76206161e-03,-6.94301197e-03, 1.85611367e-02,
  3.05967559e-01,-7.90437422e-03, 1.33719597e-01, 4.91250205e-02,
  9.50656175e-02,-7.00297520e-02, 1.21418837e-01, 9.99999308e-01,
  8.86892105e-05, 4.86259809e-04, 1.06735247e-03]

qacc:
[-13.17736201,  4.57110495,-25.75731883, 64.08646778,-10.53490019,
  -6.70769462, 34.59909902,-72.94404732,-17.58075711, -9.1884602 ,
  43.14181532,-92.15452402, -1.90290378, 11.77563818, -4.20328324,
   5.58800461, -0.96943061, -1.39895985, -0.58432957, 23.47014657,
 -17.20236523,  1.31213501]

qfrc_actuator:
[ 0.0016394 , 0.00092124,-0.00097545,-0.00607052, 0.00148493,-0.00087408,
 -0.00435707, 0.0026567 , 0.00366002, 0.00036286,-0.00218638, 0.00560086,
  0.0966539 ,-0.002745  , 0.06547802, 0.00998334, 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: -0.0005977325253286592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.48260816e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.48260816e-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([ 0.10910442, -0.05177481,  0.06198548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.70472095e-05, 1.22155011e-06, 2.38365576e-06, 1.12930100e-04,
 -6.19261549e-05, 1.66164067e-04, 1.15930415e-04,-9.25427369e-05,
 -1.03063241e-04,-8.42818683e-05, 2.64087015e-05,-1.44241405e-04,
 -6.54626284e-04, 1.84908360e-05,-3.73674143e-04,-8.23697086e-05,
  1.33289599e-05, 2.80651849e-05,-7.84780888e+00, 6.97938616e-04,
  9.67116233e-03, 5.37221010e-08]


--- Step 73 ---
qpos:
[ 5.54515182e-03, 3.16339701e-03,-2.80878414e-03,-2.00695720e-02,
  4.74253190e-03,-2.37764722e-03,-1.39408896e-02, 9.05800616e-03,
  1.21462911e-02, 1.77121787e-03,-6.98318531e-03, 1.86709096e-02,
  3.07946240e-01,-7.95518710e-03, 1.35450905e-01, 4.94203760e-02,
  9.50452160e-02,-7.00374641e-02, 1.21420446e-01, 9.99999349e-01,
  1.49923931e-04, 3.09512377e-04, 1.08797285e-03]

qacc:
[-10.31552295,  4.07180841,-26.53621922, 72.14602533, -8.35298126,
  -7.13688205, 35.71187517,-73.32423107,-12.59981905, -9.3623168 ,
  42.74800349,-88.45919016, -2.1577228 , 15.52178402, -0.88992521,
  -4.6117681 , -1.00669583, -0.6040788 , -0.26504739,  9.94091377,
 -17.07265251,  0.87632379]

qfrc_actuator:
[ 0.00158118, 0.0008812 ,-0.00096713,-0.00593924, 0.00143748,-0.00083069,
 -0.00428145, 0.00255715, 0.00358899, 0.00032354,-0.00213141, 0.00547283,
  0.09647487,-0.00267908, 0.06531673, 0.00991493, 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: -0.0005896791832113637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.41214286e-07, -3.20607208e-07,  1.00000000e+00, -2.05577922e-13,
        1.00000000e+00,  3.20607208e-07, -1.00000000e+00, -2.52435490e-29,
       -6.41214286e-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([ 0.1089454 , -0.06251559,  0.06198568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.04293052e-05,-3.43694110e-05, 1.29935586e-05, 1.33873822e-04,
 -4.91602671e-05, 1.57617128e-04, 1.22036301e-04,-9.01256652e-05,
 -7.39783103e-05,-8.71115207e-05, 3.60213616e-05,-1.33699708e-04,
 -6.53984199e-04, 3.76527552e-05,-3.25724654e-04,-1.17710096e-04,
  7.16784288e-06, 4.93616141e-05,-7.84764236e+00, 7.10166270e-04,
  9.62481863e-03,-1.30399661e-06]


--- Step 74 ---
qpos:
[ 5.57740326e-03, 3.18108879e-03,-2.82567314e-03,-2.01842734e-02,
  4.77051589e-03,-2.38988489e-03,-1.40211116e-02, 9.10921511e-03,
  1.22168679e-02, 1.77998852e-03,-7.02260608e-03, 1.87789502e-02,
  3.09921477e-01,-8.00476302e-03, 1.37179381e-01, 4.97082836e-02,
  9.50251998e-02,-7.00379613e-02, 1.21421176e-01, 9.99999365e-01,
  1.50272763e-04, 1.38591824e-04, 1.10785593e-03]

qacc:
[  3.83834524,  3.65697026,-24.58399709, 67.71534867, -6.91341416,
  -4.99770918, 22.40855961,-39.65094629, -9.33697971, -6.16242901,
  28.57884188,-59.51569644, -2.0936604 , 14.38101771, 18.32501095,
 -70.21474296,  0.09634254,  1.80375349, -0.21962052,-30.43963897,
   2.94650722, -0.37849582]

qfrc_actuator:
[ 0.00160523, 0.00085017,-0.00095543,-0.00581518, 0.00139807,-0.00083564,
 -0.00422211, 0.00251329, 0.00353632, 0.00033227,-0.002083  , 0.00538915,
  0.09629109,-0.00262001, 0.06514185, 0.00952583, 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: -0.0005861233583338704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.8941798e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.8941798e-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([ 0.09475661, -0.09297594,  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:
[ 2.23049217e-05,-4.21522776e-05, 1.10445571e-05, 1.25898858e-04,
 -4.07558127e-05, 1.05828331e-04, 1.04809506e-04,-3.45356363e-05,
 -5.47824422e-05,-3.81766342e-05, 3.04142572e-05,-8.89272241e-05,
 -6.57413226e-04, 3.09902498e-05,-3.23964432e-04,-4.34838660e-04,
  9.52478599e-06, 6.94074627e-05,-7.84743241e+00, 7.28735254e-04,
  9.56791979e-03,-2.97702500e-06]


--- Step 75 ---
qpos:
[ 5.60969141e-03, 3.19822365e-03,-2.84194782e-03,-2.02973001e-02,
  4.79780969e-03,-2.40177334e-03,-1.40993192e-02, 9.15948451e-03,
  1.22866091e-02, 1.78879324e-03,-7.06106016e-03, 1.88847283e-02,
  3.11893253e-01,-8.05285190e-03, 1.38905002e-01, 4.99882662e-02,
  9.50055724e-02,-7.00313075e-02, 1.21420680e-01, 9.99999360e-01,
  9.03240865e-05,-2.68914525e-05, 1.12745481e-03]

qacc:
[  0.3530985 ,  0.99473132,-11.67428121, 40.05967876, -5.9941985 ,
  -7.08994359, 29.93741892,-49.70096526, -7.32573712, -7.30196076,
  35.67861434,-76.43639629, -2.27181248, 16.83488347, 19.73206463,
 -75.18990897,  0.09718431,  1.78772598, -0.30665441,-30.14570199,
   2.75201767, -0.14667112]

qfrc_actuator:
[ 0.00160651, 0.00082479,-0.00092408,-0.00573187, 0.00136371,-0.00081628,
 -0.00411976, 0.002467  , 0.00349488, 0.00036973,-0.00202089, 0.00527901,
  0.0961099 ,-0.00254773, 0.06499615, 0.00912842, 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: -0.0005855163879916331
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48071691e-14,  1.89614338e-13,  1.00000000e+00,  1.79767986e-26,
        1.00000000e+00, -1.89614338e-13, -1.00000000e+00,  0.00000000e+00,
       -9.48071691e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475782, -0.09297655,  0.06198578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.86965181e-06,-4.15600512e-05, 2.85772804e-05, 8.45873156e-05,
 -3.54908049e-05, 9.99684618e-05, 1.36893568e-04,-3.87089394e-05,
 -4.29963467e-05, 1.86968251e-05, 5.50866226e-05,-1.12608360e-04,
 -6.57627918e-04, 4.34593785e-05,-3.31062741e-04,-4.61011843e-04,
  2.85407855e-05, 5.52621349e-05,-7.84752511e+00, 7.29186758e-04,
  9.51459672e-03,-2.52212734e-06]


--- Step 76 ---
qpos:
[ 5.64105357e-03, 3.21501814e-03,-2.85727334e-03,-2.04081503e-02,
  4.82413420e-03,-2.41327852e-03,-1.41756574e-02, 9.20881519e-03,
  1.23553114e-02, 1.79743556e-03,-7.09842027e-03, 1.89887212e-02,
  3.13861582e-01,-8.09896994e-03, 1.40627582e-01, 5.02619230e-02,
  9.49863344e-02,-7.00175565e-02, 1.21418652e-01, 9.99999324e-01,
 -2.94372685e-05,-1.87257321e-04, 1.14714064e-03]

qacc:
[-8.11449216e+00, 1.39513465e+00,-1.47738620e+01, 5.11131500e+01,
 -8.44583877e+00,-6.63322196e+00, 2.83789886e+01,-4.79302626e+01,
 -9.10623536e+00,-6.93093256e+00, 3.19694491e+01,-6.45305163e+01,
 -2.59689626e+00, 2.15355171e+01, 1.46222473e+01,-5.77138584e+01,
  9.73463795e-02, 1.77433288e+00,-3.83090032e-01,-2.99034331e+01,
  2.59242358e+00, 4.40607152e-02]

qfrc_actuator:
[ 0.00155883, 0.00083854,-0.00086362,-0.00561992, 0.00131484,-0.00080011,
 -0.00402828, 0.00241968, 0.00344263, 0.00035317,-0.00196882, 0.00518973,
  0.09593571,-0.00245051, 0.06485742, 0.00881824, 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: -0.000583339225920021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.75805061e-14,  9.51610123e-14,  1.00000000e+00,  4.52780913e-27,
        1.00000000e+00, -9.51610123e-14, -1.00000000e+00,  0.00000000e+00,
       -4.75805061e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475873, -0.09297762,  0.06198583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.76604760e-05,-2.37315824e-07, 5.85303948e-05, 1.13045440e-04,
 -4.98547757e-05, 9.99083821e-05, 1.28600819e-04,-3.89614623e-05,
 -5.34608877e-05, 5.42102730e-07, 5.90031589e-05,-8.89222353e-05,
 -6.50182235e-04, 6.83603066e-05,-3.30102897e-04,-3.76110211e-04,
  4.65405665e-05, 4.29041422e-05,-7.84749524e+00, 7.10306712e-04,
  9.46283180e-03,-9.86265221e-07]


--- Step 77 ---
qpos:
[ 5.67194498e-03, 3.23185545e-03,-2.87223146e-03,-2.05161111e-02,
  4.85001319e-03,-2.42462485e-03,-1.42504067e-02, 9.25690021e-03,
  1.24225083e-02, 1.80602864e-03,-7.13546699e-03, 1.90915625e-02,
  3.15826501e-01,-8.14386100e-03, 1.42347299e-01, 5.05286681e-02,
  9.49719106e-02,-7.00065455e-02, 1.21418230e-01, 9.99999269e-01,
 -1.24869906e-04,-3.06834745e-04, 1.16290170e-03]

qacc:
[ -4.13155494,  4.98857561,-29.86732105, 79.1902161 , -3.85919282,
  -6.78682438, 29.77664775,-54.0097472 ,-13.23832614, -3.28680593,
  16.53231381,-36.97891291, -2.10744633, 14.23487467, 16.65680172,
 -64.44424962,  1.2035652 , -0.68502362,  0.40148729, 12.18737788,
  20.38031071, -1.96404529]

qfrc_actuator:
[ 0.00153598, 0.00085804,-0.00083954,-0.00547421, 0.00129332,-0.00082155,
 -0.00396173, 0.00235437, 0.00336666, 0.00033987,-0.0019588 , 0.00513114,
  0.0957552 ,-0.00239267, 0.06471765, 0.00847321, 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: -0.0005849174667732354
  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([ 0.08196778, -0.06176382,  0.06198579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42205796e-05, 3.59940565e-05, 3.53540519e-05, 1.50162553e-04,
 -2.29102103e-05, 6.05137549e-05, 1.02602502e-04,-5.72521297e-05,
 -7.74724912e-05,-4.52851545e-06, 1.45023751e-05,-5.84089926e-05,
 -6.49810118e-04, 2.96934949e-05,-3.20917929e-04,-4.06034011e-04,
  6.46185569e-05, 3.19515264e-05,-7.84734638e+00, 6.72269614e-04,
  9.41259426e-03, 1.62695784e-06]


--- Step 78 ---
qpos:
[ 5.70266689e-03, 3.24853784e-03,-2.88693864e-03,-2.06217927e-02,
  4.87577756e-03,-2.43573864e-03,-1.43237382e-02, 9.30348798e-03,
  1.24886169e-02, 1.81489045e-03,-7.17250674e-03, 1.91925335e-02,
  3.17787999e-01,-8.18833960e-03, 1.44063964e-01, 5.07895064e-02,
  9.49622379e-02,-6.99982528e-02, 1.21418933e-01, 9.99999216e-01,
 -1.96544080e-04,-3.86156918e-04, 1.17501524e-03]

qacc:
[ -1.48031892,  3.79049021,-23.41139853, 62.52259978, -0.9651307 ,
  -6.73506805, 30.78596641,-59.14415256, -9.58270897, -3.49692842,
  20.91311804,-53.52829432, -1.5827782 ,  6.3097854 , 13.34074245,
 -53.24200912,  1.18777092, -0.67956478,  0.2814783 , 11.90207077,
  20.11402423, -1.82489602]

qfrc_actuator:
[ 0.00152796, 0.00082747,-0.00083707,-0.00536309, 0.00128807,-0.00081221,
 -0.00389285, 0.00227894, 0.00331286, 0.00036398,-0.00195591, 0.00503778,
  0.09556568,-0.00237625, 0.06457204, 0.00818139, 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: -0.0005900621657946442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70383923e-14, -9.40767845e-14,  1.00000000e+00, -4.42522069e-27,
        1.00000000e+00,  9.40767845e-14, -1.00000000e+00,  0.00000000e+00,
       -4.70383923e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196821, -0.06176506,  0.06198567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.72785455e-06, 2.99133255e-06, 1.96322470e-05, 1.17042065e-04,
 -5.87752287e-06, 6.30880710e-05, 9.29373000e-05,-7.03119658e-05,
 -5.59928204e-05, 2.21562962e-05, 1.89706609e-06,-9.43313497e-05,
 -6.60216407e-04,-1.31814122e-05,-3.26572502e-04,-3.53467221e-04,
  3.90564037e-05, 1.91630671e-05,-7.84761798e+00, 6.42725062e-04,
  9.37376952e-03, 2.73373731e-06]


--- Step 79 ---
qpos:
[ 5.73201840e-03, 3.26496872e-03,-2.90138438e-03,-2.07259936e-02,
  4.90093360e-03,-2.44649277e-03,-1.43957469e-02, 9.34914645e-03,
  1.25532214e-02, 1.82383141e-03,-7.20858100e-03, 1.92905185e-02,
  3.19746060e-01,-8.23256647e-03, 1.45777264e-01, 5.10445084e-02,
  9.49572615e-02,-6.99926579e-02, 1.21420335e-01, 9.99999179e-01,
 -2.44933630e-04,-4.25683648e-04, 1.18370427e-03]

qacc:
[-12.05009964,  2.00968952,-13.84699215, 39.17014864, -5.29755334,
  -5.12371189, 22.90079856,-41.38558109,-13.20935515, -8.71716844,
  43.88554094,-97.21731177, -1.48675383,  4.77104227, 12.66552889,
 -51.54882969,  1.17408047, -0.67446975,  0.17458338, 11.66502253,
  19.8843657 , -1.71284418]

qfrc_actuator:
[ 0.0014577 , 0.00080255,-0.00082987,-0.00529102, 0.00125694,-0.00078455,
 -0.00382304, 0.0022337 , 0.00323704, 0.00037475,-0.00190385, 0.00488925,
  0.09538155,-0.00236661, 0.06439641, 0.00788775, 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: -0.0005926271546046469
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.68348023e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.68348023e-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([ 0.08196822, -0.06176585,  0.06198561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.05314098e-05,-1.44781418e-05, 1.44749764e-05, 7.53849956e-05,
 -3.12821444e-05, 8.02804987e-05, 9.27410841e-05,-4.06045585e-05,
 -7.73931750e-05, 1.95807952e-05, 5.37727172e-05,-1.49503683e-04,
 -6.64460109e-04,-2.20812477e-05,-3.52828583e-04,-3.52963147e-04,
  2.05855585e-05, 9.89029891e-06,-7.84781333e+00, 6.20512519e-04,
  9.34796268e-03, 3.58954306e-06]


--- Step 80 ---
qpos:
[ 5.75995403e-03, 3.28154094e-03,-2.91580990e-03,-2.08285492e-02,
  4.92586597e-03,-2.45706111e-03,-1.44663200e-02, 9.39461394e-03,
  1.26164147e-02, 1.83283545e-03,-7.24375423e-03, 1.93859644e-02,
  3.21700754e-01,-8.27630122e-03, 1.47487854e-01, 5.12931851e-02,
  9.49569347e-02,-6.99897425e-02, 1.21422057e-01, 9.99999166e-01,
 -2.70430316e-04,-4.25806060e-04, 1.18914870e-03]

qacc:
[-1.24648325e+01, 3.54338475e+00,-1.92539231e+01, 4.75177880e+01,
 -1.91887160e+00,-4.15533136e+00, 1.59858995e+01,-2.17317614e+01,
 -1.23928060e+01,-7.63982292e+00, 3.81243692e+01,-8.36059621e+01,
 -1.62730868e+00, 7.06680484e+00, 1.51087601e+01,-5.86959867e+01,
  1.16238854e+00,-6.69858834e-01, 8.00566239e-02, 1.14690571e+01,
  1.96889963e+01,-1.62236197e+00]

qfrc_actuator:
[ 0.00138687, 0.00083443,-0.00081992,-0.00520698, 0.00124631,-0.00078162,
 -0.00375315, 0.00222436, 0.0031666 , 0.00037758,-0.00185877, 0.00476272,
  0.09521674,-0.00234328, 0.06428279, 0.00757757, 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: -0.0005930634414683944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36006966e-14,  2.34001741e-14,  1.00000000e+00,  2.19027260e-27,
        1.00000000e+00, -2.34001741e-14, -1.00000000e+00,  0.00000000e+00,
       -9.36006966e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196788, -0.06176627,  0.0619856 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.28569144e-05, 2.96943277e-05, 1.15288542e-05, 8.56095392e-05,
 -1.14924108e-05, 6.63609739e-05, 9.73661549e-05,-3.40146075e-06,
 -7.26108294e-05, 1.85424996e-05, 5.07444634e-05,-1.26876016e-04,
 -6.48662842e-04,-9.25224653e-06,-3.01514048e-04,-3.72555518e-04,
  8.50070803e-06, 3.62227842e-06,-7.84793612e+00, 6.05514330e-04,
  9.33500209e-03, 4.19441081e-06]


--- Step 81 ---
qpos:
[ 5.78751262e-03, 3.29821612e-03,-2.93007546e-03,-2.09286101e-02,
  4.95047694e-03,-2.46740226e-03,-1.45358026e-02, 9.44032659e-03,
  1.26789624e-02, 1.84183861e-03,-7.27865280e-03, 1.94795457e-02,
  3.23652148e-01,-8.31904281e-03, 1.49195684e-01, 5.15351778e-02,
  9.49612182e-02,-6.99894903e-02, 1.21423767e-01, 9.99999178e-01,
 -2.73355723e-04,-3.86851374e-04, 1.19149410e-03]

qacc:
[-3.31438247e+00, 4.83327939e+00,-2.75365043e+01, 7.03221155e+01,
 -2.78663803e+00,-2.23657232e+00, 7.38511546e+00,-5.06368942e+00,
 -5.67488873e+00,-4.59731489e+00, 2.42821465e+01,-5.70132166e+01,
 -1.94908136e+00, 1.18670167e+01, 1.61193475e+01,-6.23409877e+01,
  1.15257193e+00,-6.65803353e-01,-3.00290502e-03, 1.13082079e+01,
  1.95255368e+01,-1.54905126e+00]

qfrc_actuator:
[ 0.00136955, 0.00084684,-0.00080819,-0.00508102, 0.0012301 ,-0.00077575,
 -0.0037016 , 0.00223618, 0.00313542, 0.00035789,-0.0018537 , 0.00466791,
  0.09505832,-0.00229433, 0.06414253, 0.00724253, 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: -0.0005917678185354408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.34514067e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.34514067e-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([ 0.08196726, -0.0617664 ,  0.06198563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93968993e-05, 3.47525077e-05, 2.24188666e-05, 1.29520734e-04,
 -1.65228616e-05, 6.40546286e-05, 7.79861082e-05, 1.80529713e-05,
 -3.32273706e-05,-4.22998424e-06, 1.09234141e-05,-9.48745056e-05,
 -6.29954247e-04, 1.71856720e-05,-3.09597299e-04,-3.92570578e-04,
  2.28188992e-06,-3.01723979e-08,-7.84798929e+00, 5.97630636e-04,
  9.33474430e-03, 4.54867555e-06]


--- Step 82 ---
qpos:
[ 5.81464872e-03, 3.31461338e-03,-2.94393548e-03,-2.10260013e-02,
  4.97470207e-03,-2.47743997e-03,-1.46038400e-02, 9.48544686e-03,
  1.27406497e-02, 1.85066502e-03,-7.31280803e-03, 1.95702144e-02,
  3.25600277e-01,-8.36116474e-03, 1.50899988e-01, 5.17716842e-02,
  9.49700796e-02,-6.99918875e-02, 1.21425175e-01, 9.99999211e-01,
 -2.53971176e-04,-3.09087562e-04, 1.19085872e-03]

qacc:
[-3.70007831e+00, 4.00442026e+00,-2.60481834e+01, 7.17466613e+01,
 -3.34198981e+00,-4.85008619e+00, 2.03883226e+01,-3.31888674e+01,
 -7.54599253e+00,-8.29455205e+00, 4.15594931e+01,-9.30589013e+01,
 -1.68910193e+00, 8.23820117e+00, 1.13672369e+01,-4.73562022e+01,
  1.14450036e+00,-6.62340119e-01,-7.55681048e-02, 1.11775143e+01,
  1.93916675e+01,-1.48941097e+00]

qfrc_actuator:
[ 0.00134836, 0.00081206,-0.00079555,-0.00494916, 0.00121072,-0.00075047,
 -0.00362577, 0.00220709, 0.00309207, 0.00034248,-0.00181911, 0.00452145,
  0.09488787,-0.00226622, 0.06395444, 0.00696646, 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: -0.0005890868554256079
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71162705e-14,  9.42325410e-14,  1.00000000e+00,  4.43988589e-27,
        1.00000000e+00, -9.42325410e-14, -1.00000000e+00,  0.00000000e+00,
       -4.71162705e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196641, -0.06176629,  0.06198569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.17508081e-05,-5.48398317e-06, 2.72333111e-05, 1.36856197e-04,
 -1.98330215e-05, 7.90612997e-05, 1.00119695e-04,-2.32173839e-05,
 -4.42736461e-05,-1.95304163e-05, 3.19388940e-05,-1.48248801e-04,
 -6.26846613e-04,-2.26407243e-06,-3.63130689e-04,-3.35682476e-04,
  1.55710305e-06,-1.36894907e-06,-7.84797517e+00, 5.96777590e-04,
  9.34707089e-03, 4.65288797e-06]


--- Step 83 ---
qpos:
[ 5.84097455e-03, 3.33059848e-03,-2.95712504e-03,-2.11213962e-02,
  4.99885139e-03,-2.48720156e-03,-1.46701304e-02, 9.52985107e-03,
  1.28013382e-02, 1.85910258e-03,-7.34621260e-03, 1.96587921e-02,
  3.27545078e-01,-8.40256147e-03, 1.52600490e-01, 5.20063221e-02,
  9.49834933e-02,-6.99969226e-02, 1.21426028e-01, 9.99999254e-01,
 -2.12485984e-04,-1.92727762e-04, 1.18733907e-03]

qacc:
[-7.10349140e+00, 1.70622901e+00,-1.52633340e+01, 4.89855100e+01,
 -6.14721980e-01,-5.98960874e+00, 2.49122171e+01,-4.03066171e+01,
 -8.76093466e+00,-6.90072484e+00, 3.27173966e+01,-6.98536286e+01,
 -1.79687917e+00, 9.28823988e+00, 2.75191282e-02,-8.26902167e+00,
  1.13804352e+00,-6.59481972e-01,-1.38628183e-01, 1.10728510e+01,
  1.92851872e+01,-1.44065229e+00]

qfrc_actuator:
[ 0.0013073 , 0.00078479,-0.00076491,-0.00485045, 0.00120738,-0.00073148,
 -0.00353618, 0.00217195, 0.00304191, 0.00031205,-0.00178514, 0.0044168 ,
  0.09470499,-0.00223287, 0.06379639, 0.00688704, 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: -0.0005853211279518572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.89677593e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.89677593e-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([ 0.08196538, -0.061766  ,  0.06198578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.17110558e-05,-1.91529473e-05, 3.77573132e-05, 1.02295436e-04,
 -3.87520781e-06, 8.39509379e-05, 1.18270104e-04,-2.86711119e-05,
 -5.14133523e-05,-4.10460927e-05, 2.88992143e-05,-1.07393099e-04,
 -6.37864999e-04, 2.20531482e-06,-3.48329674e-04,-1.42051145e-04,
  6.07432511e-06,-6.34585146e-07,-7.84789552e+00, 6.02885715e-04,
  9.37188576e-03, 4.50775174e-06]


--- Step 84 ---
qpos:
[ 5.86660302e-03, 3.34615384e-03,-2.96947416e-03,-2.12155616e-02,
  5.02242793e-03,-2.49663350e-03,-1.47348104e-02, 9.57349232e-03,
  1.28609538e-02, 1.86695833e-03,-7.37888676e-03, 1.97461410e-02,
  3.29486477e-01,-8.44283220e-03, 1.54297484e-01, 5.22410865e-02,
  9.50014392e-02,-7.00045866e-02, 1.21426109e-01, 9.99999291e-01,
 -1.49064299e-04,-3.79343916e-05, 1.18101437e-03]

qacc:
[ -6.10419037, -0.37356907, -4.65421866, 24.86523502, -4.9755681 ,
  -5.62502055, 23.92756434,-39.97030077, -9.40999197, -5.32271897,
  23.08302656,-45.12587771, -2.11515632, 13.17567221, -5.56750346,
  11.93688178,  1.13307546, -0.65722543, -0.19315267, 10.9907841 ,
  19.20404571, -1.40055179]

qfrc_actuator:
[ 0.00127261, 0.00076229,-0.0007239 ,-0.00478976, 0.00117802,-0.00071634,
 -0.00345696, 0.00213353, 0.00298813, 0.0002729 ,-0.00175184, 0.00435534,
  0.0945201 ,-0.00217899, 0.06365653, 0.00690643, 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: -0.0005807294644475658
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.55886598e-14,  1.91177320e-13,  1.00000000e+00,  1.82743838e-26,
        1.00000000e+00, -1.91177320e-13, -1.00000000e+00,  0.00000000e+00,
       -9.55886598e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196422, -0.06176556,  0.06198589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58993183e-05,-2.13457880e-05, 4.53984703e-05, 6.33655143e-05,
 -2.94520995e-05, 8.63165435e-05, 1.10934664e-04,-3.12167985e-05,
 -5.52364199e-05,-6.06743635e-05, 2.48170347e-05,-6.44348274e-05,
 -6.47752634e-04, 2.19462615e-05,-3.01618959e-04,-3.05114244e-05,
  1.56805717e-05, 1.97423071e-06,-7.84775168e+00, 6.15898422e-04,
  9.40911282e-03, 4.11407707e-06]


--- Step 85 ---
qpos:
[ 5.89230578e-03, 3.36141044e-03,-2.98153468e-03,-2.13082413e-02,
  5.04546934e-03,-2.50585500e-03,-1.47978973e-02, 9.61566104e-03,
  1.29187709e-02, 1.87467814e-03,-7.41081035e-03, 1.98320117e-02,
  3.31424517e-01,-8.48244201e-03, 1.55991752e-01, 5.24741680e-02,
  9.50178501e-02,-7.00171586e-02, 1.21426082e-01, 9.99999303e-01,
 -4.33888704e-05, 1.03059704e-04, 1.17527478e-03]

qacc:
[ 6.69056079e-01, 1.85696846e+00,-1.34571748e+01, 3.89053804e+01,
 -4.64448675e+00,-7.19559342e+00, 3.22939333e+01,-6.05018475e+01,
 -1.58018390e+01,-5.29061392e+00, 2.48978821e+01,-5.16396007e+01,
 -1.77842679e+00, 8.69790338e+00, 1.05567024e+00,-9.55634811e+00,
 -3.83758655e-01,-1.22700192e+00,-2.70893117e-02, 2.11187173e+01,
 -6.92462801e+00, 2.90734929e-01]

qfrc_actuator:
[ 0.00127748, 0.00074282,-0.00071261,-0.00471642, 0.00115131,-0.00072143,
 -0.00338451, 0.00205797, 0.00289716, 0.00029988,-0.00170148, 0.00428427,
  0.09434479,-0.00214898, 0.06353302, 0.00682408, 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: -0.0005759302957338209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.88092284e-07, -3.44046263e-07,  1.00000000e+00,  2.36735579e-13,
        1.00000000e+00,  3.44046263e-07, -1.00000000e+00,  0.00000000e+00,
        6.88092284e-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([ 0.10100585, -0.05475139,  0.06198601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81228506e-06,-1.96159366e-05, 1.48111878e-05, 7.54288015e-05,
 -2.75204706e-05, 6.57440350e-05, 1.03627614e-04,-6.85564675e-05,
 -9.25526195e-05,-4.51765206e-06, 3.88127454e-05,-7.41979746e-05,
 -6.44465254e-04,-2.22249527e-06,-2.53306113e-04,-1.20475223e-04,
  3.03062547e-05, 6.28591206e-06,-7.84754455e+00, 6.35770681e-04,
  9.45869404e-03, 3.47274717e-06]


--- Step 86 ---
qpos:
[ 5.91752139e-03, 3.37640720e-03,-2.99367245e-03,-2.13989508e-02,
  5.06801136e-03,-2.51485211e-03,-1.48598816e-02, 9.65697584e-03,
  1.29743575e-02, 1.88293214e-03,-7.44253011e-03, 1.99170008e-02,
  3.33359229e-01,-8.52134203e-03, 1.57683508e-01, 5.27041157e-02,
  9.50302392e-02,-7.00354702e-02, 1.21424817e-01, 9.99999285e-01,
  1.10965122e-04, 2.08504854e-04, 1.17230578e-03]

qacc:
[ -4.28519071,  3.93833106,-22.82660872, 57.18342978, -4.34621391,
  -4.53372275, 20.21636287,-36.94148907,-19.63166399, -1.6407291 ,
  10.66339638,-26.71359197, -1.80628827,  9.14812716,  5.75593023,
 -25.54378434, -1.00546299, -1.43490274, -0.30917952, 24.31823183,
 -17.80312416,  1.38705374]

qfrc_actuator:
[ 0.00125232, 0.00072522,-0.00071894,-0.00461849, 0.00112639,-0.00072093,
 -0.00333452, 0.00201441, 0.00278502, 0.00036631,-0.0016767 , 0.00424366,
  0.09417534,-0.00211552, 0.06340339, 0.0066647 , 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: -0.0005762529849702852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.22484126e-14,  7.22484126e-14,  1.00000000e+00, -5.21983312e-27,
        1.00000000e+00, -7.22484126e-14, -1.00000000e+00,  0.00000000e+00,
        7.22484126e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10910153, -0.05176986,  0.061986  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.50813527e-05,-2.25683006e-05,-5.80326313e-06, 9.92719409e-05,
 -2.56832744e-05, 5.67083918e-05, 7.47182260e-05,-3.84273907e-05,
 -1.14757220e-04, 6.88006761e-05, 2.62169449e-05,-4.10194081e-05,
 -6.37335268e-04, 3.23786897e-07,-2.50277394e-04,-1.97023008e-04,
  3.01887574e-05,-1.95126285e-06,-7.84749452e+00, 6.69790362e-04,
  9.50372422e-03, 1.95086952e-06]


--- Step 87 ---
qpos:
[ 5.94154937e-03, 3.39093802e-03,-3.00570622e-03,-2.14877627e-02,
  5.08973425e-03,-2.52345152e-03,-1.49211262e-02, 9.69745149e-03,
  1.30285127e-02, 1.89157831e-03,-7.47424711e-03, 2.00008711e-02,
  3.35290610e-01,-8.55914877e-03, 1.59372033e-01, 5.29292053e-02,
  9.50431161e-02,-7.00463883e-02, 1.21423803e-01, 9.99999243e-01,
  2.02120456e-04, 3.18262557e-04, 1.17090247e-03]

qacc:
[-10.44233827,  3.02194239,-19.62869622, 52.57309912, -7.16267562,
  -3.25487027, 15.9358206 ,-31.9625418 ,-12.60492763, -1.76880457,
  11.82586562,-31.53137384, -2.08966138, 12.80635911,  9.90428268,
 -41.60534988,  0.12196399,  1.8483716 ,  0.0624914 ,-31.59694081,
   2.19340837,  0.77603145]

qfrc_actuator:
[ 0.00119192, 0.00069106,-0.00071783,-0.00452462, 0.00108497,-0.00069941,
 -0.00329815, 0.00197225, 0.0027146 , 0.00036705,-0.00168477, 0.00418584,
  0.0940042 ,-0.00206256, 0.06320093, 0.00640796, 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: -0.0005800169279013417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43559132e-13,  1.91412176e-13,  1.00000000e+00,  2.74789659e-26,
        1.00000000e+00, -1.91412176e-13, -1.00000000e+00,  0.00000000e+00,
       -1.43559132e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475741, -0.09298031,  0.06198591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.11374241e-05,-4.40124528e-05,-6.93064142e-07, 9.48213339e-05,
 -4.21359976e-05, 6.79713560e-05, 5.67029768e-05,-3.78173350e-05,
 -7.36507241e-05, 4.28843496e-05, 8.09785054e-06,-5.48924945e-05,
 -6.33592979e-04, 1.99362345e-05,-3.30850262e-04,-2.98398765e-04,
  1.95133697e-05,-1.23956137e-05,-7.84743126e+00, 7.19553566e-04,
  9.53696539e-03,-8.12981641e-07]


--- Step 88 ---
qpos:
[ 5.96570128e-03, 3.40474812e-03,-3.01722987e-03,-2.15747499e-02,
  5.11044682e-03,-2.53191819e-03,-1.49810421e-02, 9.73641087e-03,
  1.30807127e-02, 1.89977714e-03,-7.50487876e-03, 2.00834271e-02,
  3.37218707e-01,-8.59598618e-03, 1.61056948e-01, 5.31462519e-02,
  9.50564788e-02,-7.00499980e-02, 1.21422561e-01, 9.99999194e-01,
  2.31024233e-04, 4.32360249e-04, 1.17091974e-03]

qacc:
[ 1.12044131e+00, 1.37701190e+00,-1.39850812e+01, 4.52517088e+01,
 -8.81514754e+00,-6.64114825e+00, 3.03666982e+01,-5.88665716e+01,
 -1.71647569e+01,-6.29769239e+00, 2.72039069e+01,-5.14191388e+01,
 -1.98875257e+00, 1.15986133e+01, 1.89644252e+01,-7.41253322e+01,
  1.21433231e-01, 1.82710582e+00,-5.69291852e-02,-3.11234391e+01,
  2.20658236e+00, 6.99942370e-01]

qfrc_actuator:
[ 0.00120004, 0.00064728,-0.00069466,-0.00443392, 0.00103416,-0.00070105,
 -0.00323452, 0.00189577, 0.00261603, 0.00031053,-0.00164142, 0.00411826,
  0.09383749,-0.00201632, 0.06297624, 0.00598926, 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: -0.0005851733152184568
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.48627523e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.48627523e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475725, -0.09297897,  0.06198579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.34968835e-06,-6.47587736e-05, 1.74176577e-05, 9.08320930e-05,
 -5.19823412e-05, 4.73880357e-05, 8.40776651e-05,-7.22772830e-05,
 -1.00627773e-04,-3.31929065e-05, 5.14458269e-05,-6.66459560e-05,
 -6.25368469e-04, 1.36464451e-05,-3.97786370e-04,-4.75515246e-04,
  1.46092437e-05,-7.85366263e-06,-7.84766882e+00, 7.48697158e-04,
  9.57190742e-03,-2.74938278e-06]


--- Step 89 ---
qpos:
[ 5.99010663e-03, 3.41814827e-03,-3.02822057e-03,-2.16600114e-02,
  5.13004441e-03,-2.54053731e-03,-1.50393426e-02, 9.77485947e-03,
  1.31313252e-02, 1.90748485e-03,-7.53410063e-03, 2.01645119e-02,
  3.39143465e-01,-8.63158093e-03, 1.62738133e-01, 5.33594633e-02,
  9.50703263e-02,-7.00463736e-02, 1.21420664e-01, 9.99999142e-01,
  1.98478387e-04, 5.50823169e-04, 1.17223176e-03]

qacc:
[  2.25587105,  1.51800812,-13.47881051, 42.7739204 , -9.71770221,
  -5.74780115, 22.39235556,-33.74146598,-13.91790793, -7.59183159,
  32.38585282,-59.79165061, -2.22138114, 14.20628647,  6.07626032,
 -29.28198195,  0.12121803,  1.80853504, -0.16349711,-30.72251113,
   2.21873914,  0.6335924 ]

qfrc_actuator:
[ 0.00121293, 0.00065142,-0.00065871,-0.0043458 , 0.00097825,-0.00071647,
 -0.00315542, 0.00187071, 0.00253719, 0.00029137,-0.00156831, 0.00404549,
  0.09365758,-0.00195667, 0.06283422, 0.00581583, 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: -0.000587675031092208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72294621e-14,  1.88917848e-13,  1.00000000e+00,  8.92248837e-27,
        1.00000000e+00, -1.88917848e-13, -1.00000000e+00,  0.00000000e+00,
       -4.72294621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0947571 , -0.09297846,  0.06198573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.30287516e-05,-2.48253230e-05, 2.80099418e-05, 8.79043431e-05,
 -5.73802654e-05, 2.62453308e-05, 9.74617774e-05,-2.14574467e-05,
 -8.17039138e-05,-2.99486055e-05, 7.04253311e-05,-7.38371792e-05,
 -6.32793096e-04, 2.69600405e-05,-3.63076647e-04,-2.48144768e-04,
  1.29920610e-05,-3.33658411e-06,-7.84777469e+00, 7.57966145e-04,
  9.60829026e-03,-3.54997871e-06]


--- Step 90 ---
qpos:
[ 6.01413132e-03, 3.43145430e-03,-3.03883946e-03,-2.17435801e-02,
  5.14916369e-03,-2.54885168e-03,-1.50966740e-02, 9.81269551e-03,
  1.31816334e-02, 1.91511836e-03,-7.56258863e-03, 2.02433935e-02,
  3.41064830e-01,-8.66611950e-03, 1.64416008e-01, 5.35724130e-02,
  9.50799417e-02,-7.00433228e-02, 1.21420265e-01, 9.99999095e-01,
  1.70906885e-04, 6.32679057e-04, 1.17475309e-03]

qacc:
[ -3.33665409,  2.32904954,-15.60659753, 44.33529582, -4.16650138,
  -3.55767716, 15.87057553,-28.26283821, -2.65573077, -6.6810899 ,
  32.99150087,-72.25491191, -2.11849346, 12.46211578, -4.10243583,
   7.23543414, -1.05801932, -0.14340758,  0.37429184,  2.46538028,
 -18.30629774,  0.60965745]

qfrc_actuator:
[ 0.001193  , 0.00066655,-0.00063306,-0.00425985, 0.00095528,-0.00068669,
 -0.00310336, 0.0018406 , 0.00252385, 0.00029483,-0.00153135, 0.00393476,
  0.09346988,-0.00190739, 0.06272597, 0.00582407, 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: -0.0005893820449756337
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70926725e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.70926725e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885408, -0.06842225,  0.06198568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95905787e-05, 1.05543697e-05, 2.71495815e-05, 8.77395953e-05,
 -2.45963595e-05, 6.45664205e-05, 6.94442363e-05,-2.59624886e-05,
 -1.56626088e-05,-1.88561439e-06, 3.70184968e-05,-1.11126554e-04,
 -6.45307439e-04, 1.62454486e-05,-2.88738748e-04,-4.95030777e-05,
  1.42277071e-05, 1.12069275e-06,-7.84775449e+00, 7.47616822e-04,
  9.64610007e-03,-3.22975733e-06]


--- Step 91 ---
qpos:
[ 6.03738545e-03, 3.44440750e-03,-3.04896927e-03,-2.18250948e-02,
  5.16785828e-03,-2.55643838e-03,-1.51534184e-02, 9.84984911e-03,
  1.32313903e-02, 1.92237715e-03,-7.59028968e-03, 2.03207127e-02,
  3.42982874e-01,-8.69976198e-03, 1.66091320e-01, 5.37784684e-02,
  9.50853651e-02,-7.00408417e-02, 1.21420944e-01, 9.99999065e-01,
  1.48189350e-04, 6.78477546e-04, 1.17843098e-03]

qacc:
[ -6.76057834,  2.40984174,-17.90156485, 52.86645986, -3.71580966,
  -2.07636789, 11.69306134,-24.99308833, -4.82058821, -5.90269289,
  26.94087925,-54.98251721, -1.9758442 , 10.91499917, 17.04049991,
 -65.14269646, -1.04801171, -0.14242457,  0.26925683,  2.40543496,
 -18.03144042,  0.58288023]

qfrc_actuator:
[ 0.00115391, 0.00063485,-0.00061364,-0.00415812, 0.00093414,-0.00063017,
 -0.00306753, 0.00180777, 0.0024959 , 0.0002584 ,-0.00149822, 0.00385585,
  0.09330424,-0.00186463, 0.06255818, 0.00545994, 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: -0.0005921411253494019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.85915553e-14,  4.68732443e-14,  1.00000000e+00, -2.74637629e-27,
        1.00000000e+00, -4.68732443e-14, -1.00000000e+00,  0.00000000e+00,
        5.85915553e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885354, -0.06842247,  0.06198562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.96661157e-05,-1.66826186e-05, 2.81046079e-05, 1.05006177e-04,
 -2.18209237e-05, 1.06739077e-04, 5.75126988e-05,-2.81040949e-05,
 -2.83775475e-05,-3.45703926e-05, 3.35755448e-05,-7.99936405e-05,
 -6.32962092e-04, 8.34324904e-06,-2.94897148e-04,-4.01913259e-04,
  7.59192240e-06,-1.22103689e-06,-7.84787859e+00, 7.38956102e-04,
  9.67226578e-03,-2.51611538e-06]


--- Step 92 ---
qpos:
[ 6.06033496e-03, 3.45683863e-03,-3.05865888e-03,-2.19047268e-02,
  5.18580932e-03,-2.56373764e-03,-1.52088559e-02, 9.88632769e-03,
  1.32804256e-02, 1.92923086e-03,-7.61734608e-03, 2.03968417e-02,
  3.44897708e-01,-8.73294398e-03, 1.67763652e-01, 5.39785685e-02,
  9.50866313e-02,-7.00389265e-02, 1.21422327e-01, 9.99999054e-01,
  1.30226135e-04, 6.88677770e-04, 1.18322216e-03]

qacc:
[ -2.65758751,  1.96181926,-15.92013155, 48.13902328, -6.4795718 ,
  -4.64858399, 19.99888293,-34.00871156, -6.323297  , -4.77583112,
  21.29858199,-42.65485875, -1.61649837,  6.73460227, 13.58809376,
 -53.95349166, -1.03930304, -0.14149425,  0.17622858,  2.35580321,
 -17.80184148,  0.56088782]

qfrc_actuator:
[ 0.00113936, 0.00059311,-0.00059824,-0.00406571, 0.00089648,-0.00062916,
 -0.00300593, 0.00177362, 0.00245956, 0.00023386,-0.00146773, 0.00379627,
  0.09314664,-0.00184382, 0.06240799, 0.00516318, 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: -0.000592806298644874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36412979e-14, -5.85258112e-14,  1.00000000e+00, -5.48043292e-27,
        1.00000000e+00,  5.85258112e-14, -1.00000000e+00,  0.00000000e+00,
       -9.36412979e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885341, -0.06842261,  0.0619856 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56955536e-05,-4.10227977e-05, 1.91819410e-05, 9.48864355e-05,
 -3.82461072e-05, 7.22195520e-05, 9.04304716e-05,-2.80723640e-05,
 -3.71457850e-05,-4.03279781e-05, 2.48317667e-05,-6.15773871e-05,
 -6.16219585e-04,-1.34914203e-05,-3.20923337e-04,-3.55340122e-04,
  3.37739927e-06,-1.76344827e-06,-7.84795740e+00, 7.31738575e-04,
  9.68691055e-03,-1.95827728e-06]


--- Step 93 ---
qpos:
[ 6.08327600e-03, 3.46892951e-03,-3.06810650e-03,-2.19829828e-02,
  5.20316956e-03,-2.57109499e-03,-1.52628838e-02, 9.92146150e-03,
  1.33286439e-02, 1.93610690e-03,-7.64374677e-03, 2.04719508e-02,
  3.46809348e-01,-8.76591319e-03, 1.69432601e-01, 5.41774834e-02,
  9.50837699e-02,-7.00375740e-02, 1.21424087e-01, 9.99999066e-01,
  1.16935024e-04, 6.63658880e-04, 1.18909110e-03]

qacc:
[ -0.06029817,  1.70769256,-12.5389326 , 36.19030658, -5.13219023,
  -6.77363226, 29.73678586,-55.24427644, -7.17100224, -3.88917099,
  18.2399841 ,-36.98158386, -1.43395746,  4.39403102, -1.41668489,
  -2.31047036, -1.03188901, -0.14064278,  0.09439783,  2.31484143,
 -17.612242  ,  0.54276737]

qfrc_actuator:
[ 0.00113939, 0.00058116,-0.00058538,-0.00399729, 0.00086715,-0.00066132,
 -0.00294758, 0.00170344, 0.00241858, 0.0002699 ,-0.00142125, 0.00374853,
  0.092978  ,-0.00183608, 0.06227914, 0.00512169, 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: -0.0005917639962970817
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69031164e-14,  3.51773373e-14,  1.00000000e+00,  1.64992675e-27,
        1.00000000e+00, -3.51773373e-14, -1.00000000e+00,  0.00000000e+00,
       -4.69031164e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885361, -0.06842268,  0.06198563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.48922684e-07,-2.71019810e-05, 1.01505755e-05, 6.93393734e-05,
 -3.03985507e-05, 2.65269388e-05, 8.40913190e-05,-6.44443827e-05,
 -4.20435982e-05, 1.60151697e-05, 3.91959078e-05,-4.99168018e-05,
 -6.16026736e-04,-2.66119938e-05,-3.04833779e-04,-1.00463498e-04,
  1.51640515e-06,-6.39428195e-07,-7.84799297e+00, 7.25939516e-04,
  9.69018238e-03,-1.55272585e-06]


--- Step 94 ---
qpos:
[ 6.10638334e-03, 3.48111051e-03,-3.07780380e-03,-2.20598281e-02,
  5.22073282e-03,-2.57843252e-03,-1.53157905e-02, 9.95583820e-03,
  1.33756508e-02, 1.94324454e-03,-7.66921565e-03, 2.05455044e-02,
  3.48717668e-01,-8.79811861e-03, 1.71098753e-01, 5.43745803e-02,
  9.50768056e-02,-7.00367810e-02, 1.21425939e-01, 9.99999097e-01,
  1.08248532e-04, 6.03729103e-04, 1.19600850e-03]

qacc:
[ 1.45529462e+00, 3.71972726e+00,-1.90377215e+01, 4.37613946e+01,
  1.81319279e+00,-4.66838742e+00, 1.98748257e+01,-3.47811377e+01,
 -1.06361468e+01,-5.44112712e+00, 2.65063749e+01,-5.51516191e+01,
 -1.90369090e+00, 9.64905876e+00, 1.35749666e+00,-1.07665936e+01,
 -1.02573740e+00,-1.39886719e-01, 2.28701808e-02, 2.28120248e+00,
 -1.74581096e+01, 5.27786859e-01]

qfrc_actuator:
[ 0.00114799, 0.00060487,-0.00059179,-0.00392577, 0.00087847,-0.00065988,
 -0.0028918 , 0.00166584, 0.00235744, 0.00030651,-0.00136544, 0.0036727 ,
  0.09279219,-0.00180063, 0.0621579 , 0.00503569, 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: -0.0005893526426079126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.17737555e-14,  7.06425329e-14,  1.00000000e+00, -8.31727908e-28,
        1.00000000e+00, -7.06425329e-14, -1.00000000e+00,  0.00000000e+00,
        1.17737555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885407, -0.06842269,  0.06198569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.56027757e-06, 1.33879750e-05,-8.23390591e-06, 7.22320539e-05,
  1.04588184e-05, 3.16915293e-05, 7.00260339e-05,-3.47509891e-05,
 -6.23193199e-05, 5.15535749e-05, 6.23282140e-05,-7.48676406e-05,
 -6.33699046e-04, 3.92512331e-07,-2.61033523e-04,-1.28600942e-04,
  1.94305501e-06, 2.04931168e-06,-7.84798688e+00, 7.21537971e-04,
  9.68220331e-03,-1.29659638e-06]


--- Step 95 ---
qpos:
[ 6.12975882e-03, 3.49329355e-03,-3.08723569e-03,-2.21352400e-02,
  5.23829504e-03,-2.58592869e-03,-1.53672213e-02, 9.98915079e-03,
  1.34215593e-02, 1.95073697e-03,-7.69381433e-03, 2.06168756e-02,
  3.50622555e-01,-8.82957176e-03, 1.72762633e-01, 5.45673884e-02,
  9.50657581e-02,-7.00365449e-02, 1.21427634e-01, 9.99999140e-01,
  1.04111687e-04, 5.09133540e-04, 1.20395014e-03]

qacc:
[ 2.36947062e+00, 2.20825661e+00,-1.39174312e+01, 3.82810736e+01,
  3.93257360e-02,-6.52400629e+00, 2.74514961e+01,-4.81144954e+01,
 -9.64574518e+00,-6.43838596e+00, 3.28841306e+01,-7.23447487e+01,
 -1.94550385e+00, 9.63315123e+00, 9.59864304e+00,-3.84744950e+01,
 -1.02079877e+00,-1.39235756e-01,-3.92770582e-02, 2.25378126e+00,
 -1.73355468e+01, 5.15358887e-01]

qfrc_actuator:
[ 0.00116156, 0.00061416,-0.00057385,-0.00385296, 0.00087812,-0.00067385,
 -0.0028201 , 0.00161222, 0.00230268, 0.00032546,-0.00132233, 0.00356321,
  0.0925962 ,-0.00176693, 0.06204131, 0.00481758, 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: -0.0005858665270674496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.92190677e-14, -2.36876271e-14,  1.00000000e+00,  1.40275919e-27,
        1.00000000e+00,  2.36876271e-14, -1.00000000e+00,  0.00000000e+00,
        5.92190677e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885474, -0.06842266,  0.06198577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38008121e-05, 1.79480066e-05, 2.23066767e-05, 7.46639294e-05,
 -4.84490758e-08, 1.75442318e-05, 8.63069173e-05,-5.04487434e-05,
 -5.65010680e-05, 5.74521034e-05, 5.89495876e-05,-1.06691427e-04,
 -6.55407832e-04,-1.91477046e-06,-2.41873298e-04,-2.57228029e-04,
  4.59192437e-06, 6.22484246e-06,-7.84794033e+00, 7.18516278e-04,
  9.66307233e-03,-1.18757065e-06]


--- Step 96 ---
qpos:
[ 6.15242525e-03, 3.50515750e-03,-3.09569968e-03,-2.22088519e-02,
  5.25537165e-03,-2.59345877e-03,-1.54177034e-02, 1.00219289e-02,
  1.34667997e-02, 1.95826500e-03,-7.71783573e-03, 2.06867845e-02,
  3.52524007e-01,-8.86032393e-03, 1.74423622e-01, 5.47545359e-02,
  9.50506425e-02,-7.00368636e-02, 1.21428957e-01, 9.99999187e-01,
  1.04480207e-04, 3.80060856e-04, 1.21289592e-03]

qacc:
[ -6.20460535,  0.59150572,-10.28592699, 40.07269716, -4.22461413,
  -3.78741966, 15.71099779,-26.47070766, -5.86315791, -4.56624188,
  22.5438529 ,-48.82515991, -1.91421904,  9.16225305, 12.8269178 ,
 -51.10256129, -1.01701391, -0.13869466, -0.09295737,  2.23167009,
 -17.24120628,  0.50501163]

qfrc_actuator:
[ 0.00112469, 0.00059711,-0.00052397,-0.00376222, 0.00085312,-0.00067913,
 -0.00277514, 0.00158512, 0.00226987, 0.00029812,-0.0013049 , 0.00348803,
  0.09241555,-0.00173459, 0.06186365, 0.00452341, 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: -0.0005815597434506437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38630475e-14,  1.31246761e-13,  1.00000000e+00, -3.13194771e-27,
        1.00000000e+00, -1.31246761e-13, -1.00000000e+00,  0.00000000e+00,
        2.38630475e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885557, -0.06842259,  0.06198587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.64947662e-05, 5.59582163e-07, 5.90305242e-05, 9.38931628e-05,
 -2.49874674e-05, 2.09909674e-05, 5.80853778e-05,-2.42866949e-05,
 -3.43783166e-05, 1.23725631e-05, 3.29593641e-05,-7.28640912e-05,
 -6.56211884e-04,-4.99301769e-06,-3.10165497e-04,-3.38399634e-04,
  9.39662268e-06, 1.18273990e-05,-7.84785421e+00, 7.16859651e-04,
  9.63286797e-03,-1.22379106e-06]


--- Step 97 ---
qpos:
[ 6.17378331e-03, 3.51706907e-03,-3.10417591e-03,-2.22804344e-02,
  5.27236068e-03,-2.60062817e-03,-1.54677192e-02, 1.00544562e-02,
  1.35112954e-02, 1.96543862e-03,-7.74151624e-03, 2.07553141e-02,
  3.54422063e-01,-8.89074596e-03, 1.76080890e-01, 5.49358243e-02,
  9.50314697e-02,-7.00377354e-02, 1.21429724e-01, 9.99999223e-01,
  1.09318999e-04, 2.16649032e-04, 1.22282913e-03]

qacc:
[-11.51749119,  4.29934219,-23.74898602, 58.77315027, -0.75905862,
  -1.34111926,  6.53542569,-11.89122561, -6.53760111, -4.24849158,
  20.31430401,-44.49433528, -1.62060826,  5.69648658, 12.20131945,
 -50.69161859, -1.01431899, -0.1382648 , -0.1390514 ,  2.21412226,
 -17.17221383,  0.49636561]

qfrc_actuator:
[ 0.00105842, 0.00060008,-0.00052674,-0.00366165, 0.00084934,-0.00064377,
 -0.00274629, 0.00157383, 0.00223249, 0.00024317,-0.00130293, 0.00341584,
  0.09223889,-0.00172105, 0.06164947, 0.00422218, 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: -0.0005766500524661267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.81324427e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.81324427e-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([ 0.10885653, -0.0684225 ,  0.06198599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.73284122e-05, 1.92440720e-05, 7.96498412e-06, 1.04610684e-04,
 -4.48814354e-06, 5.88449960e-05, 4.01052040e-05,-8.80391222e-06,
 -3.83375894e-05,-4.43552411e-05, 6.14778632e-06,-7.20502924e-05,
 -6.52961027e-04,-2.43193298e-05,-3.84006531e-04,-3.58031371e-04,
  1.62883762e-05, 1.88110949e-05,-7.84772913e+00, 7.16555825e-04,
  9.59165046e-03,-1.40379127e-06]


--- Step 98 ---
qpos:
[ 6.19418025e-03, 3.52943969e-03,-3.11335816e-03,-2.23502563e-02,
  5.28848220e-03,-2.60740101e-03,-1.55170155e-02, 1.00858826e-02,
  1.35549969e-02, 1.97261259e-03,-7.76510310e-03, 2.08220700e-02,
  3.56316762e-01,-8.92073025e-03, 1.77734630e-01, 5.51145983e-02,
  9.50127129e-02,-7.00314904e-02, 1.21429138e-01, 9.99999237e-01,
  5.38554578e-05, 5.82425594e-05, 1.23304925e-03]

qacc:
[ -8.48989915,  6.22310764,-28.69483078, 59.88416665, -7.58509074,
  -3.73753608, 18.76111091,-39.2857062 , -6.98701913, -3.89991863,
  21.4189124 ,-52.29409543, -1.69500696,  6.65803651,  2.38290585,
 -15.92029461,  0.10400236,  1.77918639, -0.33830507,-30.1481127 ,
   2.53956174,  0.13666047]

qfrc_actuator:
[ 0.0010109 , 0.00063257,-0.00056051,-0.0035739 , 0.00080483,-0.0006199 ,
 -0.00270926, 0.00151868, 0.00219271, 0.00026081,-0.00129248, 0.00332819,
  0.09207007,-0.00170096, 0.06152009, 0.00411446, 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: -0.0005750292501898874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65362218e-14,  9.65362218e-14,  1.00000000e+00,  9.31924212e-27,
        1.00000000e+00, -9.65362218e-14, -1.00000000e+00,  0.00000000e+00,
       -9.65362218e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0947599 , -0.09298419,  0.06198603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.94462258e-05, 4.91159018e-05,-2.50952034e-05, 9.10401200e-05,
 -4.46257823e-05, 6.54566484e-05, 5.44230932e-05,-5.13512553e-05,
 -4.08692990e-05,-8.99466780e-06,-3.61802864e-07,-9.08494280e-05,
 -6.43790047e-04,-1.85400880e-05,-3.31644024e-04,-1.74243988e-04,
  2.51946416e-05, 2.71406424e-05,-7.84756548e+00, 7.17594740e-04,
  9.53946359e-03,-1.72643970e-06]


--- Step 99 ---
qpos:
[ 6.21419336e-03, 3.54196163e-03,-3.12279311e-03,-2.24184720e-02,
  5.30394488e-03,-2.61390474e-03,-1.55651713e-02, 1.01163917e-02,
  1.35968468e-02, 1.97985336e-03,-7.78822808e-03, 2.08879097e-02,
  3.58208168e-01,-8.94986835e-03, 1.79386079e-01, 5.52891172e-02,
  9.49943680e-02,-7.00181744e-02, 1.21426921e-01, 9.99999220e-01,
 -6.14280639e-05,-9.53810686e-05, 1.24379742e-03]

qacc:
[ -3.38859279,  4.22110054,-21.51479383, 49.55864025, -5.74142702,
  -4.70826145, 21.19710055,-39.11863594,-16.28112411, -3.05749047,
  14.95335269,-31.65835533, -1.99218608, 10.38611153,  9.46651729,
 -38.05535781,  0.10300476,  1.76775242, -0.4076477 ,-29.90703349,
   2.42831595,  0.26217691]

qfrc_actuator:
[ 0.00099255, 0.00062909,-0.00057667,-0.00349438, 0.00077219,-0.0006031 ,
 -0.00265   , 0.00147368, 0.00209858, 0.00028627,-0.00125908, 0.00328546,
  0.0919114 ,-0.00165942, 0.06143638, 0.00390882, 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: -0.000573147329382781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.84265985e-14, -9.68531970e-14,  1.00000000e+00, -4.69027089e-27,
        1.00000000e+00,  9.68531970e-14, -1.00000000e+00,  0.00000000e+00,
       -4.84265985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476042, -0.09298504,  0.06198608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.97482058e-05, 2.24339308e-05,-5.86245028e-06, 8.26787306e-05,
 -3.38889353e-05, 6.31766700e-05, 7.82968647e-05,-4.12511395e-05,
 -9.52782886e-05, 1.64572159e-05, 2.84438679e-05,-4.49930404e-05,
 -6.26470118e-04, 3.31987469e-06,-2.43299727e-04,-2.55623634e-04,
  3.41849669e-05, 1.76365061e-05,-7.84754142e+00, 7.00014017e-04,
  9.48946930e-03,-2.89377830e-07]


--- Step 100 ---
qpos:
[ 6.23348566e-03, 3.55418140e-03,-3.13213359e-03,-2.24855114e-02,
  5.31958550e-03,-2.62003974e-03,-1.56119811e-02, 1.01457522e-02,
  1.36372435e-02, 1.98682403e-03,-7.81091043e-03, 2.09527672e-02,
  3.60096329e-01,-8.97858038e-03, 1.81034333e-01, 5.54602651e-02,
  9.49808088e-02,-7.00076052e-02, 1.21426146e-01, 9.99999184e-01,
 -1.52808021e-04,-2.08090308e-04, 1.25106215e-03]

qacc:
[ -6.33623572,  1.77133343,-11.82945985, 32.21146213,  1.59418008,
  -5.64089971, 25.66541623,-47.96517225,-12.77065986, -3.59165136,
  16.47851291,-34.03361922, -1.6515732 ,  6.47778395,  5.46374139,
 -25.98361775,  1.19639757, -0.68670313,  0.36041155, 11.97705093,
  20.44241915, -1.74159353]

qfrc_actuator:
[ 0.00095602, 0.0005864 ,-0.00058245,-0.00343809, 0.00078232,-0.00057284,
 -0.00257811, 0.00141728, 0.00202647, 0.00024536,-0.00124782, 0.00323404,
  0.09174296,-0.0016411 , 0.06125759, 0.00373593, 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: -0.0005747712291393064
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93159116e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.93159116e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196154, -0.06176974,  0.06198604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.71057962e-05,-2.80794068e-05, 1.09448589e-06, 5.87943439e-05,
  9.18607309e-06, 8.07235404e-05, 9.37279202e-05,-5.17347960e-05,
 -7.47948823e-05,-2.78049710e-05, 1.66922208e-05,-5.07065894e-05,
 -6.22148748e-04,-1.84648549e-05,-3.11925690e-04,-2.17230197e-04,
  4.41405908e-05, 8.97051646e-06,-7.84739891e+00, 6.63302053e-04,
  9.44094587e-03, 2.22692448e-06]


--- Step 101 ---
qpos:
[ 6.25322481e-03, 3.56583818e-03,-3.14130828e-03,-2.25516675e-02,
  5.33522583e-03,-2.62595664e-03,-1.56575157e-02, 1.01749241e-02,
  1.36774961e-02, 1.99389623e-03,-7.83397172e-03, 2.10165118e-02,
  3.61981297e-01,-9.00715100e-03, 1.82678576e-01, 5.56291256e-02,
  9.49719794e-02,-6.99997593e-02, 1.21426366e-01, 9.99999149e-01,
 -2.20766605e-04,-2.80434678e-04, 1.25503221e-03]

qacc:
[  3.94890139,  0.6038613 , -6.96792421, 22.40247885,  0.03364203,
  -3.66285643, 14.27557153,-19.74118441, -1.28249743, -1.09582261,
   8.80565411,-27.54271937, -1.41178927,  3.82693566,  0.98327636,
 -12.05814454,  1.18246633, -0.68081674,  0.24879316, 11.73558419,
  20.16801925, -1.64668804]

qfrc_actuator:
[ 0.00098007, 0.00053833,-0.00058223,-0.00339596, 0.00078204,-0.00057019,
 -0.00251706, 0.00140789, 0.00202118, 0.00025369,-0.00126776, 0.00317784,
  0.09157943,-0.00163663, 0.06104322, 0.00361902, 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: -0.0005800231882682194
  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([ 0.08196218, -0.06177074,  0.06198591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29715143e-05,-6.12908477e-05,-3.31805908e-06, 4.22490455e-05,
  5.19525864e-09, 6.56348060e-05, 8.80327193e-05,-3.64421599e-06,
 -7.41440994e-06,-5.97425335e-06,-2.53002653e-05,-5.79058306e-05,
 -6.15293765e-04,-3.30827598e-05,-3.71053967e-04,-1.67070331e-04,
  2.36748800e-05, 2.93566335e-06,-7.84765698e+00, 6.34696642e-04,
  9.40455822e-03, 3.30038537e-06]


--- Step 102 ---
qpos:
[ 6.27378814e-03, 3.57691317e-03,-3.15036693e-03,-2.26171400e-02,
  5.35039681e-03,-2.63222541e-03,-1.57013847e-02, 1.02041494e-02,
  1.37173719e-02, 2.00097820e-03,-7.85710790e-03, 2.10790756e-02,
  3.63863025e-01,-9.03471161e-03, 1.84319235e-01, 5.57945300e-02,
  9.49678314e-02,-6.99946151e-02, 1.21427182e-01, 9.99999127e-01,
 -2.65706740e-04,-3.12884113e-04, 1.25586081e-03]

qacc:
[  7.2691664 ,  0.30026777, -5.09126971, 17.17874661, -4.05329469,
  -5.00053917, 16.94411826,-18.43965868, -3.31864559, -2.20259833,
  12.86915239,-33.20595096, -2.12451927, 11.82638115,  5.14377538,
 -25.70475922,  1.17032564, -0.67543084,  0.14908439, 11.53380997,
  19.93335455, -1.56955822]

qfrc_actuator:
[ 0.00102185, 0.00050516,-0.00057853,-0.00336251, 0.00075786,-0.00061963,
 -0.00244523, 0.00140845, 0.00200199, 0.00025579,-0.00127027, 0.00311928,
  0.09141362,-0.0015871 , 0.06087159, 0.0034472 , 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: -0.0005828285977974718
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76221924e-14,  1.42866577e-13,  1.00000000e+00,  6.80361962e-27,
        1.00000000e+00, -1.42866577e-13, -1.00000000e+00,  0.00000000e+00,
       -4.76221924e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196238, -0.06177134,  0.06198584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23884470e-05,-6.65414164e-05,-7.80942411e-06, 3.16768765e-05,
 -2.41590272e-05, 5.97725428e-06, 9.66440528e-05, 6.39952872e-06,
 -1.93882351e-05,-8.94437225e-06,-8.78082430e-06,-6.09106652e-05,
 -6.13343140e-04, 1.16050015e-05,-3.46611918e-04,-2.26024057e-04,
  9.70708847e-06,-3.06119404e-07,-7.84783952e+00, 6.13355509e-04,
  9.38119077e-03, 4.12597436e-06]


--- Step 103 ---
qpos:
[ 6.29365731e-03, 3.58742441e-03,-3.15934899e-03,-2.26813534e-02,
  5.36550505e-03,-2.63887328e-03,-1.57436242e-02, 1.02328164e-02,
  1.37567082e-02, 2.00784773e-03,-7.88003291e-03, 2.11404576e-02,
  3.65741475e-01,-9.06173981e-03, 1.85956559e-01, 5.59571586e-02,
  9.49683230e-02,-6.99921535e-02, 1.21428241e-01, 9.99999126e-01,
 -2.87963058e-04,-3.05835404e-04, 1.25367279e-03]

qacc:
[ -6.09779359,  1.6455975 ,-12.23217861, 34.2668497 , -0.4923317 ,
  -6.2017752 , 23.74609354,-35.73969594, -4.73924551, -3.29517733,
  16.34766627,-37.00066299, -1.76646509,  7.48653432,  3.45674768,
 -19.26413893,  1.15992135, -0.67062794,  0.06066348, 11.36623173,
  19.73521547, -1.50662417]

qfrc_actuator:
[ 0.00098493, 0.00048117,-0.00057276,-0.0032989 , 0.00075532,-0.00064657,
 -0.00236783, 0.00137931, 0.00197475, 0.00023647,-0.00126248, 0.00305983,
  0.09123059,-0.00156472, 0.06072573, 0.00331552, 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: -0.0005836085429009041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51170984e-14,  1.90234197e-13,  1.00000000e+00,  1.80945248e-26,
        1.00000000e+00, -1.90234197e-13, -1.00000000e+00,  0.00000000e+00,
       -9.51170984e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196222, -0.06177164,  0.06198582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.57469613e-05,-6.16485252e-05,-7.73645801e-06, 6.12381318e-05,
 -3.23289841e-06,-2.69589700e-06, 9.12840444e-05,-2.53648960e-05,
 -2.77784187e-05,-2.87583545e-05, 2.84451954e-06,-6.14171208e-05,
 -6.26437088e-04,-1.43029169e-05,-3.17818238e-04,-1.86399482e-04,
  1.69690871e-06,-1.07746188e-06,-7.84794999e+00, 5.99173239e-04,
  9.37067727e-03, 4.70330912e-06]


--- Step 104 ---
qpos:
[ 6.31258477e-03, 3.59744402e-03,-3.16823724e-03,-2.27443130e-02,
  5.38046487e-03,-2.64532236e-03,-1.57853679e-02, 1.02612621e-02,
  1.37957573e-02, 2.01426069e-03,-7.90226532e-03, 2.11999551e-02,
  3.67616669e-01,-9.08858114e-03, 1.87590958e-01, 5.61171632e-02,
  9.49734193e-02,-6.99923576e-02, 1.21429231e-01, 9.99999145e-01,
 -2.87811110e-04,-2.59618255e-04, 1.24857031e-03]

qacc:
[-8.27757434e+00, 1.68635994e+00,-1.22100229e+01, 3.40664838e+01,
 -1.28814181e+00,-1.57581044e+00, 6.93941170e+00,-1.17159210e+01,
 -2.49762439e+00,-6.41468698e+00, 2.99616421e+01,-6.33582741e+01,
 -1.48556961e+00, 4.32621866e+00, 3.60595137e+00,-1.89013032e+01,
  1.15117382e+00,-6.66451402e-01,-1.72468399e-02, 1.12282328e+01,
  1.95705788e+01,-1.45502755e+00]

qfrc_actuator:
[ 0.0009375 , 0.00046292,-0.00056575,-0.00323581, 0.00074779,-0.00062435,
 -0.00234098, 0.00136845, 0.00196075, 0.0002045 ,-0.00123101, 0.00296481,
  0.09105865,-0.00155855, 0.06060075, 0.00319088, 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: -0.0005827343358751902
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.19074739e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.19074739e-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([ 0.08196176, -0.06177168,  0.06198585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.84825307e-05,-5.19128436e-05,-4.45000277e-06, 6.15152259e-05,
 -7.62630062e-06, 3.91584059e-05, 3.71720608e-05,-8.26675015e-06,
 -1.47875104e-05,-5.00979148e-05, 2.38477573e-05,-9.74401983e-05,
 -6.26500654e-04,-3.25251486e-05,-2.80632667e-04,-1.73764282e-04,
 -7.52896203e-07, 3.71191282e-07,-7.84799118e+00, 5.92060445e-04,
  9.37287875e-03, 5.03236299e-06]


--- Step 105 ---
qpos:
[ 6.33114090e-03, 3.60721668e-03,-3.17707798e-03,-2.28063979e-02,
  5.39452823e-03,-2.65145464e-03,-1.58267929e-02, 1.02890087e-02,
  1.38343351e-02, 2.02027697e-03,-7.92392213e-03, 2.12571592e-02,
  3.69488609e-01,-9.11441695e-03, 1.89223228e-01, 5.62693482e-02,
  9.49830916e-02,-6.99952134e-02, 1.21429879e-01, 9.99999180e-01,
 -2.65475109e-04,-1.74500896e-04, 1.24063745e-03]

qacc:
[ -3.26263306,  1.34858689, -8.95604865, 24.17061269, -7.84861141,
  -1.89507366, 10.34245892,-23.21177123, -4.12497132, -6.84764363,
  33.35293917,-73.69271612, -2.14841514, 11.7827619 , 20.46940984,
 -76.21191885,  1.14398949, -0.66291739, -0.08550237, 11.11593677,
  19.43664882, -1.41248441]

qfrc_actuator:
[ 0.00091979, 0.000466  ,-0.00055804,-0.00319127, 0.00070187,-0.00060855,
 -0.00232622, 0.00133293, 0.0019369 , 0.00018303,-0.00120365, 0.00284963,
  0.09089881,-0.00150872, 0.06047241, 0.00278738, 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: -0.0005805309997588964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.39053346e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.39053346e-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([ 0.08196106, -0.06177151,  0.0619859 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91203332e-05,-2.44234022e-05,-1.32687025e-06, 4.34916646e-05,
 -4.61235540e-05, 4.56748438e-05, 2.76421666e-05,-3.26672564e-05,
 -2.42733041e-05,-4.87237721e-05, 1.66699550e-05,-1.18492084e-04,
 -6.15508260e-04, 1.02089082e-05,-2.67427530e-04,-4.47588701e-04,
  2.07752504e-06, 3.83972282e-06,-7.84796527e+00, 5.91942168e-04,
  9.38768063e-03, 5.11337653e-06]


--- Step 106 ---
qpos:
[ 6.34933981e-03, 3.61686044e-03,-3.18613953e-03,-2.28671148e-02,
  5.40827679e-03,-2.65732860e-03,-1.58677030e-02, 1.03157634e-02,
  1.38712920e-02, 2.02630631e-03,-7.94557944e-03, 2.13128684e-02,
  3.71357338e-01,-9.13974949e-03, 1.90852667e-01, 5.64142222e-02,
  9.49973170e-02,-7.00007093e-02, 1.21429947e-01, 9.99999218e-01,
 -2.21134431e-04,-5.06951919e-05, 1.22994381e-03]

qacc:
[ -3.14851705,  3.27033295,-17.65898674, 41.73967223, -2.74622328,
  -3.13406058, 15.86830897,-34.06246168,-14.26435544, -3.03134006,
  17.19335099,-43.12665539, -1.73083756,  7.19044841, 17.89873914,
 -68.71835712,  1.13826887, -0.66002353, -0.14498484, 11.02608799,
  19.3308738 , -1.37716793]

qfrc_actuator:
[ 0.00090196, 0.00046409,-0.00056766,-0.00312249, 0.00068698,-0.00059681,
 -0.00230099, 0.00128319, 0.00185419, 0.00020348,-0.00119667, 0.00277676,
  0.09073036,-0.00148684, 0.06031545, 0.00241809, 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: -0.0005772810140825951
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.40399172e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.40399172e-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([ 0.08196018, -0.06177119,  0.06198598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.83903032e-05,-1.41556897e-05,-1.32154763e-05, 6.86711762e-05,
 -1.61860574e-05, 4.22222540e-05, 3.74408747e-05,-4.74168398e-05,
 -8.34091485e-05,-8.40643954e-06,-5.03504734e-06,-7.67651998e-05,
 -6.13395511e-04,-1.59689849e-05,-3.22608404e-04,-4.27442040e-04,
  1.00054240e-05, 9.16187010e-06,-7.84787392e+00, 5.98756433e-04,
  9.41499014e-03, 4.94678972e-06]


--- Step 107 ---
qpos:
[ 6.36683839e-03, 3.62613802e-03,-3.19486791e-03,-2.29268857e-02,
  5.42173971e-03,-2.66301914e-03,-1.59080005e-02, 1.03420629e-02,
  1.39066254e-02, 2.03212322e-03,-7.96668211e-03, 2.13676043e-02,
  3.73222940e-01,-9.16459355e-03, 1.92478160e-01, 5.65608277e-02,
  9.50074849e-02,-7.00119526e-02, 1.21429038e-01, 9.99999244e-01,
 -1.27478782e-04, 3.72670608e-05, 1.22223557e-03]

qacc:
[ -6.14749522,  0.54483371, -6.61018764, 22.67925443, -2.48626282,
  -2.40156027, 10.84578697,-19.85001532,-14.26632122, -3.80723157,
  17.32522302,-34.95314407, -1.69427383,  6.95918408,-11.05707924,
  30.21611255, -1.01435768, -1.43685085, -0.24424946, 24.63549798,
 -17.95236961,  1.48748799]

qfrc_actuator:
[ 0.00086645, 0.00044142,-0.00055193,-0.00307551, 0.00067274,-0.00058757,
 -0.00226979, 0.00126099, 0.00177299, 0.00019558,-0.00116606, 0.00272941,
  0.09057817,-0.00146389, 0.06017875, 0.00253351, 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: -0.0005745430142476277
  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([ 0.10909757, -0.05177259,  0.06198604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60532031e-05,-3.05547783e-05, 1.36719234e-05, 4.73879703e-05,
 -1.46888386e-05, 3.91792245e-05, 4.33777247e-05,-1.99711550e-05,
 -8.35531394e-05,-1.69324226e-05, 2.56910161e-05,-4.94596257e-05,
 -5.97161988e-04,-1.59427006e-05,-3.22544234e-04, 5.19852397e-05,
  2.29305661e-05, 1.61927603e-05,-7.84771836e+00, 6.12452943e-04,
  9.45473412e-03, 4.53319060e-06]


--- Step 108 ---
qpos:
[ 6.38274009e-03, 3.63507106e-03,-3.20333746e-03,-2.29856235e-02,
  5.43458250e-03,-2.66893709e-03,-1.59471476e-02, 1.03679080e-02,
  1.39407103e-02, 2.03806385e-03,-7.98742412e-03, 2.14216600e-02,
  3.75085392e-01,-9.18857635e-03, 1.94100754e-01, 5.67045727e-02,
  9.50136269e-02,-7.00289147e-02, 1.21426836e-01, 9.99999255e-01,
  1.48950799e-05, 8.98249444e-05, 1.21747611e-03]

qacc:
[-14.04251333,  0.97625286, -8.44730683, 26.09713743, -5.39207452,
  -4.43889306, 17.32837986,-26.88447056,-10.97866888, -2.22380794,
  11.07574277,-23.55739579, -2.01328458, 10.35210156,  4.35700689,
 -21.47759701, -1.00648207, -1.42970349, -0.3232521 , 24.33739589,
 -17.73213145,  1.47304789]

qfrc_actuator:
[ 0.0007853 , 0.00042432,-0.00053919,-0.00302398, 0.00064123,-0.00061537,
 -0.00221757, 0.00123743, 0.00171112, 0.00022414,-0.00113959, 0.00269744,
  0.09041454,-0.00142271, 0.06002777, 0.00238331, 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: -0.0005745153763383054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93245137e-13, -1.93245137e-13,  1.00000000e+00, -3.73436829e-26,
        1.00000000e+00,  1.93245137e-13, -1.00000000e+00,  0.00000000e+00,
       -1.93245137e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909756, -0.05177293,  0.06198604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.21916084e-05,-2.94997840e-05, 9.85618679e-06, 5.17478812e-05,
 -3.19181377e-05, 2.83294531e-06, 6.54476988e-05,-2.07299109e-05,
 -6.42453966e-05, 2.22811414e-05, 2.45223169e-05,-3.28461313e-05,
 -5.96521724e-04, 3.06069404e-06,-2.81023015e-04,-1.86351537e-04,
  1.98283902e-05, 2.54053221e-06,-7.84773085e+00, 6.42980230e-04,
  9.48287427e-03, 3.00186426e-06]


--- Step 109 ---
qpos:
[ 6.39754515e-03, 3.64384270e-03,-3.21222102e-03,-2.30432607e-02,
  5.44694764e-03,-2.67496759e-03,-1.59856218e-02, 1.03929440e-02,
  1.39737883e-02, 2.04381275e-03,-8.00726036e-03, 2.14745673e-02,
  3.76944671e-01,-9.21215646e-03, 1.95720208e-01, 5.68450961e-02,
  9.50202513e-02,-7.00384765e-02, 1.21424867e-01, 9.99999247e-01,
  9.41234304e-05, 1.46610289e-04, 1.21436989e-03]

qacc:
[ -9.66324196,  3.2294194 ,-16.42618944, 36.19154876, -4.16118001,
  -3.68640561, 16.35978229,-31.37553945, -8.82962284, -5.13259033,
  22.81186255,-44.02854191, -1.65112849,  6.24825771,  5.09100097,
 -24.56261331,  0.12060932,  1.85007905,  0.0583706 ,-31.57023303,
   2.15218083,  0.8237677 ]

qfrc_actuator:
[ 0.00073121, 0.00041069,-0.00056383,-0.00297018, 0.00061756,-0.00062954,
 -0.00218902, 0.00119547, 0.00166111, 0.00020333,-0.00109788, 0.00263929,
  0.09023883,-0.00140669, 0.05986295, 0.00221965, 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: -0.0005736298312879057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83858651e-14,  9.67717301e-14,  1.00000000e+00,  4.68238388e-27,
        1.00000000e+00, -9.67717301e-14, -1.00000000e+00,  0.00000000e+00,
       -4.83858651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475688, -0.09298696,  0.06198607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.64452980e-05,-2.60423185e-05,-2.76089819e-05, 5.40090396e-05,
 -2.45838252e-05, 6.46034492e-07, 3.69510305e-05,-3.99304885e-05,
 -5.18182384e-05,-4.70627128e-06, 4.82918731e-05,-5.70624534e-05,
 -6.06919295e-04,-2.17312905e-05,-3.05758919e-04,-2.08550547e-04,
  1.42679600e-05,-4.55134703e-06,-7.84762476e+00, 6.88790075e-04,
  9.49934426e-03, 2.73525702e-07]


--- Step 110 ---
qpos:
[ 6.41262103e-03, 3.65218040e-03,-3.22092155e-03,-2.31004989e-02,
  5.45893239e-03,-2.68064965e-03,-1.60242160e-02, 1.04172792e-02,
  1.40070446e-02, 2.04906285e-03,-8.02624874e-03, 2.15264085e-02,
  3.78800768e-01,-9.23564464e-03, 1.97336637e-01, 5.69825049e-02,
  9.50273527e-02,-7.00407216e-02, 1.21422664e-01, 9.99999237e-01,
  1.11118247e-04, 2.07642217e-04, 1.21278676e-03]

qacc:
[  2.39746044, -0.2681353 , -1.56578484,  8.50037527, -3.34193459,
  -0.64040463,  5.92168552,-18.12747427,  1.60369243, -5.22704673,
  22.17610875,-41.60782041, -1.4016779 ,  3.47600305,  4.93760832,
 -23.7780813 ,  0.11925042,  1.82916924, -0.05860012,-31.11427646,
   2.1611496 ,  0.75677992]

qfrc_actuator:
[ 0.00074675, 0.00038135,-0.00055705,-0.00295102, 0.00059869,-0.00060006,
 -0.00219241, 0.00116077, 0.00167174, 0.00015315,-0.00106546, 0.00258393,
  0.09006664,-0.00140563, 0.0597219 , 0.00206718, 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: -0.0005792269223266339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.91673243e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.91673243e-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([ 0.0947567 , -0.09298555,  0.06198593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39190848e-05,-4.74438845e-05,-1.87384938e-08, 1.82749357e-05,
 -1.95639719e-05, 3.63694084e-05, 3.80617911e-07,-3.41295675e-05,
  9.16016546e-06,-4.52888486e-05, 3.55045116e-05,-5.50820300e-05,
 -6.12595807e-04,-3.85562815e-05,-2.94694708e-04,-2.01517321e-04,
  7.47322132e-06,-1.93174942e-06,-7.84784524e+00, 7.14100316e-04,
  9.51728664e-03,-1.30355871e-06]


--- Step 111 ---
qpos:
[ 6.42776522e-03, 3.66022778e-03,-3.22956636e-03,-2.31567239e-02,
  5.47094248e-03,-2.68594576e-03,-1.60623457e-02, 1.04406187e-02,
  1.40405141e-02, 2.05420451e-03,-8.04509514e-03, 2.15771807e-02,
  3.80653629e-01,-9.25887523e-03, 1.98950460e-01, 5.71162393e-02,
  9.50349271e-02,-7.00357232e-02, 1.21419808e-01, 9.99999225e-01,
  6.66527634e-05, 2.72936058e-04, 1.21261729e-03]

qacc:
[  0.60859095,  1.54615548,-10.34035785, 27.98295413,  0.22929784,
  -2.83759815, 15.06154572,-33.32187081,  1.8823733 , -2.74518258,
  14.08790746,-32.73227441, -1.56660975,  5.01518715,  7.24702141,
 -30.95958184,  0.11823836,  1.81089451, -0.1632595 ,-30.72768924,
   2.16830268,  0.70021579]

qfrc_actuator:
[ 0.00074988, 0.00037843,-0.00054961,-0.00289911, 0.00060056,-0.00056256,
 -0.00216118, 0.00111288, 0.00168245, 0.00015675,-0.00105667, 0.00253062,
  0.08989135,-0.00139566, 0.05960588, 0.0018871 , 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: -0.0005821779545638756
  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([ 0.09475652, -0.09298496,  0.06198586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50269027e-06,-2.87930645e-05,-1.61812126e-06, 5.03561236e-05,
  1.32504310e-06, 5.70568336e-05, 3.80722314e-05,-4.69355023e-05,
  1.09709672e-05,-1.67307841e-05, 1.97693797e-06,-5.51778181e-05,
 -6.20911948e-04,-3.09095271e-05,-2.64397867e-04,-2.27450615e-04,
  4.13474679e-06, 5.43792643e-07,-7.84793470e+00, 7.19548790e-04,
  9.53665143e-03,-1.74799790e-06]


--- Step 112 ---
qpos:
[ 6.44213925e-03, 3.66808906e-03,-3.23844128e-03,-2.32111900e-02,
  5.48322651e-03,-2.69118014e-03,-1.60991674e-02, 1.04635312e-02,
  1.40728173e-02, 2.05918932e-03,-8.06341260e-03, 2.16268965e-02,
  3.82503265e-01,-9.28142366e-03, 2.00561908e-01, 5.72447129e-02,
  9.50405691e-02,-7.00299868e-02, 1.21418723e-01, 9.99999213e-01,
  1.63406833e-05, 3.21421799e-04, 1.21289226e-03]

qacc:
[ -6.78266854,  4.03264424,-22.12043431, 52.99933568,  2.43908195,
  -4.45657465, 17.80424035,-27.32435928,-10.24559078, -3.84091173,
  17.88942197,-36.94156403, -1.92111663,  8.79863838, 12.37895514,
 -48.42325519, -0.48309464,  0.18448734,  0.44279828, -2.93354738,
  -8.40048406,  0.22198093]

qfrc_actuator:
[ 0.00071016, 0.00037363,-0.00055948,-0.00281058, 0.00061462,-0.00055592,
 -0.00209197, 0.00109316, 0.00162211, 0.00015691,-0.00102619, 0.00247896,
  0.08973031,-0.00136279, 0.05948363, 0.00162124, 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: -0.0005831217096723381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51965093e-14,  4.34425272e-07,  1.00000000e+00,  4.13557694e-20,
        1.00000000e+00, -4.34425272e-07, -1.00000000e+00, -6.01853108e-36,
       -9.51965093e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.101967  , -0.07226302,  0.06198583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.96435990e-05,-1.91907152e-05,-1.41544727e-05, 8.83469880e-05,
  1.41131667e-05, 4.49841550e-05, 8.45237350e-05,-1.68249494e-05,
 -6.00276276e-05,-1.11149879e-05, 2.54367451e-05,-5.34552529e-05,
 -6.12271543e-04,-8.64244361e-06,-2.61343796e-04,-3.11181689e-04,
  3.83450049e-06, 2.85608035e-06,-7.84789851e+00, 7.05382152e-04,
  9.55742415e-03,-1.07368397e-06]


--- Step 113 ---
qpos:
[ 6.45592561e-03, 3.67539517e-03,-3.24691524e-03,-2.32645107e-02,
  5.49523876e-03,-2.69652795e-03,-1.61344901e-02, 1.04863841e-02,
  1.41038010e-02, 2.06463120e-03,-8.08176580e-03, 2.16752188e-02,
  3.84349716e-01,-9.30302424e-03, 2.02170211e-01, 5.73710256e-02,
  9.50421051e-02,-7.00301266e-02, 1.21417296e-01, 9.99999205e-01,
  1.59143831e-05, 3.33636301e-04, 1.21613869e-03]

qacc:
[ -5.15028704,  0.51452017, -7.70860727, 27.26167696, -2.33149948,
  -4.45594128, 15.93109605,-19.28635296,-11.62095397, -2.14228525,
  14.43754737,-38.87582855, -2.1370064 , 11.11186431,  1.88158221,
 -13.34206974, -1.02650307, -1.46906052, -0.08567991, 24.92039619,
 -18.16583419,  1.49404076]

qfrc_actuator:
[ 0.00068104, 0.00033221,-0.00054396,-0.00275448, 0.00060022,-0.00056763,
 -0.00201874, 0.00109017, 0.00155593, 0.00020837,-0.00101865, 0.00241096,
  0.08957259,-0.0013167 , 0.05933642, 0.00152001, 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: -0.0005876110425460795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72346052e-14,  3.54259539e-14,  1.00000000e+00,  1.67333095e-27,
        1.00000000e+00, -3.54259539e-14, -1.00000000e+00,  0.00000000e+00,
       -4.72346052e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909513, -0.0517771 ,  0.06198573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02636376e-05,-5.14085836e-05, 1.29901402e-05, 5.66290267e-05,
 -1.39817635e-05, 3.07551277e-05, 9.27887964e-05, 1.57990699e-06,
 -6.78808651e-05, 4.82100727e-05, 6.61152578e-06,-6.87076684e-05,
 -6.01106045e-04, 5.59826345e-06,-2.94869466e-04,-1.50978398e-04,
  2.36228696e-06, 1.97842503e-06,-7.84792058e+00, 6.89383385e-04,
  9.57292619e-03,-3.31538602e-08]


--- Step 114 ---
qpos:
[ 6.47029024e-03, 3.68225433e-03,-3.25542944e-03,-2.33167245e-02,
  5.50698517e-03,-2.70188310e-03,-1.61686062e-02, 1.05086856e-02,
  1.41340952e-02, 2.07066996e-03,-8.10001709e-03, 2.17223204e-02,
  3.86193024e-01,-9.32386085e-03, 2.03774933e-01, 5.74987921e-02,
  9.50395726e-02,-7.00360907e-02, 1.21415116e-01, 9.99999203e-01,
  6.46878572e-05, 3.10074892e-04, 1.22231357e-03]

qacc:
[  5.09732167,  1.79118067,-11.92300835, 31.46580431, -2.29052412,
  -4.51103052, 18.4073577 ,-29.88540809, -6.07583241, -1.99771241,
  13.44279812,-35.19696813, -1.971549  ,  9.42257706, -9.67946475,
  26.17777922, -1.01713505, -1.45606828, -0.1881045 , 24.57762479,
 -17.91783615,  1.47271274]

qfrc_actuator:
[ 0.00071166, 0.00030477,-0.00054925,-0.00270018, 0.00058694,-0.00057246,
 -0.00196158, 0.00106152, 0.00152237, 0.00025455,-0.00100676, 0.00235167,
  0.08941166,-0.00128098, 0.05918504, 0.00160533, 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: -0.0005894002914389185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.35456073e-14,  1.05955233e-13,  1.00000000e+00,  2.49478031e-27,
        1.00000000e+00, -1.05955233e-13, -1.00000000e+00,  0.00000000e+00,
       -2.35456073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909481, -0.05177761,  0.06198568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97378867e-05,-5.11804686e-05,-1.22309566e-05, 5.37701434e-05,
 -1.36725595e-05, 3.21636102e-05, 7.54291457e-05,-2.40504389e-05,
 -3.54580500e-05, 7.15413203e-05, 2.03619439e-05,-5.84047490e-05,
 -5.95102237e-04,-3.80942806e-06,-2.94101400e-04, 4.07697773e-05,
  1.78825339e-07,-6.40427627e-07,-7.84799757e+00, 6.89327745e-04,
  9.57686970e-03, 1.46730105e-07]


--- Step 115 ---
qpos:
[ 6.48559965e-03, 3.68890261e-03,-3.26435102e-03,-2.33675383e-02,
  5.51882603e-03,-2.70736512e-03,-1.62016793e-02, 1.05308435e-02,
  1.41637518e-02, 2.07648750e-03,-8.11740714e-03, 2.17690867e-02,
  3.88033182e-01,-9.34371526e-03, 2.05377033e-01, 5.76261147e-02,
  9.50330037e-02,-7.00478344e-02, 1.21411821e-01, 9.99999197e-01,
  1.62093718e-04, 2.51148042e-04, 1.23137962e-03]

qacc:
[  8.30837462,  3.72722343,-19.61831789, 44.65215216,  0.86202591,
  -3.37887264, 12.40825367,-16.46514507, -5.57914089, -3.37910884,
  13.05879856,-20.0966632 , -2.1655751 , 11.35770008, -2.52937155,
   3.21946876, -1.0090856 , -1.44489518, -0.27884074, 24.29411216,
 -17.71233438,  1.45426775]

qfrc_actuator:
[ 0.00075944, 0.00030358,-0.00056675,-0.00262963, 0.00059219,-0.00059095,
 -0.00191435, 0.0010535 , 0.00149054, 0.00020847,-0.00097464, 0.00233349,
  0.08924891,-0.00123391, 0.05907391, 0.00158678, 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: -0.0005891204752950241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.88919771e-14,  1.06005559e-13,  1.00000000e+00,  6.24287693e-27,
        1.00000000e+00, -1.06005559e-13, -1.00000000e+00,  0.00000000e+00,
       -5.88919771e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909489, -0.05177754,  0.06198569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.86079545e-05,-3.00980603e-05,-2.75948521e-05, 6.91020216e-05,
  4.86423646e-06, 1.45769674e-05, 6.27383588e-05,-4.46802528e-06,
 -3.28091502e-05,-4.39548239e-06, 4.74604997e-05,-1.56149374e-05,
 -5.93035184e-04, 7.33110704e-06,-2.31257901e-04,-5.20948602e-05,
 -4.39177146e-06, 3.30483753e-06,-7.84795258e+00, 7.04710994e-04,
  9.56902070e-03,-8.85489365e-07]


--- Step 116 ---
qpos:
[ 6.50136310e-03, 3.69505060e-03,-3.27276613e-03,-2.34171354e-02,
  5.53063748e-03,-2.71271116e-03,-1.62342711e-02, 1.05527391e-02,
  1.41927967e-02, 2.08176075e-03,-8.13431727e-03, 2.18153390e-02,
  3.89870239e-01,-9.36314284e-03, 2.06976593e-01, 5.77554857e-02,
  9.50268667e-02,-7.00521454e-02, 1.21408916e-01, 9.99999192e-01,
  1.96301088e-04, 1.97550867e-04, 1.24062832e-03]

qacc:
[  4.02200424,  0.42073826, -7.59985898, 28.20755487, -0.24503325,
  -1.70450471,  7.44755787,-12.86082097, -5.36024417, -3.10860231,
  12.22829758,-21.50993662, -1.67863163,  6.40405418, -9.93609435,
  29.31493448,  0.10798239,  1.85816983,  0.09774394,-31.59596171,
   2.70376046,  0.08295875]

qfrc_actuator:
[ 0.00078143, 0.00028258,-0.00053793,-0.00256781, 0.00059054,-0.00058203,
 -0.00189117, 0.0010399 , 0.00145995, 0.00014312,-0.00096667, 0.00230408,
  0.08908519,-0.00121608, 0.05898166, 0.00170252, 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: -0.0005953499592545181
  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([ 0.09475809, -0.09298235,  0.06198554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33470397e-05,-4.06233266e-05, 2.17176178e-05, 6.10331284e-05,
 -1.50421999e-06, 3.03805512e-05, 3.41710629e-05,-1.08482505e-05,
 -3.15080920e-05,-5.86991805e-05, 1.24219894e-05,-2.83336722e-05,
 -5.91692568e-04,-2.16677793e-05,-1.97652373e-04, 8.42025775e-05,
 -1.12886798e-05, 1.35247089e-05,-7.84779010e+00, 7.35361043e-04,
  9.54952271e-03,-3.10997715e-06]


--- Step 117 ---
qpos:
[ 6.51657786e-03, 3.70081243e-03,-3.28079882e-03,-2.34656100e-02,
  5.54268210e-03,-2.71759232e-03,-1.62664658e-02, 1.05739200e-02,
  1.42212490e-02, 2.08661629e-03,-8.15095462e-03, 2.18601861e-02,
  3.91704209e-01,-9.38282854e-03, 2.08573355e-01, 5.78853435e-02,
  9.50211621e-02,-7.00491165e-02, 1.21405887e-01, 9.99999193e-01,
  1.68247184e-04, 1.49041527e-04, 1.25027540e-03]

qacc:
[-4.81064578e+00, 7.41821150e-01,-8.09920063e+00, 2.71614853e+01,
  2.04610245e+00,-1.97022672e+00, 1.09272538e+01,-2.42664395e+01,
 -5.19898893e+00,-4.19763650e+00, 2.01165907e+01,-4.45849275e+01,
 -1.08809572e+00, 3.81197247e-01,-5.60106233e+00, 1.35926007e+01,
  1.08068370e-01, 1.83497754e+00,-3.12195542e-02,-3.11274956e+01,
  2.58257592e+00, 1.92535236e-01]

qfrc_actuator:
[ 0.00075253, 0.00026782,-0.00051758,-0.00251161, 0.0006026 ,-0.00053912,
 -0.00186451, 0.00100539, 0.00143035, 0.00011988,-0.00095542, 0.00223273,
  0.08891566,-0.00123336, 0.05882093, 0.00171898, 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: -0.0005998679757009961
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38808422e-13,  1.85077895e-13,  1.00000000e+00,  2.56903705e-26,
        1.00000000e+00, -1.85077895e-13, -1.00000000e+00,  0.00000000e+00,
       -1.38808422e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475882, -0.09298133,  0.06198543])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82503007e-05,-3.04300935e-05, 1.68695718e-05, 5.65111800e-05,
  1.20249539e-05, 6.70247638e-05, 3.71636176e-05,-3.22003403e-05,
 -3.05070598e-05,-5.47266862e-05,-2.58508755e-07,-7.40525296e-05,
 -5.98363290e-04,-5.79957746e-05,-2.36621096e-04,-3.41279338e-06,
 -2.41062634e-06, 9.73226244e-06,-7.84793459e+00, 7.46358906e-04,
  9.53306870e-03,-3.55757207e-06]


--- Step 118 ---
qpos:
[ 6.53167306e-03, 3.70643664e-03,-3.28862107e-03,-2.35130519e-02,
  5.55477775e-03,-2.72231427e-03,-1.62974309e-02, 1.05945041e-02,
  1.42491246e-02, 2.09180220e-03,-8.16740919e-03, 2.19037372e-02,
  3.93535071e-01,-9.40251727e-03, 2.10167703e-01, 5.80088007e-02,
  9.50158890e-02,-7.00388280e-02, 1.21402275e-01, 9.99999197e-01,
  7.87242006e-05, 1.05422350e-04, 1.26049362e-03]

qacc:
[ -1.04293566,  1.35852588, -9.45471031, 27.06658789,  0.48241719,
  -4.45411468, 18.7057268 ,-31.11728932, -5.07557154, -2.73288923,
  15.86746998,-38.85380132, -1.31755347,  2.68025908, 15.75924213,
 -60.3378723 ,  0.10789312,  1.81491763, -0.14583539,-30.73150115,
   2.48355386,  0.28057372]

qfrc_actuator:
[ 0.00074719, 0.00027465,-0.00050238,-0.00245917, 0.00060487,-0.00052945,
 -0.00180037, 0.00097664, 0.00140157, 0.00019301,-0.00092443, 0.00217283,
  0.08875341,-0.00123571, 0.05864585, 0.00137483, 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: -0.0006016308122194364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.22677996e-14,  9.22677996e-14,  1.00000000e+00,  8.51334685e-27,
        1.00000000e+00, -9.22677996e-14, -1.00000000e+00,  0.00000000e+00,
       -9.22677996e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475936, -0.09298114,  0.06198539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.15739981e-06,-4.35168041e-06, 1.30636351e-05, 5.29281502e-05,
  2.64369427e-06, 5.39587800e-05, 8.18348429e-05,-2.51828505e-05,
 -2.96613182e-05, 3.92964914e-05, 1.71650497e-05,-6.37652073e-05,
 -5.98442397e-04,-4.51134995e-05,-2.77095292e-04,-3.73565837e-04,
  6.86620512e-06, 6.23121160e-06,-7.84794870e+00, 7.37468612e-04,
  9.51813707e-03,-2.88608670e-06]


--- Step 119 ---
qpos:
[ 6.54624164e-03, 3.71190640e-03,-3.29593876e-03,-2.35591674e-02,
  5.56611695e-03,-2.72670291e-03,-1.63279976e-02, 1.06149648e-02,
  1.42767833e-02, 2.09744777e-03,-8.18352481e-03, 2.19465461e-02,
  3.95362730e-01,-9.42167268e-03, 2.11759299e-01, 5.81251837e-02,
  9.50110460e-02,-7.00213480e-02, 1.21397674e-01, 9.99999187e-01,
 -7.16073187e-05, 6.65318180e-05, 1.27142207e-03]

qacc:
[ -4.61637225,  1.1259957 , -9.88392182, 32.10404989, -6.61779865,
  -0.91388286,  4.44177096, -7.48619326, -1.90690529, -1.86423248,
  10.66857585,-24.40095787, -1.82746541,  7.46591523, 17.29783361,
 -66.4438658 ,  0.10754592,  1.79784519, -0.247111  ,-30.40130018,
   2.40267358,  0.35173615]

qfrc_actuator:
[ 0.00072027, 0.00027658,-0.00047251,-0.0023916 , 0.00056587,-0.00052185,
 -0.00178575, 0.00096927, 0.00139124, 0.00023462,-0.00089936, 0.002138  ,
  0.08857967,-0.00121148, 0.0584942 , 0.00101629, 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: -0.0006011325892027325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61721359e-14,  9.23442718e-14,  1.00000000e+00,  4.26373227e-27,
        1.00000000e+00, -9.23442718e-14, -1.00000000e+00,  0.00000000e+00,
       -4.61721359e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09475974, -0.09298162,  0.0619854 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71031749e-05, 4.40291783e-06, 3.25302304e-05, 6.89755563e-05,
 -3.89157766e-05, 5.40830213e-05, 3.53541716e-05,-2.68495138e-06,
 -1.11419064e-05, 6.43780259e-05, 3.31590942e-05,-3.38602454e-05,
 -6.09181843e-04,-1.84373308e-05,-3.13326786e-04,-4.13756595e-04,
  1.71050168e-05, 2.91443186e-06,-7.84783786e+00, 7.08948356e-04,
  9.50470361e-03,-1.10589493e-06]


--- Step 120 ---
qpos:
[ 6.56037407e-03, 3.71738992e-03,-3.30261630e-03,-2.36041440e-02,
  5.57724548e-03,-2.73071541e-03,-1.63587336e-02, 1.06355584e-02,
  1.43047938e-02, 2.10274749e-03,-8.19885496e-03, 2.19886759e-02,
  3.97187145e-01,-9.44066021e-03, 2.13347963e-01, 5.82349621e-02,
  9.50019974e-02,-7.00099068e-02, 1.21393795e-01, 9.99999160e-01,
 -1.70842225e-04,-1.01542423e-05, 1.28473919e-03]

qacc:
[ -3.81868924,  0.58179902, -6.83485664, 25.47968679, -1.85649028,
   1.24726981, -4.2814061 ,  6.57065392,  3.12592266, -4.05692907,
  16.65879225,-29.40236784, -1.53186692,  4.31392158, 15.61178929,
 -60.93161185, -1.05143088, -1.50969972,  0.18068467, 25.52417901,
 -18.93031638,  1.19468866]

qfrc_actuator:
[ 0.0006986 , 0.00029339,-0.00043421,-0.00233341, 0.00055613,-0.00051574,
 -0.00180049, 0.00097449, 0.00140962, 0.00016828,-0.00087807, 0.00210042,
  0.08839915,-0.00120736, 0.05835138, 0.00068784, 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: -0.0006046597019609551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29514019e-13, -1.83611215e-13,  1.00000000e+00, -4.21413478e-26,
        1.00000000e+00,  1.83611215e-13, -1.00000000e+00,  0.00000000e+00,
       -2.29514019e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10909109, -0.05178106,  0.06198531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24388213e-05, 2.88837033e-05, 4.57131222e-05, 6.09554446e-05,
 -1.08272655e-05, 4.40020990e-05, 1.05769089e-06, 8.74162832e-06,
  1.80939555e-05,-2.49630678e-05, 3.75511883e-05,-3.43964419e-05,
 -6.22018361e-04,-3.86976458e-05,-3.23973434e-04,-3.90167730e-04,
  2.87178052e-05,-2.03660075e-07,-7.84760628e+00, 6.61012886e-04,
  9.49274530e-03, 1.77405909e-06]


--- Step 121 ---
qpos:
[ 6.57586152e-03, 3.72290751e-03,-3.30848501e-03,-2.36480860e-02,
  5.58782565e-03,-2.73447948e-03,-1.63893342e-02, 1.06553601e-02,
  1.43328070e-02, 2.10757630e-03,-8.21365975e-03, 2.20300619e-02,
  3.99008372e-01,-9.45941647e-03, 2.14933594e-01, 5.83418006e-02,
  9.49887864e-02,-7.00044224e-02, 1.21390076e-01, 9.99999123e-01,
 -2.19877979e-04,-1.23930838e-04, 1.30045610e-03]

qacc:
[ 11.95336554, -0.1087814 , -3.94749374, 20.56129267, -4.80262746,
  -1.67091161,  9.79452635,-23.91942449,  0.04866705, -3.62246468,
  15.15358628,-28.52084222, -1.56810083,  4.80850463,  4.39897324,
 -21.90756287, -1.04059355, -1.48916932,  0.03964639, 25.07574004,
 -18.5777037 ,  1.19647741]

qfrc_actuator:
[ 0.00076897, 0.00030128,-0.00039119,-0.00228119, 0.00052822,-0.00051069,
 -0.00179694, 0.0009338 , 0.00140923, 0.00012657,-0.00085964, 0.00206143,
  0.08824131,-0.00119739, 0.05824061, 0.00055733, 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: -0.0006100019232185144
  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([ 0.10908984, -0.05178222,  0.06198518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97391614e-05, 3.60178249e-05, 5.68248731e-05, 5.63295173e-05,
 -2.82121214e-05, 3.07025035e-05, 1.34347742e-05,-3.85667933e-05,
  1.26289225e-07,-4.94014111e-05, 1.67613357e-05,-3.94976497e-05,
 -6.10137484e-04,-3.48276460e-05,-2.93556079e-04,-1.92122309e-04,
  2.78279059e-05, 8.68466390e-06,-7.84774298e+00, 6.28842454e-04,
  9.46826900e-03, 3.72013986e-06]


--- Step 122 ---
qpos:
[ 6.59138184e-03, 3.72851139e-03,-3.31431730e-03,-2.36910111e-02,
  5.59695422e-03,-2.73817421e-03,-1.64193239e-02, 1.06745109e-02,
  1.43602530e-02, 2.11217269e-03,-8.22793971e-03, 2.20709721e-02,
  4.00826444e-01,-9.47719813e-03, 2.16516699e-01, 5.84467324e-02,
  9.49803944e-02,-7.00017009e-02, 1.21388268e-01, 9.99999089e-01,
 -2.44705120e-04,-1.95996632e-04, 1.31274939e-03]

qacc:
[  0.28959989,  2.1059989 ,-11.62799605, 29.08443836,-12.69416093,
  -2.92969796, 13.37065729,-25.71092954, -4.97139023, -2.74388831,
  11.36320076,-20.28289579, -2.21154489, 11.2231912 ,  2.02663841,
 -12.51998823,  1.20475794, -0.69075333,  0.47810294, 12.13120628,
  20.84001805, -1.70872354]

qfrc_actuator:
[ 0.00076868, 0.00028603,-0.00039902,-0.0022329 , 0.0004543 ,-0.00050631,
 -0.00176489, 0.00090194, 0.00138004, 0.0001354 ,-0.00082522, 0.00203968,
  0.08809187,-0.00114854, 0.05814918, 0.00047357, 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: -0.0006150001628627833
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35393016e-13, -2.70786032e-13,  1.00000000e+00, -3.66625375e-26,
        1.00000000e+00,  2.70786032e-13, -1.00000000e+00,  0.00000000e+00,
       -1.35393016e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196544, -0.06178038,  0.06198506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69592618e-06, 1.89841968e-05, 8.63845088e-06, 5.29878708e-05,
 -7.47053603e-05, 2.31176834e-05, 3.90643861e-05,-3.07965076e-05,
 -2.91969867e-05,-1.70327714e-05, 2.49644555e-05,-2.41203858e-05,
 -5.92652178e-04, 4.76597038e-06,-2.38810132e-04,-1.30581489e-04,
  2.55452731e-05, 2.36252265e-05,-7.84774972e+00, 6.12457581e-04,
  9.43162538e-03, 4.41844517e-06]


--- Step 123 ---
qpos:
[ 6.60505387e-03, 3.73415738e-03,-3.32042788e-03,-2.37329931e-02,
  5.60581556e-03,-2.74188743e-03,-1.64484007e-02, 1.06934668e-02,
  1.43871356e-02, 2.11707759e-03,-8.24220219e-03, 2.21109214e-02,
  4.02641375e-01,-9.49386857e-03, 2.18097602e-01, 5.85464731e-02,
  9.49767589e-02,-7.00017162e-02, 1.21387816e-01, 9.99999070e-01,
 -2.45860635e-04,-2.27060791e-04, 1.32179088e-03]

qacc:
[-16.27901502,  2.8079611 ,-13.84819128, 30.50365182, -2.31120037,
  -2.97176506, 11.39216699,-16.22181695, -4.9634697 , -1.61005326,
  10.40678579,-27.31273382, -2.33297217, 12.3957581 , 12.42503252,
 -48.20873545,  1.18912867, -0.68419137,  0.33869029, 11.86239739,
  20.48566104, -1.62321403]

qfrc_actuator:
[ 0.00067352, 0.00027459,-0.00041916,-0.00218736, 0.00044268,-0.00050224,
 -0.00171629, 0.00089331, 0.00135189, 0.0001745 ,-0.00081693, 0.0019928 ,
  0.0879316 ,-0.00109495, 0.05802149, 0.00020495, 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: -0.0006191099290129565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.48314174e-14, -6.72471260e-14,  1.00000000e+00,  3.01478397e-27,
        1.00000000e+00,  6.72471260e-14, -1.00000000e+00,  0.00000000e+00,
        4.48314174e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196612, -0.06178133,  0.06198496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.51160665e-05, 3.13954788e-06,-1.32397625e-05, 4.77705990e-05,
 -1.37472153e-05, 2.41610438e-05, 5.74843010e-05,-6.85460576e-06,
 -2.89810365e-05, 3.36875303e-05, 7.06854252e-06,-4.72799304e-05,
 -5.87769799e-04, 1.19245352e-05,-2.45660247e-04,-3.05565100e-04,
  1.01872650e-05, 1.26744957e-05,-7.84790527e+00, 6.05207617e-04,
  9.40824024e-03, 4.51583609e-06]


--- Step 124 ---
qpos:
[ 6.61747917e-03, 3.73965631e-03,-3.32637674e-03,-2.37741065e-02,
  5.61481276e-03,-2.74537753e-03,-1.64767342e-02, 1.07118072e-02,
  1.44127815e-02, 2.12278866e-03,-8.25704667e-03, 2.21492830e-02,
  4.04453172e-01,-9.50970976e-03, 2.19675190e-01, 5.86413641e-02,
  9.49778257e-02,-7.00044449e-02, 1.21388225e-01, 9.99999070e-01,
 -2.23788851e-04,-2.17721532e-04, 1.32771867e-03]

qacc:
[-10.96656689,  1.1635658 , -8.05240995, 22.87482087,  1.20889628,
  -3.05123991, 13.90291286,-25.90646722,-10.91641846, -0.55540135,
  10.26698607,-37.44936634, -2.08693718,  9.94018047,  9.74674746,
 -41.23112775,  1.17556936, -0.67833725,  0.21536791, 11.63999009,
  20.18672435, -1.55452529]

qfrc_actuator:
[ 6.12060508e-04, 2.65439210e-04,-4.10878495e-04,-2.14381572e-03,
  4.50076201e-04,-4.80550402e-04,-1.67603962e-03, 8.62907011e-04,
  1.28907515e-03, 2.31321719e-04,-8.41759222e-04, 1.91376344e-03,
  8.77649412e-02,-1.05679386e-03, 5.78241758e-02,-4.62570093e-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: -0.0006203960226602856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47384809e-14, -1.78953924e-13,  1.00000000e+00, -8.00612670e-27,
        1.00000000e+00,  1.78953924e-13, -1.00000000e+00,  0.00000000e+00,
       -4.47384809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196625, -0.06178185,  0.06198493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.41639877e-05,-8.19808119e-06, 9.03914134e-06, 4.42497302e-05,
  7.00901664e-06, 4.72088868e-05, 5.24248057e-05,-2.74753240e-05,
 -6.36134916e-05, 7.50674824e-05,-1.85912229e-05,-7.83308653e-05,
 -5.90040923e-04,-3.19562811e-06,-3.38507014e-04,-2.98926096e-04,
  1.16940696e-06, 4.53368364e-06,-7.84798429e+00, 6.05305936e-04,
  9.39806934e-03, 4.36222701e-06]


--- Step 125 ---
qpos:
[ 6.62941523e-03, 3.74523909e-03,-3.33255946e-03,-2.38143787e-02,
  5.62313870e-03,-2.74855227e-03,-1.65046979e-02, 1.07300005e-02,
  1.44374757e-02, 2.12855313e-03,-8.27158110e-03, 2.21871234e-02,
  4.06261900e-01,-9.52526529e-03, 2.21249534e-01, 5.87314231e-02,
  9.49835485e-02,-7.00098665e-02, 1.21389062e-01, 9.99999085e-01,
 -1.78854459e-04,-1.68477837e-04, 1.33064386e-03]

qacc:
[ -4.31506779,  2.50561763,-12.30131426, 27.13699873, -5.87197445,
  -0.90735208,  4.48107124, -7.87173003, -8.36621657, -1.85263283,
   8.93671107,-18.52175149, -1.58223406,  5.20396051,  9.80068121,
 -41.26229445,  1.16400799, -0.67325239,  0.10700457, 11.45745929,
  19.93735915, -1.49933546]

qfrc_actuator:
[ 0.00058872, 0.00027559,-0.00042138,-0.00210176, 0.00041533,-0.00046627,
 -0.00165876, 0.00085545, 0.00124187, 0.00020939,-0.00083262, 0.00188745,
  0.08760522,-0.00104581, 0.05767048,-0.00028529, 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: -0.0006193757252804383
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.96243572e-14,  2.24060893e-14,  1.00000000e+00,  2.00813135e-27,
        1.00000000e+00, -2.24060893e-14, -1.00000000e+00,  0.00000000e+00,
       -8.96243572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196593, -0.061782  ,  0.06198496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51754437e-05, 9.22987677e-06,-9.46474359e-06, 4.29687842e-05,
 -3.45329985e-05, 5.07467626e-05, 3.28735524e-05,-4.12077975e-06,
 -4.89703111e-05, 1.27874358e-05, 1.96955419e-05,-2.53174122e-05,
 -5.85840393e-04,-3.13941514e-05,-3.31991302e-04,-2.97183772e-04,
 -1.99743568e-06,-1.13314935e-06,-7.84799078e+00, 6.12632795e-04,
  9.40090742e-03, 3.95714291e-06]


--- Step 126 ---
qpos:
[ 6.64132305e-03, 3.75081089e-03,-3.33850784e-03,-2.38541976e-02,
  5.63063864e-03,-2.75147147e-03,-1.65322098e-02, 1.07479655e-02,
  1.44624472e-02, 2.13376240e-03,-8.28558321e-03, 2.22244166e-02,
  4.08067556e-01,-9.54085040e-03, 2.22820254e-01, 5.88224649e-02,
  9.49938887e-02,-7.00179640e-02, 1.21389948e-01, 9.99999105e-01,
 -1.11353497e-04,-7.97399390e-05, 1.33065583e-03]

qacc:
[-2.40749840e-01, 2.64516535e-01,-2.87359713e+00, 1.03436677e+01,
 -7.22321837e+00,-1.38066054e+00, 6.40148734e+00,-1.12900970e+01,
  2.46680828e+00,-3.35328612e+00, 1.31939915e+01,-2.30991857e+01,
 -1.30646185e+00, 2.48084611e+00,-8.31735411e+00, 2.13246986e+01,
  1.15434178e+00,-6.68958665e-01, 1.23426722e-02, 1.13093063e+01,
  1.97323306e+01,-1.45498253e+00]

qfrc_actuator:
[ 0.00058798, 0.0002794 ,-0.00040732,-0.00207868, 0.0003738 ,-0.00045663,
 -0.00163742, 0.00084379, 0.0012575 , 0.00014063,-0.00082151, 0.00185685,
  0.08743911,-0.00105093, 0.05754306,-0.00021329, 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: -0.0006165009917539627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50211370e-14, -1.80084548e-13,  1.00000000e+00, -8.10761111e-27,
        1.00000000e+00,  1.80084548e-13, -1.00000000e+00,  0.00000000e+00,
       -4.50211370e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196525, -0.06178188,  0.06198502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45180110e-06, 8.76759622e-06, 1.63775266e-05, 2.40774057e-05,
 -4.24987743e-05, 4.50279223e-05, 3.60485013e-05,-8.39855803e-06,
  1.42533202e-05,-5.86839010e-05, 1.53481379e-05,-2.99301950e-05,
 -5.91112956e-04,-4.84900771e-05,-3.02895827e-04, 1.46920893e-05,
  3.43984620e-07,-4.59263811e-06,-7.84792784e+00, 6.27088147e-04,
  9.41658449e-03, 3.30060161e-06]


--- Step 127 ---
qpos:
[ 6.65312930e-03, 3.75623315e-03,-3.34416006e-03,-2.38937600e-02,
  5.63827229e-03,-2.75447026e-03,-1.65590516e-02, 1.07649892e-02,
  1.44877569e-02, 2.13820576e-03,-8.29915680e-03, 2.22607421e-02,
  4.09870135e-01,-9.55699460e-03, 2.24387147e-01, 5.89166476e-02,
  9.50088147e-02,-7.00287233e-02, 1.21390555e-01, 9.99999117e-01,
 -2.15225870e-05, 4.81613969e-05, 1.32782655e-03]

qacc:
[ -0.88198093, -0.49579149,  0.4029005 ,  3.66505144,  1.19274158,
  -3.9169025 , 17.78437132,-35.08557786,  3.00153513, -4.20853765,
  17.61314853,-34.47363161, -0.83625024, -2.04096917,-15.13380411,
  44.74305806,  1.14645232, -0.66545176, -0.06991066, 11.19090643,
  19.5670027 , -1.41933177]

qfrc_actuator:
[ 5.82793527e-04, 2.61708753e-04,-3.96638586e-04,-2.06692731e-03,
  3.81881418e-04,-4.85331767e-04,-1.61388910e-03, 7.94242344e-04,
  1.27447534e-03, 7.98748212e-05,-8.09559921e-04, 1.80613849e-03,
  8.72692801e-02,-1.08324985e-03, 5.73729748e-02,-4.73280754e-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: -0.0006121640036804848
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53400975e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.53400975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196429, -0.06178153,  0.06198513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.23089385e-06,-8.45520254e-06, 1.54194001e-05, 1.32509638e-05,
  6.88449173e-06, 3.93623156e-06, 3.73030056e-05,-4.65076905e-05,
  1.73696021e-05,-9.17096060e-05, 7.25672509e-07,-5.33325198e-05,
 -5.99829030e-04,-7.70025491e-05,-2.97433045e-04, 1.29793693e-04,
  7.97033895e-06,-6.06307723e-06,-7.84779782e+00, 6.48589473e-04,
  9.44496157e-03, 2.39297405e-06]


--- Step 128 ---
qpos:
[ 6.66478159e-03, 3.76146121e-03,-3.34962287e-03,-2.39325131e-02,
  5.64628811e-03,-2.75762451e-03,-1.65853362e-02, 1.07813058e-02,
  1.45127283e-02, 2.14221977e-03,-8.31262416e-03, 2.22965008e-02,
  4.11669668e-01,-9.57270032e-03, 2.25951030e-01, 5.90074189e-02,
  9.50196780e-02,-7.00452832e-02, 1.21390312e-01, 9.99999102e-01,
  1.17492736e-04, 1.40116707e-04, 1.32775425e-03]

qacc:
[ -1.34554313,  0.88311623, -6.92605328, 20.75090822,  3.36602525,
  -3.22421365, 14.17361461,-27.18032116, -2.96588028, -2.02528917,
   8.80051677,-18.47254767, -1.72244994,  6.49098507,  5.85735371,
 -26.95976579, -1.01568424, -1.4501418 , -0.21236353, 24.56825326,
 -18.00568018,  1.3793126 ]

qfrc_actuator:
[ 5.75019631e-04, 2.49015504e-04,-3.88148867e-04,-2.02645191e-03,
  4.01350299e-04,-5.01306438e-04,-1.58943420e-03, 7.58267090e-04,
  1.25658095e-03, 7.76081617e-05,-7.97218606e-04, 1.77951746e-03,
  8.71292852e-02,-1.06034456e-03, 5.71880953e-02,-2.35844151e-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: -0.0006094172495041683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27722268e-14, -5.69305669e-14,  1.00000000e+00,  1.29643578e-27,
        1.00000000e+00,  5.69305669e-14, -1.00000000e+00,  0.00000000e+00,
        2.27722268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908822, -0.05178196,  0.0619852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.93030032e-06,-1.37503849e-05, 9.17975375e-06, 4.09914071e-05,
  1.96672456e-05,-7.67303898e-06, 2.85655053e-05,-3.53924474e-05,
 -1.74233628e-05,-5.56839305e-05,-8.30779390e-06,-3.16204709e-05,
 -5.78418824e-04,-2.37865505e-05,-2.96647454e-04,-2.17510210e-04,
  2.07574353e-05,-5.73025729e-06,-7.84760247e+00, 6.77069830e-04,
  9.48592704e-03, 1.23488032e-06]


--- Step 129 ---
qpos:
[ 6.67625002e-03, 3.76644746e-03,-3.35461115e-03,-2.39708371e-02,
  5.65413003e-03,-2.76084693e-03,-1.66108780e-02, 1.07970405e-02,
  1.45362561e-02, 2.14632180e-03,-8.32585168e-03, 2.23319294e-02,
  4.13466158e-01,-9.58729250e-03, 2.27511487e-01, 5.90965623e-02,
  9.50310139e-02,-7.00544078e-02, 1.21390511e-01, 9.99999070e-01,
  1.93105539e-04, 2.36558966e-04, 1.32901670e-03]

qacc:
[ -1.59906483, -0.7590789 ,  0.43881365,  6.3971991 , -1.4986159 ,
  -3.35969656, 14.31071746,-25.5242483 ,-12.69820315, -1.20916858,
   5.91751498,-12.12800132, -2.33658228, 12.21766172, -0.14186715,
  -6.8594559 ,  0.11815912,  1.85883179,  0.11035737,-31.6983452 ,
   2.28564343,  0.66267235]

qfrc_actuator:
[ 0.00056579, 0.00023942,-0.00036323,-0.0020049 , 0.00039184,-0.00049178,
 -0.00154683, 0.00073058, 0.0011828 , 0.00012816,-0.00076674, 0.00176733,
  0.08698067,-0.00100508, 0.05702636,-0.0003122 , 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: -0.0006148662975707236
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.80563324e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.80563324e-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([ 0.09476274, -0.09297967,  0.06198506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.46843287e-06,-1.37071010e-05, 2.47040326e-05, 2.21601879e-05,
 -8.94775872e-06, 1.00092452e-05, 4.36224895e-05,-2.76879332e-05,
 -7.42869523e-05, 1.63452605e-05, 1.69178748e-05,-1.55257605e-05,
 -5.67469006e-04, 1.18753507e-05,-3.13688417e-04,-1.25047076e-04,
  9.32744628e-06,-1.36634011e-05,-7.84754816e+00, 7.21818256e-04,
  9.51480427e-03,-1.25396786e-06]


--- Step 130 ---
qpos:
[ 6.68751848e-03, 3.77132736e-03,-3.35958166e-03,-2.40085886e-02,
  5.66179743e-03,-2.76436965e-03,-1.66356183e-02, 1.08126925e-02,
  1.45587169e-02, 2.15036903e-03,-8.33858787e-03, 2.23669348e-02,
  4.15259513e-01,-9.60102224e-03, 2.29068676e-01, 5.91879515e-02,
  9.50428212e-02,-7.00561956e-02, 1.21390606e-01, 9.99999035e-01,
  2.06337883e-04, 3.37464698e-04, 1.33152844e-03]

qacc:
[-1.75763368e+00, 9.92094124e-01,-6.14660350e+00, 1.60846320e+01,
 -1.49785498e+00,-2.80344485e+00, 9.77536566e+00,-1.22755353e+01,
 -9.37391542e+00,-2.29866204e+00, 9.90924375e+00,-1.80123165e+01,
 -2.15483031e+00, 1.01351914e+01,-1.16012140e+01, 3.35850468e+01,
  1.17840048e-01, 1.83418298e+00,-2.59257357e-02,-3.11873819e+01,
  2.27330743e+00, 6.16841634e-01]

qfrc_actuator:
[ 0.00055577, 0.00023182,-0.00036432,-0.0019769 , 0.00038311,-0.00052025,
 -0.00151149, 0.00072578, 0.00112999, 0.00012129,-0.0007433 , 0.00174605,
  0.08680036,-0.00096675, 0.05691593,-0.00017967, 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: -0.0006181023932442381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49044947e-14,  1.79617979e-13,  1.00000000e+00, -8.06565456e-27,
        1.00000000e+00, -1.79617979e-13, -1.00000000e+00,  0.00000000e+00,
        4.49044947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476272, -0.09297893,  0.06198499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02956567e-05,-9.29373509e-06,-3.92495739e-08, 2.87837745e-05,
 -8.98916733e-06,-1.46621103e-05, 4.21197702e-05,-3.37552430e-06,
 -5.49114006e-05, 5.07641283e-06, 2.84131350e-05,-2.03506954e-05,
 -5.88435263e-04,-3.17156359e-06,-2.58606375e-04, 8.71181592e-05,
  8.05721247e-06,-9.49469132e-06,-7.84775583e+00, 7.45991447e-04,
  9.54566617e-03,-2.86836885e-06]


--- Step 131 ---
qpos:
[ 6.69788926e-03, 3.77599734e-03,-3.36422359e-03,-2.40453719e-02,
  5.66930045e-03,-2.76810848e-03,-1.66600499e-02, 1.08288800e-02,
  1.45814046e-02, 2.15420631e-03,-8.35084254e-03, 2.24014325e-02,
  4.17049734e-01,-9.61445834e-03, 2.30623580e-01, 5.92774466e-02,
  9.50550994e-02,-7.00507317e-02, 1.21390116e-01, 9.99998998e-01,
  1.58052424e-04, 4.42817908e-04, 1.33521194e-03]

qacc:
[ -7.8875105 ,  0.8132256 , -7.35437749, 23.69102545, -1.42558149,
  -0.04274868, -2.51850788, 11.44889249,  2.01569249, -2.67239768,
  11.26241219,-20.65577449, -1.64344758,  5.34069232,  2.34482197,
 -13.11252318,  0.11775054,  1.81291315, -0.14622374,-30.7561085 ,
   2.26481448,  0.5750441 ]

qfrc_actuator:
[ 5.09867241e-04, 2.25370602e-04,-3.45246791e-04,-1.92759223e-03,
  3.74902591e-04,-5.35733099e-04,-1.49863185e-03, 7.52186376e-04,
  1.14321373e-03, 9.78291135e-05,-7.24441529e-04, 1.71953229e-03,
  8.66277857e-02,-9.56528188e-04, 5.67991137e-02,-2.80073943e-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: -0.0006185548266005453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48716499e-14,  8.97432998e-14,  1.00000000e+00,  4.02692993e-27,
        1.00000000e+00, -8.97432998e-14, -1.00000000e+00,  0.00000000e+00,
       -4.48716499e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476266, -0.09297904,  0.06198498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.62026280e-05,-1.04966341e-05, 1.82209056e-05, 4.95541118e-05,
 -8.46753391e-06,-1.47512394e-05, 1.52032984e-05, 2.72035814e-05,
  1.16741496e-05,-1.56479542e-05, 2.27537672e-05,-2.57657165e-05,
 -5.97075597e-04,-3.37534191e-05,-2.17885103e-04,-1.27339730e-04,
  9.51187351e-06,-5.45371415e-06,-7.84783157e+00, 7.50254197e-04,
  9.57798135e-03,-3.34670968e-06]


--- Step 132 ---
qpos:
[ 6.70762911e-03, 3.78051715e-03,-3.36861070e-03,-2.40812794e-02,
  5.67664668e-03,-2.77193757e-03,-1.66844362e-02, 1.08449157e-02,
  1.46037290e-02, 2.15786710e-03,-8.36216050e-03, 2.24346165e-02,
  4.18836829e-01,-9.62761674e-03, 2.32175638e-01, 5.93654481e-02,
  9.50654687e-02,-7.00418461e-02, 1.21390906e-01, 9.99998959e-01,
  8.09222267e-05, 5.31651788e-04, 1.33901976e-03]

qacc:
[ -5.5427405 ,  0.90387923, -7.18219819, 22.00660878, -1.36998662,
  -0.55593781,  2.45542639, -5.09647803, -3.16509909, -5.55028993,
  25.00940778,-49.12758867, -1.629474  ,  5.19898305,  0.30907704,
  -7.19094004, -0.47725067,  0.85545133,  0.32003289,-14.43341085,
  -8.24038904,  0.05707289]

qfrc_actuator:
[ 0.00047872, 0.00021976,-0.00033214,-0.00188387, 0.00036708,-0.0005434 ,
 -0.00149908, 0.00074348, 0.00112419, 0.0001001 ,-0.00067301, 0.00165462,
  0.08646529,-0.0009452 , 0.05664654,-0.00035723, 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: -0.0006169073018782275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49914850e-14,  3.83685494e-07,  1.00000000e+00,  1.72625802e-20,
        1.00000000e+00, -3.83685494e-07, -1.00000000e+00,  3.00926554e-36,
       -4.49914850e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10198892, -0.08038258,  0.06198501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24729144e-05,-5.67827546e-06, 1.49680631e-05, 4.49462872e-05,
 -8.07376521e-06,-1.12269341e-05,-3.85366931e-07,-8.25152666e-06,
 -1.86954996e-05,-2.88349236e-06, 5.01577455e-05,-6.53497451e-05,
 -5.95597778e-04,-3.47709095e-05,-2.62067635e-04,-1.11565552e-04,
  1.34395876e-05,-1.54666881e-06,-7.84778137e+00, 7.34881595e-04,
  9.61173345e-03,-2.70435271e-06]


--- Step 133 ---
qpos:
[ 6.71726435e-03, 3.78508567e-03,-3.37341681e-03,-2.41167058e-02,
  5.68349690e-03,-2.77571122e-03,-1.67087243e-02, 1.08607005e-02,
  1.46249621e-02, 2.16157049e-03,-8.37308475e-03, 2.24660819e-02,
  4.20620807e-01,-9.64048787e-03, 2.33724192e-01, 5.94522701e-02,
  9.50716373e-02,-7.00369443e-02, 1.21392585e-01, 9.99998924e-01,
  3.75436956e-05, 5.83612085e-04, 1.34520645e-03]

qacc:
[ -0.93474728,  2.22815979, -9.87267109, 18.81377414, -4.34094847,
  -0.70892579,  3.7080083 , -8.26364668, -9.59337178, -4.56372893,
  23.64260893,-54.08251836, -1.63876105,  5.27251983, -1.60997746,
  -1.88647021, -1.05015893, -0.99595899,  0.22198093, 16.85049606,
 -18.45927467,  1.19990259]

qfrc_actuator:
[ 0.00047426, 0.00021467,-0.00035818,-0.00186156, 0.00034179,-0.00052866,
 -0.00148962, 0.00073194, 0.00106855, 0.0001001 ,-0.00065593, 0.00156768,
  0.08630362,-0.0009333 , 0.05645667,-0.00042007, 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: -0.0006189977277318482
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39194698e-08,  2.19596669e-08,  1.00000000e+00,  9.64456930e-16,
        1.00000000e+00, -2.19596669e-08, -1.00000000e+00,  0.00000000e+00,
       -4.39194698e-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([ 0.1089949 , -0.05809226,  0.06198496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.38514315e-06,-3.31866504e-06,-2.37450913e-05, 2.35450718e-05,
 -2.55261968e-05, 8.41336548e-06, 7.10247879e-06,-1.21717935e-05,
 -5.61589100e-05, 5.93997081e-06, 2.04336421e-05,-8.66486963e-05,
 -5.93738947e-04,-3.44269373e-05,-3.15579501e-04,-1.01511877e-04,
  1.21189235e-05, 7.54975076e-07,-7.84777460e+00, 7.10250995e-04,
  9.64014048e-03,-1.25424571e-06]


--- Step 134 ---
qpos:
[ 6.72711620e-03, 3.78930559e-03,-3.37832187e-03,-2.41519032e-02,
  5.68999063e-03,-2.77941857e-03,-1.67327709e-02, 1.08765581e-02,
  1.46457083e-02, 2.16527170e-03,-8.38372027e-03, 2.24966183e-02,
  4.22401734e-01,-9.65375011e-03, 2.35269709e-01, 5.95346131e-02,
  9.50737263e-02,-7.00379225e-02, 1.21393867e-01, 9.99998902e-01,
  4.38226737e-05, 5.99389584e-04, 1.35424451e-03]

qacc:
[  1.90981989,  0.28388526, -2.65178626,  7.03235572, -3.11479889,
  -0.43072975,  1.36586791, -0.55071985, -4.27534592, -2.71430975,
  13.61099189,-30.16606303, -0.99005865, -0.45183894,  9.03672643,
 -38.14766188, -1.0199268 , -1.470016  , -0.09902244, 24.80355896,
 -18.12472981,  1.44083973]

qfrc_actuator:
[ 4.85548311e-04, 1.74260078e-04,-3.71632706e-04,-1.85203855e-03,
  3.24167634e-04,-5.18343638e-04,-1.47428871e-03, 7.36602350e-04,
  1.04508520e-03, 9.85933890e-05,-6.41555804e-04, 1.52171985e-03,
  8.61425670e-02,-9.56695982e-04, 5.62925202e-02,-6.51567743e-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: -0.0006203896165724587
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.35542072e-14,  1.34216829e-13,  1.00000000e+00, -4.50353927e-27,
        1.00000000e+00, -1.34216829e-13, -1.00000000e+00,  0.00000000e+00,
        3.35542072e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908507, -0.05178521,  0.06198493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11311706e-05,-4.62275505e-05,-1.61734469e-05, 9.09174494e-06,
 -1.83434434e-05, 1.63471333e-05, 1.78181749e-05, 5.06053897e-06,
 -2.50500369e-05, 2.29476645e-06, 1.51613602e-05,-4.67369935e-05,
 -5.91727601e-04,-6.98523193e-05,-3.10543296e-04,-2.75836062e-04,
  6.92659461e-06,-3.15671710e-06,-7.84792521e+00, 6.96526304e-04,
  9.65681227e-03,-7.31059114e-08]


--- Step 135 ---
qpos:
[ 6.73702663e-03, 3.79324185e-03,-3.38340074e-03,-2.41863684e-02,
  5.69656751e-03,-2.78327047e-03,-1.67560851e-02, 1.08923415e-02,
  1.46663566e-02, 2.16918116e-03,-8.39447695e-03, 2.25263665e-02,
  4.24179583e-01,-9.66713848e-03, 2.36812183e-01, 5.96147606e-02,
  9.50717755e-02,-7.00447224e-02, 1.21394312e-01, 9.99998894e-01,
  9.90739097e-05, 5.79519838e-04, 1.36613362e-03]

qacc:
[  0.51549112,  1.61781489, -9.39750026, 22.53991189,  0.75345101,
  -2.3917767 ,  8.56266268,-10.91177497, -0.87047581, -1.00742658,
   7.32268545,-20.92877329, -1.2481322 ,  1.793642  ,  2.13508942,
 -14.00636843, -1.00991725, -1.45540902, -0.20912388, 24.46110979,
 -17.85670448,  1.44097601]

qfrc_actuator:
[ 0.00048825, 0.00016629,-0.00037768,-0.00181463, 0.00032897,-0.00052846,
 -0.00143786, 0.00073301, 0.00104075, 0.00011396,-0.0006466 , 0.00148248,
  0.08598199,-0.00096519, 0.05617051,-0.00074971, 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: -0.0006193226157824999
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.60200268e-14,  4.48160214e-14,  1.00000000e+00,  2.51059472e-27,
        1.00000000e+00, -4.48160214e-14, -1.00000000e+00,  0.00000000e+00,
       -5.60200268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908512, -0.05178495,  0.06198496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00083050e-06,-3.68197057e-05,-1.71981244e-05, 3.51210816e-05,
  4.27939169e-06, 3.29545980e-06, 4.24629796e-05,-2.14627765e-06,
 -5.03615674e-06, 1.77614387e-05,-4.28568555e-06,-3.95701375e-05,
 -5.92484564e-04,-5.64450472e-05,-2.86689351e-04,-1.51819169e-04,
 -5.87618679e-07,-2.42515772e-06,-7.84799536e+00, 6.98448051e-04,
  9.66160490e-03,-2.12954889e-08]


--- Step 136 ---
qpos:
[ 6.74585717e-03, 3.79747843e-03,-3.38908952e-03,-2.42201612e-02,
  5.70315073e-03,-2.78749984e-03,-1.67780665e-02, 1.09076024e-02,
  1.46864472e-02, 2.17345361e-03,-8.40561235e-03, 2.25557551e-02,
  4.25954256e-01,-9.67978468e-03, 2.38351426e-01, 5.96953741e-02,
  9.50656322e-02,-7.00521016e-02, 1.21395488e-01, 9.99998899e-01,
  1.58835039e-04, 5.24452095e-04, 1.37896960e-03]

qacc:
[ -9.53009846,  3.50551306,-14.72109622, 27.05771504,  0.10341057,
  -5.2974132 , 20.37143431,-31.26917547, -4.92507262,  0.80775328,
  -0.64937808, -5.25254505, -2.09804524,  9.1176908 , -6.17236785,
  14.66830189, -1.04815183, -0.14481397,  0.18256597,  2.2306264 ,
 -17.6020169 ,  0.47647216]

qfrc_actuator:
[ 0.00043261, 0.00021336,-0.00039693,-0.00177884, 0.00032916,-0.00055066,
 -0.00137162, 0.00070684, 0.0010122 , 0.00013925,-0.00066301, 0.00146527,
  0.08581647,-0.00092935, 0.05603661,-0.00071506, 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: -0.0006168505941449576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.62445264e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.62445264e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884729, -0.06842763,  0.06198502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55649549e-05, 2.43949676e-05,-2.76740085e-05, 3.43796143e-05,
  3.20106270e-07,-1.12945487e-05, 7.23671948e-05,-2.45807475e-05,
 -2.86810068e-05, 3.26187426e-05,-1.45975241e-05,-1.74193305e-05,
 -5.96873113e-04,-1.19474020e-05,-2.74461421e-04,-9.20765580e-06,
 -1.02118674e-05, 4.66920114e-06,-7.84794458e+00, 7.15743836e-04,
  9.65465725e-03,-1.17524257e-06]


--- Step 137 ---
qpos:
[ 6.75464228e-03, 3.80188296e-03,-3.39496993e-03,-2.42536187e-02,
  5.70968500e-03,-2.79173464e-03,-1.67994620e-02, 1.09224353e-02,
  1.47060404e-02, 2.17696431e-03,-8.41612209e-03, 2.25851288e-02,
  4.27725810e-01,-9.69186250e-03, 2.39887877e-01, 5.97717684e-02,
  9.50553321e-02,-7.00600574e-02, 1.21397032e-01, 9.99998911e-01,
  2.23101386e-04, 4.34465604e-04, 1.39276589e-03]

qacc:
[ -0.40859182,  1.44908016, -6.25498992, 12.23034812, -0.41033057,
  -2.52401565, 10.79831894,-19.14165957, -4.34458588, -2.77779455,
   8.52129307, -9.23505274, -1.91870082,  7.64258251,  8.61674981,
 -36.14684485, -1.03918596, -0.14416225,  0.09213278,  2.22827835,
 -17.46238603,  0.48410636]

qfrc_actuator:
[ 4.31853812e-04, 2.21969347e-04,-4.05833846e-04,-1.76200789e-03,
  3.26646347e-04,-5.44304470e-04,-1.34162831e-03, 6.85342297e-04,
  9.87364840e-04, 4.59784407e-05,-6.50413902e-04, 1.46115242e-03,
  8.56587775e-02,-9.03236618e-04, 5.58690779e-02,-9.39834751e-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: -0.0006139534796090057
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.52079458e-14,  1.13019864e-14,  1.00000000e+00, -5.10939590e-28,
        1.00000000e+00, -1.13019864e-14, -1.00000000e+00,  0.00000000e+00,
        4.52079458e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884808, -0.06842749,  0.06198509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33154607e-06, 1.79530791e-05,-6.00083075e-06, 1.76709855e-05,
 -2.51475496e-06, 1.43093633e-05, 3.59927546e-05,-1.99294264e-05,
 -2.56278174e-05,-7.88286467e-05, 1.69649360e-05,-3.60768616e-06,
 -5.88759641e-04,-2.06044485e-05,-2.86557766e-04,-2.59090254e-04,
 -9.55921608e-06, 1.44060311e-05,-7.84789339e+00, 7.34357795e-04,
  9.63694483e-03,-2.50724483e-06]


--- Step 138 ---
qpos:
[ 6.76334953e-03, 3.80628796e-03,-3.40060724e-03,-2.42862760e-02,
  5.71579310e-03,-2.79552492e-03,-1.68208067e-02, 1.09368746e-02,
  1.47251840e-02, 2.17934307e-03,-8.42610841e-03, 2.26139349e-02,
  4.29494308e-01,-9.70382898e-03, 2.41421398e-01, 5.98454754e-02,
  9.50454524e-02,-7.00607356e-02, 1.21398096e-01, 9.99998924e-01,
  2.25765263e-04, 3.49912886e-04, 1.40642020e-03]

qacc:
[ -0.67732224,  0.97028197, -6.82744731, 20.26823363, -3.73753518,
  -0.35771041,  3.80237515,-11.03682571, -3.92177694, -4.12026241,
  14.93057467,-24.77391121, -1.46876721,  3.78246996,  3.78856533,
 -19.54769852,  0.10511374,  1.81938099, -0.12029431,-30.79738703,
   2.75976592, -0.08498439]

qfrc_actuator:
[ 4.27910662e-04, 2.25275200e-04,-3.90957791e-04,-1.72097241e-03,
  3.04798539e-04,-5.03290068e-04,-1.33318126e-03, 6.66768424e-04,
  9.64925827e-04,-4.64366431e-05,-6.39030547e-04, 1.42918951e-03,
  8.55005514e-02,-9.00829284e-04, 5.57400263e-02,-1.06721821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006128402847642433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05801277e-14,  2.71740383e-13,  1.00000000e+00,  2.46142786e-26,
        1.00000000e+00, -2.71740383e-13, -1.00000000e+00,  0.00000000e+00,
       -9.05801277e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476635, -0.09298255,  0.06198511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00503587e-06, 1.28176683e-05, 1.85394082e-05, 4.20170477e-05,
 -2.19152431e-05, 5.59675046e-05, 1.54144832e-05,-1.70787727e-05,
 -2.31889755e-05,-1.33163503e-04,-2.89773794e-06,-3.48692921e-05,
 -5.84028952e-04,-4.42882269e-05,-2.82148122e-04,-1.77344444e-04,
 -6.72564684e-06, 2.54508306e-05,-7.84780207e+00, 7.54324258e-04,
  9.60807730e-03,-3.98264531e-06]


--- Step 139 ---
qpos:
[ 6.77090718e-03, 3.81021166e-03,-3.40527375e-03,-2.43174840e-02,
  5.72159181e-03,-2.79900104e-03,-1.68412737e-02, 1.09502475e-02,
  1.47435640e-02, 2.18138861e-03,-8.43589060e-03, 2.26417071e-02,
  4.31259722e-01,-9.71561533e-03, 2.42952378e-01, 5.99185719e-02,
  9.50359947e-02,-7.00542137e-02, 1.21398250e-01, 9.99998941e-01,
  1.67563949e-04, 2.70520980e-04, 1.42021266e-03]

qacc:
[-10.07982933, -0.34562856, -5.76398794, 29.58692984, -2.68709355,
  -4.22640761, 20.18501672,-40.28953637, -6.7072096 , -3.12627306,
  14.89549546,-32.89327598, -1.54812053,  4.37123516, -1.90705043,
   1.22022529,  0.10547153,  1.80005889, -0.22711893,-30.4289582 ,
   2.62321901,  0.05784788]

qfrc_actuator:
[ 3.68850697e-04, 1.89991175e-04,-3.44417833e-04,-1.64826304e-03,
  2.89502326e-04,-4.77432030e-04,-1.28410045e-03, 6.14579252e-04,
  9.26322205e-04,-1.33948799e-05,-6.10767437e-04, 1.38107734e-03,
  8.53367892e-02,-8.94665097e-04, 5.56554789e-02,-1.08275542e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006119557102895051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.07110601e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.07110601e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476712, -0.09298316,  0.06198514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.91735814e-05,-2.25377123e-05, 5.30025707e-05, 7.47917855e-05,
 -1.59023774e-05, 5.99552558e-05, 6.22123700e-05,-4.95650983e-05,
 -3.93043216e-05,-4.34981376e-05,-7.62039593e-07,-5.46402694e-05,
 -5.87887498e-04,-4.13432827e-05,-2.26370636e-04,-6.03377056e-05,
  6.53034966e-06, 1.89645077e-05,-7.84788373e+00, 7.55311639e-04,
  9.58194091e-03,-3.78128257e-06]


--- Step 140 ---
qpos:
[ 6.77769829e-03, 3.81367889e-03,-3.40953983e-03,-2.43475396e-02,
  5.72750671e-03,-2.80198270e-03,-1.68610684e-02, 1.09628818e-02,
  1.47609934e-02, 2.18305024e-03,-8.44529313e-03, 2.26686790e-02,
  4.33022104e-01,-9.72720097e-03, 2.44481830e-01, 5.99867633e-02,
  9.50269588e-02,-7.00405565e-02, 1.21397123e-01, 9.99998951e-01,
  4.91085023e-05, 1.96067144e-04, 1.43437021e-03]

qacc:
[ -6.72652312,  0.66359041, -8.07361295, 27.66540992,  1.02937762,
  -2.74727932, 13.85944948,-28.07901389, -8.34756869, -3.20024219,
  14.08220432,-28.29023663, -1.55053925,  4.52846974, 12.55260731,
 -47.20738627,  0.10546894,  1.78380853, -0.32060095,-30.12357656,
   2.51185135,  0.1739837 ]

qfrc_actuator:
[ 3.31081416e-04, 1.49787414e-04,-3.32962374e-04,-1.59302379e-03,
  2.95943368e-04,-4.42962620e-04,-1.24699169e-03, 5.78556479e-04,
  8.78513490e-04,-2.96933709e-05,-5.90019167e-04, 1.34172140e-03,
  8.51857950e-02,-8.86360119e-04, 5.55764014e-02,-1.33398171e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006091630521142533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55634588e-14,  2.73380753e-13,  1.00000000e+00,  1.24561727e-26,
        1.00000000e+00, -2.73380753e-13, -1.00000000e+00,  0.00000000e+00,
       -4.55634588e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09476769, -0.09298432,  0.0619852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.94645937e-05,-3.87191750e-05, 1.59881559e-05, 5.76362585e-05,
  6.00742656e-06, 7.90535152e-05, 5.56927606e-05,-3.22411658e-05,
 -4.89362672e-05,-4.30990733e-05, 9.82746576e-06,-4.23492651e-05,
 -5.77612253e-04,-3.96848743e-05,-1.84597310e-04,-2.82882050e-04,
  1.97061888e-05, 1.30747695e-05,-7.84784170e+00, 7.36842332e-04,
  9.55733215e-03,-2.48580931e-06]


--- Step 141 ---
qpos:
[ 6.78398312e-03, 3.81712874e-03,-3.41403570e-03,-2.43770555e-02,
  5.73345283e-03,-2.80451421e-03,-1.68808111e-02, 1.09753807e-02,
  1.47784037e-02, 2.18470217e-03,-8.45511750e-03, 2.26953211e-02,
  4.34781417e-01,-9.73853559e-03, 2.46008352e-01, 6.00528895e-02,
  9.50160011e-02,-7.00261750e-02, 1.21397341e-01, 9.99998942e-01,
 -7.52356918e-05, 1.05031064e-04, 1.44893402e-03]

qacc:
[ -4.46322655,  1.73985563, -8.49460635, 18.18664004,  0.26715102,
   0.1705182 ,  0.82581655, -3.58191123, -0.18099255,  0.48764577,
  -0.3643153 , -4.66230836, -1.6160373 ,  4.95745223,  1.91184085,
 -12.97684885, -0.48043915,  0.18106428,  0.33660108, -2.9563028 ,
  -8.2868789 ,  0.20297279]

qfrc_actuator:
[ 3.06163331e-04, 1.60057421e-04,-3.42375547e-04,-1.56630201e-03,
  2.97372323e-04,-4.39137617e-04,-1.25271727e-03, 5.70084863e-04,
  8.78932163e-04,-2.21541335e-05,-6.09542253e-04, 1.32555197e-03,
  8.50212649e-02,-8.76863307e-04, 5.54153934e-02,-1.43804042e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006046558598244464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.88035835e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.88035835e-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([ 0.10196772, -0.07226609,  0.06198531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60562667e-05,-5.65514477e-06,-1.33764694e-05, 2.68082184e-05,
  1.62719068e-06, 5.84679023e-05, 1.65866661e-05,-3.76197504e-06,
 -9.84310639e-07,-1.63191688e-05,-2.86305940e-05,-1.85380239e-05,
 -5.83475692e-04,-3.78665924e-05,-2.75471001e-04,-1.43529172e-04,
  3.35008926e-05, 7.64871135e-06,-7.84768008e+00, 6.99119724e-04,
  9.53422603e-03,-1.03289397e-07]


--- Step 142 ---
qpos:
[ 6.79026506e-03, 3.82054737e-03,-3.41867195e-03,-2.44053339e-02,
  5.73937018e-03,-2.80686877e-03,-1.69006345e-02, 1.09880720e-02,
  1.47956829e-02, 2.18672639e-03,-8.46504928e-03, 2.27214895e-02,
  4.36537626e-01,-9.74993606e-03, 2.47531089e-01, 6.01183525e-02,
  9.50009781e-02,-7.00176489e-02, 1.21397023e-01, 9.99998914e-01,
 -1.50189942e-04,-2.26407135e-05, 1.46569025e-03]

qacc:
[-2.87247480e-02, 2.89973479e+00,-1.56104687e+01, 3.72450190e+01,
 -2.57295909e-01, 8.55415297e-01,-3.52199172e+00, 6.84857780e+00,
 -1.16405921e+00,-1.80679874e-01, 3.36205872e+00,-1.16667356e+01,
 -1.33589636e+00, 2.38538290e+00,-3.58571057e+00, 4.42089342e+00,
 -1.01634887e+00,-1.46384152e+00,-1.34411718e-01, 2.46682887e+01,
 -1.83536920e+01, 1.09743721e+00]

qfrc_actuator:
[ 3.06754943e-04, 1.64849912e-04,-3.46087227e-04,-1.50328122e-03,
  2.95832519e-04,-4.53852732e-04,-1.26603932e-03, 5.77836164e-04,
  8.72230670e-04, 3.49723448e-05,-5.99320626e-04, 1.30539131e-03,
  8.48487257e-02,-8.84534620e-04, 5.52160599e-02,-1.47242916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006062178405450841
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83139286e-13, -1.83139286e-13,  1.00000000e+00, -3.35399981e-26,
        1.00000000e+00,  1.83139286e-13, -1.00000000e+00,  0.00000000e+00,
       -1.83139286e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908475, -0.05178167,  0.06198527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51562618e-07,-2.01926990e-08,-5.52697359e-06, 6.29058906e-05,
 -1.47344225e-06, 2.15410501e-05, 9.01016347e-07, 1.07792165e-05,
 -6.73278011e-06, 4.13426010e-05, 2.73670984e-06,-2.22492218e-05,
 -5.95623211e-04,-5.57353970e-05,-3.34638188e-04,-7.65113107e-05,
  3.84604565e-05, 9.64815047e-06,-7.84761208e+00, 6.59209774e-04,
  9.50533913e-03, 2.29834054e-06]


--- Step 143 ---
qpos:
[ 6.79684989e-03, 3.82412213e-03,-3.42393072e-03,-2.44333172e-02,
  5.74556827e-03,-2.80937299e-03,-1.69203276e-02, 1.10011314e-02,
  1.48120574e-02, 2.18912876e-03,-8.47455300e-03, 2.27468273e-02,
  4.38290782e-01,-9.76130770e-03, 2.49050746e-01, 6.01827351e-02,
  9.49819136e-02,-7.00149194e-02, 1.21395758e-01, 9.99998865e-01,
 -1.76412747e-04,-1.86403874e-04, 1.48467677e-03]

qacc:
[  2.64408758,  2.54934208,-10.04026347, 16.02613956,  2.46466233,
   0.19119249, -2.53152311,  8.81460399, -7.95419789, -2.39138762,
  12.78614666,-28.1552635 , -1.40591037,  3.12600428, -1.28232406,
  -2.12056548, -1.01037595, -1.44913593, -0.2364977 , 24.33927066,
 -18.08155244,  1.11189777]

qfrc_actuator:
[ 3.22351505e-04, 1.66376689e-04,-3.81880782e-04,-1.49040513e-03,
  3.10311590e-04,-4.79598786e-04,-1.26605482e-03, 5.95047695e-04,
  8.25871517e-04, 6.82151768e-05,-5.71397858e-04, 1.26535911e-03,
  8.46981237e-02,-8.84537704e-04, 5.50897778e-02,-1.51884962e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006056630083716152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.83307055e-13, -1.83307055e-13,  1.00000000e+00, -3.36014765e-26,
        1.00000000e+00,  1.83307055e-13, -1.00000000e+00,  0.00000000e+00,
       -1.83307055e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10908438, -0.05178144,  0.06198529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55892642e-05, 3.04124399e-06,-3.42313321e-05, 1.39734658e-05,
  1.44440280e-05,-1.27630814e-05, 5.14978762e-06, 1.83968340e-05,
 -4.65337619e-05, 5.60105592e-05, 3.60819381e-05,-3.86359123e-05,
 -5.84000687e-04,-5.00840741e-05,-2.77927179e-04,-9.16222654e-05,
  3.70149085e-05, 2.52778340e-05,-7.84764245e+00, 6.34504335e-04,
  9.46431710e-03, 3.49762792e-06]


--- Step 144 ---
qpos:
[ 6.80391548e-03, 3.82760842e-03,-3.42891873e-03,-2.44616479e-02,
  5.75189137e-03,-2.81159472e-03,-1.69400351e-02, 1.10139049e-02,
  1.48284394e-02, 2.19146365e-03,-8.48378028e-03, 2.27725913e-02,
  4.40040936e-01,-9.77255994e-03, 2.50567223e-01, 6.02489831e-02,
  9.49676215e-02,-7.00149214e-02, 1.21396053e-01, 9.99998811e-01,
 -1.78497035e-04,-3.08791782e-04, 1.50014466e-03]

qacc:
[ 4.24186541e+00,-1.59782502e+00, 6.97580168e+00,-1.33319719e+01,
  1.08897902e+00,-1.76858092e-01, 2.37570873e+00,-7.50462187e+00,
  7.58095441e-02, 1.57750687e-02,-1.98605337e+00, 8.97300577e+00,
 -1.46995952e+00, 3.80187900e+00,-1.03243124e+01, 2.93045926e+01,
  1.19312000e+00,-6.82898477e-01, 3.89975315e-01, 1.20996309e+01,
  2.06699940e+01,-1.75790922e+00]

qfrc_actuator:
[ 3.46646407e-04, 1.65769164e-04,-3.65374624e-04,-1.50716849e-03,
  3.16351352e-04,-4.40697039e-04,-1.25826508e-03, 5.82177322e-04,
  8.27554244e-04, 3.37151386e-05,-5.68852174e-04, 1.28496100e-03,
  8.45501395e-02,-8.80008200e-04, 5.49647930e-02,-1.41203305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006102346680083859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.09668922e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.09668922e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196212, -0.06179002,  0.06198518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47390089e-05,-5.39970052e-06, 1.34767603e-05,-1.74810231e-05,
  6.44680617e-06, 3.39146047e-05, 6.65519487e-06,-1.28611407e-05,
  3.83296004e-07, 2.62222052e-06, 1.72680138e-05, 2.24631897e-05,
 -5.72348664e-04,-4.46286624e-05,-2.55330344e-04, 6.73467805e-05,
  3.43847095e-05, 4.64994220e-05,-7.84755236e+00, 6.25131096e-04,
  9.41147509e-03, 3.49602249e-06]


--- Step 145 ---
qpos:
[ 6.81156247e-03, 3.83084378e-03,-3.43309240e-03,-2.44892845e-02,
  5.75858258e-03,-2.81340285e-03,-1.69593132e-02, 1.10260313e-02,
  1.48447142e-02, 2.19345227e-03,-8.49273401e-03, 2.27987715e-02,
  4.41788138e-01,-9.78330599e-03, 2.52080962e-01, 6.03116820e-02,
  9.49580433e-02,-7.00176353e-02, 1.21397401e-01, 9.99998768e-01,
 -1.56968582e-04,-3.90492199e-04, 1.51226728e-03]

qacc:
[  5.14828784, -1.18858171,  0.81282578, 10.09377058,  3.22864176,
  -1.99172839, 10.61698648,-22.79874384, -0.92929063, -0.36380672,
  -1.12053385,  8.13595331, -1.82347473,  6.94413192,  6.6764954 ,
 -29.23557113,  1.17845185, -0.67794853,  0.2633135 , 11.83635922,
  20.32631014, -1.67265608]

qfrc_actuator:
[ 3.75861287e-04, 1.64063218e-04,-3.18132917e-04,-1.47018045e-03,
  3.35123594e-04,-3.98884151e-04,-1.22794689e-03, 5.51764585e-04,
  8.22006594e-04,-5.63098702e-06,-5.63799718e-04, 1.30391334e-03,
  8.44091571e-02,-8.55108602e-04, 5.47927744e-02,-1.60634578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006131824182401685
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.78971904e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.78971904e-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([ 0.08196262, -0.06179095,  0.06198511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99153603e-05,-2.70897043e-06, 4.72539060e-05, 3.69467705e-05,
  1.89684474e-05, 6.18870597e-05, 3.79265746e-05,-2.89592814e-05,
 -5.53443241e-06,-3.33322722e-05, 8.53814533e-06, 2.00604476e-05,
 -5.56285068e-04,-2.33200943e-05,-2.74695633e-04,-2.22113526e-04,
  1.50363483e-05, 3.05954118e-05,-7.84775640e+00, 6.25379519e-04,
  9.37199954e-03, 3.05935575e-06]


--- Step 146 ---
qpos:
[ 6.81950027e-03, 3.83398227e-03,-3.43667607e-03,-2.45166118e-02,
  5.76579209e-03,-2.81523278e-03,-1.69778804e-02, 1.10373901e-02,
  1.48607959e-02, 2.19519479e-03,-8.50123542e-03, 2.28242587e-02,
  4.43532370e-01,-9.79294897e-03, 2.53591727e-01, 6.03712152e-02,
  9.49531278e-02,-7.00230432e-02, 1.21399355e-01, 9.99998743e-01,
 -1.12258377e-04,-4.32085247e-04, 1.52118071e-03]

qacc:
[  2.58034033, -1.14554399,  2.58554721,  1.90179207,  4.55963739,
  -3.60317669, 16.03170811,-30.42126239, -1.68072096, -3.01277109,
  13.20151575,-25.74169793, -2.40634292, 11.79197463,  5.17021256,
 -24.47164559,  1.16569077, -0.67352841,  0.15151922, 11.62056333,
  20.03638698, -1.60598105]

qfrc_actuator:
[ 3.89982577e-04, 1.61896067e-04,-2.88607030e-04,-1.45510214e-03,
  3.61242221e-04,-4.26579228e-04,-1.20230244e-03, 5.11302084e-04,
  8.12232485e-04,-1.20737068e-05,-5.39598250e-04, 1.26905779e-03,
  8.42618278e-02,-8.00668875e-04, 5.46458679e-02,-1.76363616e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000613616123238514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.04656008e-14, -4.52328004e-14,  1.00000000e+00, -4.09201246e-27,
        1.00000000e+00,  4.52328004e-14, -1.00000000e+00,  0.00000000e+00,
       -9.04656008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196262, -0.06179145,  0.0619851 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49659227e-05, 7.63959871e-06, 3.61275183e-05, 1.73774055e-05,
  2.66815898e-05, 1.37763063e-05, 4.23167338e-05,-3.70425520e-05,
 -9.94184972e-06,-2.24351062e-05, 1.91018703e-05,-3.56376092e-05,
 -5.49184065e-04, 8.16260797e-06,-2.91227010e-04,-2.03833351e-04,
  2.11068021e-06, 1.77772125e-05,-7.84788421e+00, 6.32945776e-04,
  9.34563860e-03, 2.37197047e-06]


--- Step 147 ---
qpos:
[ 6.82754598e-03, 3.83691282e-03,-3.43980800e-03,-2.45431751e-02,
  5.77256909e-03,-2.81724068e-03,-1.69955994e-02, 1.10481873e-02,
  1.48766354e-02, 2.19675303e-03,-8.50996793e-03, 2.28495144e-02,
  4.45273654e-01,-9.80213806e-03, 2.55099723e-01, 6.04308940e-02,
  9.49528314e-02,-7.00311301e-02, 1.21401523e-01, 9.99998739e-01,
 -4.47165347e-05,-4.34055283e-04, 1.52699122e-03]

qacc:
[  0.96815881,  0.03396685, -3.74271977, 16.38680215, -3.75705212,
  -3.7533807 , 15.4267402 ,-26.38830866, -2.13471979, -0.07031503,
   0.8824667 , -4.39377516, -1.77727588,  6.48245936, -4.52378791,
   9.89236488,  1.15477139, -0.66972034,  0.05348556, 11.44527223,
  19.79429447, -1.55418752]

qfrc_actuator:
[ 3.95105745e-04, 1.41645875e-04,-2.69812028e-04,-1.41755715e-03,
  3.38213350e-04,-4.42451223e-04,-1.16216275e-03, 4.82941549e-04,
  8.00051172e-04,-3.42413290e-05,-5.57453462e-04, 1.25611793e-03,
  8.41001467e-02,-7.82562329e-04, 5.45567551e-02,-1.73790309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006120073142392296
  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([ 0.08196221, -0.0617916 ,  0.06198514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.54773563e-06,-7.80287102e-06, 2.54806758e-05, 3.95200581e-05,
 -2.22622697e-05,-7.46691315e-07, 4.71290198e-05,-2.70076499e-05,
 -1.24690227e-05,-3.22680251e-05,-2.13308179e-05,-1.39721590e-05,
 -5.55711614e-04,-2.65539363e-05,-2.38086519e-04,-2.17007323e-05,
 -4.90883319e-06, 7.67353260e-06,-7.84793976e+00, 6.47716238e-04,
  9.33219343e-03, 1.43315495e-06]


--- Step 148 ---
qpos:
[ 6.83524587e-03, 3.83947079e-03,-3.44260413e-03,-2.45683602e-02,
  5.77901766e-03,-2.81943835e-03,-1.70123561e-02, 1.10582093e-02,
  1.48922057e-02, 2.19836141e-03,-8.51953747e-03, 2.28747754e-02,
  4.47012003e-01,-9.81131517e-03, 2.56605320e-01, 6.04899932e-02,
  9.49571174e-02,-7.00418832e-02, 1.21403564e-01, 9.99998750e-01,
  4.53761071e-05,-3.96801363e-04, 1.52978113e-03]

qacc:
[-3.02642056e+00, 1.41301523e+00,-1.15480838e+01, 3.50971736e+01,
 -2.84230908e+00,-4.52898523e+00, 1.90685624e+01,-3.38977480e+01,
 -2.39693017e+00, 2.42154391e+00,-8.55254696e+00, 9.93792410e+00,
 -1.35220326e+00, 2.91443137e+00,-1.78844491e+00, 1.11333557e+00,
  1.14560138e+00,-6.66566000e-01,-3.19824375e-02, 1.13046775e+01,
  1.95948066e+01,-1.51432369e+00]

qfrc_actuator:
[ 3.77143983e-04, 1.10695666e-04,-2.57553304e-04,-1.34935803e-03,
  3.21944732e-04,-4.51064475e-04,-1.11374764e-03, 4.44190699e-04,
  7.86551809e-04,-3.03019966e-05,-6.00040187e-04, 1.25614334e-03,
  8.39406109e-02,-7.86047719e-04, 5.44491491e-02,-1.76417486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006087670638860038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.55930967e-14, -9.11861934e-14,  1.00000000e+00, -4.15746093e-27,
        1.00000000e+00,  9.11861934e-14, -1.00000000e+00,  0.00000000e+00,
       -4.55930967e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196148, -0.06179149,  0.06198521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78105198e-05,-2.83921657e-05, 1.52054032e-05, 6.95738678e-05,
 -1.69054131e-05,-2.04480105e-07, 5.33401266e-05,-3.76566379e-05,
 -1.38624398e-05,-1.90749733e-05,-5.23187258e-05,-2.40415524e-06,
 -5.61067741e-04,-5.03685451e-05,-2.13758569e-04,-5.71581863e-05,
 -6.38808463e-06,-3.09822036e-09,-7.84792612e+00, 6.69596658e-04,
  9.33149952e-03, 2.42692216e-07]


--- Step 149 ---
qpos:
[ 6.84267069e-03, 3.84162702e-03,-3.44488552e-03,-2.45925393e-02,
  5.78556564e-03,-2.82144653e-03,-1.70291135e-02, 1.10680527e-02,
  1.49078380e-02, 2.19997675e-03,-8.52899709e-03, 2.28990882e-02,
  4.48747328e-01,-9.82038423e-03, 2.58107185e-01, 6.05508415e-02,
  9.49659557e-02,-7.00552926e-02, 1.21405180e-01, 9.99998766e-01,
  1.57798324e-04,-3.20646402e-04, 1.52961361e-03]

qacc:
[ -2.39762469,  0.10636364, -5.38009833, 22.23492828,  0.86699492,
  -0.11707331,  1.5319186 , -4.75814632,  0.54779048, -2.25141363,
  12.04277334,-28.63334317, -1.4856697 ,  3.75558256,-10.7852152 ,
  29.73617443,  1.13807447, -0.66407931, -0.10609486, 11.19394193,
  19.43335021, -1.48403046]

qfrc_actuator:
[ 3.63494466e-04, 9.13259008e-05,-2.31528457e-04,-1.29919143e-03,
  3.27553832e-04,-4.37486870e-04,-1.11407851e-03, 4.35149170e-04,
  7.90138271e-04,-1.08592010e-05,-5.85756921e-04, 1.21054566e-03,
  8.37718159e-02,-7.84475307e-04, 5.42453008e-02,-1.67896140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006042512992239651
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.83735314e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.83735314e-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([ 0.0819605 , -0.06179116,  0.06198532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41691349e-05,-2.91610452e-05, 2.44918734e-05, 5.08874680e-05,
  5.12566196e-06, 2.31153978e-05, 5.09519279e-06,-7.91661767e-06,
  3.18847447e-06,-2.09251606e-06, 3.86890601e-06,-4.83072111e-05,
 -5.76171007e-04,-4.70140435e-05,-3.04258752e-04, 5.51316871e-05,
 -2.57092537e-06,-5.48075933e-06,-7.84784565e+00, 6.98509970e-04,
  9.34342242e-03,-1.19928463e-06]


--- Step 150 ---
qpos:
[ 6.85021892e-03, 3.84358748e-03,-3.44714192e-03,-2.46162657e-02,
  5.79212970e-03,-2.82315490e-03,-1.70458372e-02, 1.10780401e-02,
  1.49233915e-02, 2.20161304e-03,-8.53794265e-03, 2.29219434e-02,
  4.50479625e-01,-9.82964181e-03, 2.59605010e-01, 6.06133087e-02,
  9.49752369e-02,-7.00614034e-02, 1.21406517e-01, 9.99998777e-01,
  2.07995557e-04,-2.40395444e-04, 1.53111703e-03]

qacc:
[  1.09075991,  0.60167885, -4.43136794, 12.36485172,  0.13676948,
   0.59821486, -2.16672076,  4.38566739, -0.67780436, -4.40899858,
  21.91791603,-47.98704747, -1.20316792,  1.38537555,-10.84990094,
  29.29698272,  0.1107269 ,  1.8246561 , -0.0696416 ,-31.1090528 ,
   2.09571719,  0.84512079]

qfrc_actuator:
[ 3.70252502e-04, 7.90825947e-05,-2.33062479e-04,-1.27777601e-03,
  3.28240445e-04,-4.10898096e-04,-1.10757369e-03, 4.43646679e-04,
  7.86000092e-04, 1.56173862e-07,-5.55716436e-04, 1.13852559e-03,
  8.36082305e-02,-7.97721697e-04, 5.40371715e-02,-1.59996417e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006021081190113603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.21946565e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.21946565e-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([ 0.0947728 , -0.09298848,  0.06198537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.34252329e-06,-2.13382559e-05,-2.73202013e-06, 2.20581624e-05,
  8.41185771e-07, 4.04774254e-05, 1.18310289e-05, 9.53000478e-06,
 -4.04622606e-06, 8.62273753e-06, 2.84666132e-05,-7.29498377e-05,
 -5.81727851e-04,-6.32879368e-05,-3.32379100e-04, 4.47634715e-05,
  6.39944687e-06,-8.94654184e-06,-7.84770009e+00, 7.34394333e-04,
  9.36785408e-03,-2.89239823e-06]


--- Step 151 ---
qpos:
[ 6.85778918e-03, 3.84561831e-03,-3.44977427e-03,-2.46399012e-02,
  5.79830647e-03,-2.82505008e-03,-1.70621508e-02, 1.10880885e-02,
  1.49391197e-02, 2.20312649e-03,-8.54643699e-03, 2.29444702e-02,
  4.52208924e-01,-9.83861935e-03, 2.61100265e-01, 6.06730347e-02,
  9.49849586e-02,-7.00602930e-02, 1.21407137e-01, 9.99998792e-01,
  1.96805152e-04,-1.56035455e-04, 1.53417876e-03]

qacc:
[  0.18094031,  1.33080354, -4.99226535,  7.11000976, -3.37425941,
  -1.26050576,  3.89041393, -3.3658529 ,  1.55304971, -2.10235829,
   8.64116024,-14.94739138, -1.65177612,  5.15574357,  4.48541698,
 -21.20673884,  0.11012869,  1.8052934 , -0.17939126,-30.69044914,
   2.10167114,  0.78610779]

qfrc_actuator:
[ 3.71213983e-04, 8.88225210e-05,-2.50847949e-04,-1.27346048e-03,
  3.08264510e-04,-4.47699261e-04,-1.09700151e-03, 4.44663815e-04,
  7.95095644e-04,-1.16543308e-05,-5.34422361e-04, 1.12255138e-03,
  8.34638573e-02,-7.84100746e-04, 5.39225000e-02,-1.73829781e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006030505516087248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.60252885e-14,  9.20505770e-14,  1.00000000e+00,  4.23665436e-27,
        1.00000000e+00, -9.20505770e-14, -1.00000000e+00,  0.00000000e+00,
       -4.60252885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477262, -0.09298838,  0.06198535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.13406175e-06,-1.82542513e-06,-2.17177053e-05, 3.78861775e-06,
 -1.99386574e-05,-1.10779588e-05, 2.09139889e-05, 3.36534793e-06,
  8.98604818e-06,-4.19241383e-06, 2.41078634e-05,-1.60709074e-05,
 -5.67934777e-04,-3.78578184e-05,-2.51623781e-04,-1.76440551e-04,
  5.23035754e-06,-6.03885975e-06,-7.84785433e+00, 7.50479061e-04,
  9.39350720e-03,-3.99678720e-06]


--- Step 152 ---
qpos:
[ 6.86531210e-03, 3.84782819e-03,-3.45271355e-03,-2.46629737e-02,
  5.80385112e-03,-2.82735370e-03,-1.70780632e-02, 1.10981013e-02,
  1.49544898e-02, 2.20434677e-03,-8.55453996e-03, 2.29673466e-02,
  4.53935231e-01,-9.84665549e-03, 2.62593735e-01, 6.07300889e-02,
  9.49951196e-02,-7.00520276e-02, 1.21406653e-01, 9.99998806e-01,
  1.24925849e-04,-6.75531768e-05, 1.53870147e-03]

qacc:
[ -0.42928748,  2.25517978,-10.06651904, 20.15307144, -5.51416844,
  -1.72248136,  5.52751334, -6.50409846, -3.13345562, -0.75569432,
   0.66720998,  4.96024816, -2.2959382 , 10.42466952,  5.4362786 ,
 -22.84542362,  0.10980905,  1.78875876, -0.27599384,-30.34113612,
   2.10783989,  0.73481665]

qfrc_actuator:
[ 3.68749544e-04, 1.11564558e-04,-2.60240726e-04,-1.24371886e-03,
  2.76287980e-04,-4.86662436e-04,-1.08437889e-03, 4.41218136e-04,
  7.76404287e-04,-3.70249388e-05,-5.18518912e-04, 1.13965832e-03,
  8.33204664e-02,-7.36999933e-04, 5.38692418e-02,-1.86129628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006018710573212488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.61154848e-14,  1.84461939e-13,  1.00000000e+00,  8.50655177e-27,
        1.00000000e+00, -1.84461939e-13, -1.00000000e+00,  0.00000000e+00,
       -4.61154848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477244, -0.09298895,  0.06198538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43130561e-06, 1.73842391e-05,-1.22613772e-05, 2.90384456e-05,
 -3.25508019e-05,-4.04630175e-05, 1.32192202e-05,-3.11202115e-06,
 -1.84372703e-05,-2.33766922e-05, 1.74978522e-05, 1.74166736e-05,
 -5.54679618e-04,-2.39047064e-06,-1.83113001e-04,-1.64307384e-04,
  7.33847287e-06,-3.31335901e-06,-7.84788216e+00, 7.46971611e-04,
  9.42054526e-03,-3.98164375e-06]


--- Step 153 ---
qpos:
[ 6.87240202e-03, 3.85027830e-03,-3.45609031e-03,-2.46855084e-02,
  5.80931398e-03,-2.82986349e-03,-1.70937221e-02, 1.11072893e-02,
  1.49691714e-02, 2.20539830e-03,-8.56265803e-03, 2.29899165e-02,
  4.55658645e-01,-9.85436411e-03, 2.64085049e-01, 6.07861986e-02,
  9.50057195e-02,-7.00366626e-02, 1.21404726e-01, 9.99998807e-01,
 -7.06789958e-06, 2.50659578e-05, 1.54459995e-03]

qacc:
[ -3.82911581,  2.65540967,-11.25756633, 21.05617768, -0.70485696,
  -2.67713204, 12.63608407,-27.17087106, -6.05558903, -0.79998781,
   3.84321555, -9.0210088 , -1.65551379,  5.42024294, -0.32991708,
  -3.46962772,  0.10973445,  1.77488974, -0.36061942,-30.05395678,
   2.11476033,  0.68966879]

qfrc_actuator:
[ 3.46537494e-04, 1.24218391e-04,-2.82269153e-04,-1.21698274e-03,
  2.73016117e-04,-4.91121198e-04,-1.07068099e-03, 3.99661633e-04,
  7.41503652e-04,-5.25595108e-05,-5.23723100e-04, 1.12280962e-03,
  8.31724464e-02,-7.23842449e-04, 5.37729668e-02,-1.90305597e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005989876038778735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.26749583e-14,  9.26749583e-14,  1.00000000e+00,  8.58864790e-27,
        1.00000000e+00, -9.26749583e-14, -1.00000000e+00,  0.00000000e+00,
       -9.26749583e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477225, -0.09299004,  0.06198545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22752672e-05, 2.10671298e-05,-1.88909227e-05, 2.76735167e-05,
 -4.21600484e-06,-2.42517265e-05, 7.05359622e-06,-4.28737064e-05,
 -3.54339355e-05,-2.42043891e-05,-7.22920801e-06,-1.69380013e-05,
 -5.46500003e-04,-3.39452120e-05,-1.96855283e-04,-7.44118233e-05,
  1.23972458e-05,-7.46953759e-07,-7.84778829e+00, 7.24095030e-04,
  9.44895625e-03,-2.85976925e-06]


--- Step 154 ---
qpos:
[ 6.87951561e-03, 3.85289376e-03,-3.45968676e-03,-2.47078972e-02,
  5.81503989e-03,-2.83276405e-03,-1.71087691e-02, 1.11162524e-02,
  1.49840105e-02, 2.20628512e-03,-8.57075517e-03, 2.30117604e-02,
  4.57379116e-01,-9.86178371e-03, 2.65573563e-01, 6.08421130e-02,
  9.50167589e-02,-7.00142436e-02, 1.21401062e-01, 9.99998769e-01,
 -1.98713197e-04, 1.21838579e-04, 1.55179864e-03]

qacc:
[  0.19864433,  1.13302736, -4.3375942 ,  7.08946308,  2.32832331,
  -2.69325924,  9.79619325,-14.37270628,  1.38775166, -1.77370851,
   9.06936891,-21.54281088, -1.64328321,  5.15354801, -3.53761186,
   6.37843942,  0.10987579,  1.76350511, -0.43445789,-29.8225482 ,
   2.12280603,  0.64940003]

qfrc_actuator:
[ 3.48386721e-04, 1.30686517e-04,-2.93873018e-04,-1.21000242e-03,
  2.86669548e-04,-5.10421468e-04,-1.03859819e-03, 3.89300101e-04,
  7.50608895e-04,-6.21996131e-05,-5.23589335e-04, 1.08610368e-03,
  8.30110961e-02,-7.13061034e-04, 5.36243505e-02,-1.91448381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005947618653801834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40000110e-13,  9.33334070e-14,  1.00000000e+00,  1.30666873e-26,
        1.00000000e+00, -9.33334070e-14, -1.00000000e+00,  0.00000000e+00,
       -1.40000110e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09477207, -0.09299155,  0.06198555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22360640e-06, 1.55028093e-05,-8.56700029e-06, 7.81965433e-06,
  1.35260605e-05,-3.29889797e-05, 2.66516280e-05,-1.19707569e-05,
  8.09059222e-06,-2.53538954e-05,-6.29380289e-06,-3.83532400e-05,
 -5.56488430e-04,-3.71606503e-05,-2.44367638e-04,-4.05691763e-05,
  2.01571128e-05, 1.76772669e-06,-7.84757633e+00, 6.82032618e-04,
  9.47873121e-03,-6.41844549e-07]


--- Step 155 ---
qpos:
[ 6.88659590e-03, 3.85561251e-03,-3.46337265e-03,-2.47303733e-02,
  5.82088499e-03,-2.83613612e-03,-1.71232927e-02, 1.11257290e-02,
  1.49988428e-02, 2.20718427e-03,-8.57886536e-03, 2.30326279e-02,
  4.59096558e-01,-9.86827440e-03, 2.67059473e-01, 6.08993623e-02,
  9.50235182e-02,-6.99979749e-02, 1.21398938e-01, 9.99998708e-01,
 -3.38151599e-04, 1.80003929e-04, 1.56140048e-03]

qacc:
[ -0.2978399 ,  0.20713067, -0.17099242, -1.27467432,  1.0681599 ,
  -1.03010113,  0.59730189,  7.80414408, -0.06031694, -1.95725995,
  11.12495517,-28.01142646, -2.31269635, 10.28438466, -7.86522739,
  21.94868275, -1.07003772, -1.53757259,  0.38530925, 26.07331216,
 -19.34435745,  1.2009395 ]

qfrc_actuator:
[ 3.46636621e-04, 1.33421993e-04,-2.99264946e-04,-1.21469896e-03,
  2.92413422e-04,-5.38359578e-04,-1.01369690e-03, 4.15138170e-04,
  7.50042009e-04,-5.04869534e-05,-5.20282771e-04, 1.03802557e-03,
  8.28525079e-02,-6.68292483e-04, 5.35243516e-02,-1.83707325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006075069623837359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.74126000e-13, -1.82750667e-13,  1.00000000e+00, -5.00967093e-26,
        1.00000000e+00,  1.82750667e-13, -1.00000000e+00,  0.00000000e+00,
       -2.74126000e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10907958, -0.0517818 ,  0.06198524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71018078e-06, 9.94514557e-06,-2.92040304e-06,-4.12610991e-06,
  6.11807860e-06,-4.11267608e-05, 2.11462301e-05, 2.51333762e-05,
 -3.45184958e-07,-5.34542921e-06,-3.98253056e-06,-5.01589222e-05,
 -5.61284672e-04,-4.46499860e-06,-2.11209188e-04, 4.46565889e-05,
  3.04276660e-05, 4.41813313e-06,-7.84724896e+00, 6.20931995e-04,
  9.50986361e-03, 2.66334271e-06]


--- Step 156 ---
qpos:
[ 6.89325521e-03, 3.85847622e-03,-3.46737327e-03,-2.47534100e-02,
  5.82675340e-03,-2.83962266e-03,-1.71377887e-02, 1.11350848e-02,
  1.50128630e-02, 2.20835995e-03,-8.58729048e-03, 2.30523975e-02,
  4.60811035e-01,-9.87446350e-03, 2.68542862e-01, 6.09587180e-02,
  9.50260573e-02,-6.99877589e-02, 1.21397690e-01, 9.99998651e-01,
 -4.26463163e-04, 2.00441644e-04, 1.57345161e-03]

qacc:
[ -3.71840544, -0.07574838,  2.92262333,-12.2309044 ,  0.20686104,
  -0.477288  ,  1.99134143, -4.03987795, -7.16217314, -1.00076795,
   8.75864998,-27.48758133, -1.67111069,  5.25713532,-10.07513179,
  29.85390575, -1.05502171, -1.51316741,  0.21870272, 25.53371223,
 -18.90412171,  1.22285588]

qfrc_actuator:
[ 3.25021799e-04, 1.33913807e-04,-3.18724712e-04,-1.24397923e-03,
  2.93450192e-04,-5.35738074e-04,-1.01101331e-03, 4.08789654e-04,
  7.08267710e-04,-2.60737776e-05,-5.32799562e-04, 9.83664848e-04,
  8.26956906e-02,-6.57145056e-04, 5.34163259e-02,-1.72556443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006163942627842867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35086797e-13, -1.80115730e-13,  1.00000000e+00, -2.43312571e-26,
        1.00000000e+00,  1.80115730e-13, -1.00000000e+00,  0.00000000e+00,
       -1.35086797e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10907771, -0.05178382,  0.06198503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16601141e-05, 5.24496698e-06,-1.78538097e-05,-2.89848074e-05,
  1.19524590e-06,-1.46577580e-05,-2.14797948e-06,-6.87124172e-06,
 -4.17850424e-05, 1.85143795e-05,-1.57941345e-05,-5.57313396e-05,
 -5.60086958e-04,-3.73994240e-05,-1.95853391e-04, 8.74546723e-05,
  2.47032112e-05,-2.28996973e-06,-7.84762742e+00, 5.76565746e-04,
  9.52881044e-03, 6.08127039e-06]


--- Step 157 ---
qpos:
[ 6.90029370e-03, 3.86137063e-03,-3.47156494e-03,-2.47766109e-02,
  5.83293318e-03,-2.84277232e-03,-1.71520933e-02, 1.11442221e-02,
  1.50255836e-02, 2.20974725e-03,-8.59529710e-03, 2.30716634e-02,
  4.62522585e-01,-9.88108508e-03, 2.70023516e-01, 6.10190184e-02,
  9.50244299e-02,-6.99835091e-02, 1.21396721e-01, 9.99998614e-01,
 -4.64571709e-04, 1.83895153e-04, 1.58798025e-03]

qacc:
[  3.33117569,  0.23014647, -0.08113073, -2.46207071,  2.72572129,
  -0.54465978,  3.50193728, -7.82948468,-11.4274446 , -1.9047719 ,
   9.3628948 ,-18.94766578, -0.93558841, -0.54007729, -6.88698512,
  18.23206114, -1.04165487, -1.49156519,  0.06994782, 25.07213466,
 -18.53210488,  1.23588474]

qfrc_actuator:
[ 3.45147030e-04, 1.32976429e-04,-3.28611485e-04,-1.25199636e-03,
  3.09463530e-04,-4.79443977e-04,-9.85868713e-04, 4.01310619e-04,
  6.42577082e-04, 5.69057203e-06,-5.01245368e-04, 9.61551937e-04,
  8.25347134e-02,-6.83667184e-04, 5.32662900e-02,-1.68366526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006214588391022652
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.58274617e-15, -2.79137308e-14,  1.00000000e+00, -1.55835274e-28,
        1.00000000e+00,  2.79137308e-14, -1.00000000e+00,  0.00000000e+00,
       -5.58274617e-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([ 0.10907661, -0.05178489,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95133005e-05,-2.96736750e-06,-1.19461766e-05,-8.92104367e-06,
  1.60427304e-05, 4.76357519e-05, 2.18046752e-05,-8.29590609e-06,
 -6.68693145e-05, 3.65085414e-05, 3.15615191e-05,-2.29740767e-05,
 -5.66154983e-04,-7.66131260e-05,-2.26663737e-04, 2.20585261e-05,
  1.77751531e-05,-2.65874454e-06,-7.84786532e+00, 5.48268062e-04,
  9.53537177e-03, 8.21170566e-06]


--- Step 158 ---
qpos:
[ 6.90682860e-03, 3.86420296e-03,-3.47587156e-03,-2.47990290e-02,
  5.83891186e-03,-2.84548846e-03,-1.71660980e-02, 1.11535230e-02,
  1.50370725e-02, 2.21147517e-03,-8.60267735e-03, 2.30908269e-02,
  4.64231311e-01,-9.88862226e-03, 2.71501889e-01, 6.10763365e-02,
  9.50186825e-02,-6.99851502e-02, 1.21395505e-01, 9.99998601e-01,
 -4.53260428e-04, 1.30987602e-04, 1.60500090e-03]

qacc:
[ -4.43507478,  1.85994814,-10.03196576, 23.77255818, -1.75828507,
   0.07510669, -0.1214831 ,  2.14907284,-10.82452175, -1.49028225,
   6.43604   , -9.50077388, -0.4169602 , -4.37534639,  5.63175074,
 -24.61125463, -1.02997738, -1.47272616, -0.06185129, 24.68078542,
 -18.2203244 ,  1.24208648]

qfrc_actuator:
[ 3.18673996e-04, 1.31237825e-04,-3.32752246e-04,-1.21192256e-03,
  2.98660166e-04,-4.44609784e-04,-9.65174907e-04, 4.11052074e-04,
  5.81101638e-04, 4.18199211e-05,-4.61608671e-04, 9.58632697e-04,
  8.23926467e-02,-7.32177604e-04, 5.31337641e-02,-1.84298644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006233544498925742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72538843e-13,  9.46180751e-14,  1.00000000e+00,  1.63252932e-26,
        1.00000000e+00, -9.46180751e-14, -1.00000000e+00,  0.00000000e+00,
       -1.72538843e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10907613, -0.05178518,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.59193907e-05,-6.26689106e-06,-6.47454176e-06, 3.94122047e-05,
 -1.03290881e-05, 6.58877442e-05, 3.31157250e-05, 1.23936841e-05,
 -6.33627796e-05, 6.20974850e-05, 5.03207301e-05,-7.32684932e-07,
 -5.55105750e-04,-1.01090933e-04,-2.29357904e-04,-1.86480499e-04,
  9.51286495e-06, 3.22669701e-06,-7.84797141e+00, 5.35749504e-04,
  9.52979121e-03, 9.09011916e-06]


--- Step 159 ---
qpos:
[ 6.91230561e-03, 3.86694563e-03,-3.47967806e-03,-2.48201406e-02,
  5.84437031e-03,-2.84838640e-03,-1.71794412e-02, 1.11625776e-02,
  1.50484248e-02, 2.21344943e-03,-8.60999385e-03, 2.31095114e-02,
  4.65937208e-01,-9.89664867e-03, 2.72977684e-01, 6.11276962e-02,
  9.50088553e-02,-6.99926175e-02, 1.21393578e-01, 9.99998602e-01,
 -3.93186385e-04, 4.22360338e-05, 1.62451749e-03]

qacc:
[ -9.29419217,  1.19238999, -9.8965115 , 31.71524903, -4.53018109,
  -2.58638778,  9.92970017,-15.13587398, -1.20408802, -0.83629481,
   5.48051637,-14.05729606, -0.84552036, -0.98514728, 14.17760205,
 -55.15253508, -1.01996361, -1.45653638, -0.17790448, 24.35242206,
 -17.96168234,  1.24302199]

qfrc_actuator:
[ 2.64973106e-04, 1.46851609e-04,-2.97939823e-04,-1.14387540e-03,
  2.72154707e-04,-4.93893451e-04,-9.47336724e-04, 3.95325749e-04,
  5.75865063e-04, 2.70967238e-05,-4.70755635e-04, 9.31524626e-04,
  8.22513708e-02,-7.57719615e-04, 5.29691956e-02,-2.15499594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006226556079549084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17012334e-13, -2.78600795e-14,  1.00000000e+00, -3.25997293e-27,
        1.00000000e+00,  2.78600795e-14, -1.00000000e+00,  0.00000000e+00,
       -1.17012334e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10907615, -0.05178483,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.44408209e-05, 1.24278438e-05, 3.41457078e-05, 6.83753378e-05,
 -2.67793152e-05,-4.82965715e-06, 3.61315043e-05,-1.14988203e-05,
 -7.01534651e-06, 3.03604655e-05, 9.89054286e-06,-2.27452867e-05,
 -5.48442087e-04,-7.84315381e-05,-2.86817669e-04,-3.51361212e-04,
 -1.96975107e-07, 1.52210596e-05,-7.84795264e+00, 5.38765310e-04,
  9.51227393e-03, 8.74563277e-06]


--- Step 160 ---
qpos:
[ 6.91709600e-03, 3.86982049e-03,-3.48283746e-03,-2.48403113e-02,
  5.84946867e-03,-2.85156164e-03,-1.71923468e-02, 1.11714027e-02,
  1.50603161e-02, 2.21495565e-03,-8.61672526e-03, 2.31277824e-02,
  4.67640073e-01,-9.90382734e-03, 2.74449810e-01, 6.11756541e-02,
  9.49949819e-02,-7.00058561e-02, 1.21390532e-01, 9.99998601e-01,
 -2.84893712e-04,-8.19361503e-05, 1.64652570e-03]

qacc:
[ -6.02538017,  0.3151837 , -4.81450432, 19.9269248 , -3.13358579,
  -2.05484788,  7.77485711,-12.25397141,  4.76881429, -3.11450196,
  11.93696994,-19.66619429, -2.26403741,  9.6225449 ,  4.85952734,
 -24.86912948, -1.0115476 , -1.44284008, -0.27957241, 24.08045745,
 -17.74993922,  1.2398705 ]

qfrc_actuator:
[ 2.31196507e-04, 1.72929243e-04,-2.58077213e-04,-1.09538641e-03,
  2.54380196e-04,-5.22195398e-04,-9.31693443e-04, 3.82415973e-04,
  6.03769365e-04,-3.59325956e-05,-4.55602833e-04, 9.08073334e-04,
  8.20893684e-02,-7.16282833e-04, 5.27801846e-02,-2.32366521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006198635062475699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62316317e-13, -5.03740295e-14,  1.00000000e+00, -8.17652696e-27,
        1.00000000e+00,  5.03740295e-14, -1.00000000e+00,  0.00000000e+00,
       -1.62316317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10907658, -0.05178398,  0.06198494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53233787e-05, 4.29636329e-05, 4.90560910e-05, 5.15844404e-05,
 -1.85420093e-05,-2.38000572e-05, 1.88700922e-05,-1.20729626e-05,
  2.77185977e-05,-4.49773563e-05, 2.18880801e-05,-2.22779177e-05,
 -5.62389236e-04,-1.01367146e-05,-3.53910959e-04,-2.24100471e-04,
 -1.14656711e-05, 3.31309690e-05,-7.84781445e+00, 5.57110449e-04,
  9.48299060e-03, 7.20188129e-06]


--- Step 161 ---
qpos:
[ 6.92178883e-03, 3.87277929e-03,-3.48543315e-03,-2.48597314e-02,
  5.85431388e-03,-2.85468346e-03,-1.72050860e-02, 1.11799811e-02,
  1.50724495e-02, 2.21584955e-03,-8.62282337e-03, 2.31459913e-02,
  4.69339924e-01,-9.91039716e-03, 2.75918072e-01, 6.12257380e-02,
  9.49817529e-02,-7.00232912e-02, 1.21388553e-01, 9.99998579e-01,
 -1.40070139e-04,-1.99971136e-04, 1.66776672e-03]

qacc:
[ -0.84195351,  0.08275072, -3.29459925, 15.30725551, -2.21179136,
  -0.89754277,  4.35176035, -8.93437976,  2.16077726, -2.71160204,
   8.74937806,-10.37936374, -2.01544173,  7.68253001,-12.11170326,
  34.10603651,  0.16110439, -1.04910268,  0.26674349, 18.27044327,
   3.03862852, -0.38420377]

qfrc_actuator:
[ 2.27178996e-04, 1.69593929e-04,-2.33284147e-04,-1.05878922e-03,
  2.41892190e-04,-5.02234826e-04,-9.17407773e-04, 3.71277730e-04,
  6.15432069e-04,-7.40718509e-05,-4.26417016e-04, 9.04694847e-04,
  8.19310276e-02,-6.89057934e-04, 5.26459343e-02,-2.19347198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006149219759290559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.07984256e-06,  4.51367437e-14,  1.00000000e+00, -4.87405770e-20,
        1.00000000e+00, -4.51367437e-14, -1.00000000e+00,  0.00000000e+00,
        1.07984256e-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([ 0.09418111, -0.05728482,  0.06198506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.01183189e-06, 3.29811550e-05, 4.15375750e-05, 4.11845884e-05,
 -1.30261478e-05, 1.02726381e-05, 1.14461854e-05,-1.17230035e-05,
  1.24360368e-05,-5.96935519e-05, 2.18515943e-05,-5.01010844e-06,
 -5.62826508e-04,-2.29495328e-05,-3.11715522e-04, 7.41912516e-05,
 -2.44134547e-05, 5.67217195e-05,-7.84756098e+00, 5.90615253e-04,
  9.44208101e-03, 4.47775514e-06]


--- Step 162 ---
qpos:
[ 6.92639668e-03, 3.87583027e-03,-3.48763680e-03,-2.48788950e-02,
  5.85897153e-03,-2.85763848e-03,-1.72179459e-02, 1.11890553e-02,
  1.50842833e-02, 2.21671473e-03,-8.62929690e-03, 2.31640123e-02,
  4.71036817e-01,-9.91687509e-03, 2.77383532e-01, 6.12758118e-02,
  9.49732140e-02,-7.00434281e-02, 1.21387622e-01, 9.99998540e-01,
  2.85325784e-05,-2.76785385e-04, 1.68572486e-03]

qacc:
[-0.7371781 ,-0.44438503, 0.68208415, 3.05734549,-1.64812847, 1.58087917,
 -7.40455583,16.04865305,-2.64777733, 0.6298463 ,-1.49887399,-1.14004637,
 -1.48297611, 3.64165827,-4.10182889, 8.34552209, 1.17252894,-0.67545627,
  0.2620629 ,11.92359867,20.59073889,-1.6409155 ]

qfrc_actuator:
[ 2.22949887e-04, 1.66358853e-04,-2.17708252e-04,-1.04726592e-03,
  2.32613194e-04,-4.89041805e-04,-9.21593149e-04, 3.96816641e-04,
  5.99678458e-04,-6.14403095e-05,-4.42351518e-04, 8.95421536e-04,
  8.17749911e-02,-6.88213010e-04, 5.25287126e-02,-2.18992321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006171912915729771
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.4970783e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.4970783e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196176, -0.06179955,  0.06198501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.36627407e-06, 2.55005871e-05, 2.89625359e-05, 1.52162870e-05,
 -9.64742490e-06, 2.10385687e-05,-8.91754927e-07, 2.61638823e-05,
 -1.54216170e-05,-1.64093484e-05,-2.57148133e-05,-1.12000126e-05,
 -5.61803686e-04,-5.01731331e-05,-2.42797609e-04,-3.05670102e-05,
 -3.75239563e-05, 5.58326715e-05,-7.84743541e+00, 6.36892717e-04,
  9.40355492e-03, 1.30664528e-06]


--- Step 163 ---
qpos:
[ 6.93022801e-03, 3.87895757e-03,-3.48957277e-03,-2.48981046e-02,
  5.86348128e-03,-2.86004794e-03,-1.72306734e-02, 1.11982980e-02,
  1.50958359e-02, 2.21818209e-03,-8.63682305e-03, 2.31820922e-02,
  4.72730685e-01,-9.92289024e-03, 2.78846729e-01, 6.13234523e-02,
  9.49693197e-02,-7.00662585e-02, 1.21387286e-01, 9.99998481e-01,
  2.20506568e-04,-3.13061641e-04, 1.70047965e-03]

qacc:
[ -6.82829429, -0.72905778,  2.96226827, -4.26619604, -1.2996955 ,
   0.70060939, -2.15942335,  4.45969889, -2.51731217,  3.86392353,
 -12.86191986, 15.10961921, -1.89133347,  6.60450969,  4.010064  ,
 -18.8800852 ,  1.16112897, -0.67339782,  0.1485504 , 11.71934451,
  20.2492194 , -1.60546397]

qfrc_actuator:
[ 1.83115012e-04, 1.63142110e-04,-2.07716483e-04,-1.05059305e-03,
  2.25295276e-04,-4.26786175e-04,-9.01135390e-04, 4.08212928e-04,
  5.85672527e-04,-9.32329158e-07,-4.84602818e-04, 9.00514435e-04,
  8.16151151e-02,-6.67417386e-04, 5.24164260e-02,-2.31433312e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000617330983393366
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49606068e-14, -8.99212136e-14,  1.00000000e+00, -4.04291233e-27,
        1.00000000e+00,  8.99212136e-14, -1.00000000e+00,  0.00000000e+00,
       -4.49606068e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08196204, -0.06180012,  0.061985  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.99554724e-05, 1.76185398e-05, 1.93801941e-05,-8.96820814e-07,
 -7.58717204e-06, 7.51918807e-05, 2.57645443e-05, 1.27916346e-05,
 -1.44486086e-05, 4.55762831e-05,-4.91576622e-05, 3.25719701e-06,
 -5.67255137e-04,-3.15772803e-05,-2.22016005e-04,-1.56475297e-04,
 -4.43625702e-05, 3.28200109e-05,-7.84744470e+00, 6.91676637e-04,
  9.37887851e-03,-1.78942453e-06]


--- Step 164 ---
qpos:
[ 6.93355208e-03, 3.88211945e-03,-3.49133567e-03,-2.49171916e-02,
  5.86821273e-03,-2.86151230e-03,-1.72432423e-02, 1.12068603e-02,
  1.51071307e-02, 2.22025957e-03,-8.64463766e-03, 2.32000367e-02,
  4.74421664e-01,-9.92892608e-03, 2.80306998e-01, 6.13712548e-02,
  9.49658126e-02,-7.00815530e-02, 1.21387964e-01, 9.99998409e-01,
  3.48158758e-04,-3.43977144e-04, 1.71542207e-03]

qacc:
[ -4.46021244, -0.17666751,  0.19389577,  1.61010493,  1.92905252,
  -0.59880435,  6.81395289,-19.53305967, -2.28931763,  1.33836596,
  -3.02262784,  0.68301446, -1.34329013,  2.71044511, -4.80860042,
  10.54733716,  0.09681964,  1.88399791,  0.25370357,-32.15626316,
   2.73508008,  0.1033027 ]

qfrc_actuator:
[ 1.58147469e-04, 1.59915355e-04,-2.01107640e-04,-1.04487779e-03,
  2.36942000e-04,-3.53291082e-04,-8.83849115e-04, 3.75747203e-04,
  5.72816569e-04, 5.21768305e-05,-4.88558942e-04, 8.96302932e-04,
  8.14743510e-02,-6.70564250e-04, 5.22805238e-02,-2.30005944e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006228929328988692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91182871e-14,  8.91182871e-14,  1.00000000e+00,  7.94206910e-27,
        1.00000000e+00, -8.91182871e-14, -1.00000000e+00,  0.00000000e+00,
       -8.91182871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09478344, -0.09298627,  0.06198487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61011257e-05, 1.05160241e-05, 1.26300997e-05, 7.16377725e-06,
  1.14546954e-05, 1.21625537e-04, 3.65910169e-05,-2.80897182e-05,
 -1.32481709e-05, 6.86071514e-05,-4.40884541e-07,-3.91987747e-06,
 -5.50410733e-04,-5.54845833e-05,-2.51869651e-04,-2.25486365e-05,
 -4.53112023e-05, 1.25234361e-05,-7.84738195e+00, 7.53725453e-04,
  9.36724594e-03,-5.14396139e-06]


--- Step 165 ---
qpos:
[ 6.93724045e-03, 3.88558719e-03,-3.49367539e-03,-2.49360434e-02,
  5.87270230e-03,-2.86235331e-03,-1.72556934e-02, 1.12153566e-02,
  1.51181839e-02, 2.22221326e-03,-8.65130336e-03, 2.32174392e-02,
  4.76109897e-01,-9.93528207e-03, 2.81763881e-01, 6.14189267e-02,
  9.49626961e-02,-7.00894276e-02, 1.21389032e-01, 9.99998349e-01,
  4.12677603e-04,-3.69817089e-04, 1.73079973e-03]

qacc:
[  3.18345894,  2.49498773, -9.30875683, 14.07746468, -2.12420261,
   0.36292748,  0.1871139 , -1.98403351, -2.08758148, -4.48656633,
  18.05514013,-29.18850821, -0.97757059,  0.27137869, -4.6002734 ,
   8.8341004 ,  0.0976603 ,  1.85497376,  0.09734768,-31.56219621,
   2.59200299,  0.2275835 ]

qfrc_actuator:
[ 1.77646930e-04, 1.74446431e-04,-2.32046285e-04,-1.03388749e-03,
  2.24151797e-04,-3.44680599e-04,-8.86297645e-04, 3.71003722e-04,
  5.60739844e-04, 2.95873783e-05,-4.34375797e-04, 8.68926829e-04,
  8.13451506e-02,-6.87778258e-04, 5.20986388e-02,-2.31071357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006281228039243109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.83762711e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.83762711e-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([ 0.09478435, -0.09298495,  0.06198474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87565115e-05, 2.32560421e-05,-2.69395402e-05, 1.20569115e-05,
 -1.24208913e-05, 8.31628797e-05, 2.63539012e-05, 1.19944313e-06,
 -1.24268520e-05, 1.55243340e-05, 6.82041486e-05,-2.45520263e-05,
 -5.28685891e-04,-6.92651066e-05,-2.94455292e-04,-4.33336024e-05,
 -3.02959467e-05, 9.93465344e-06,-7.84772129e+00, 7.94553997e-04,
  9.35848714e-03,-7.35060201e-06]


--- Step 166 ---
qpos:
[ 6.94147878e-03, 3.88899882e-03,-3.49652108e-03,-2.49545736e-02,
  5.87665909e-03,-2.86287555e-03,-1.72676593e-02, 1.12240898e-02,
  1.51293514e-02, 2.22406321e-03,-8.65719171e-03, 2.32344012e-02,
  4.77795306e-01,-9.94172676e-03, 2.83217730e-01, 6.14656881e-02,
  9.49599722e-02,-7.00899832e-02, 1.21389936e-01, 9.99998312e-01,
  4.15073729e-04,-3.90812629e-04, 1.74680749e-03]

qacc:
[  4.82617903,  1.99291872, -8.5820156 , 15.00198866, -4.65357243,
  -0.43760771,  1.18741623,  1.88476249,  1.03183595, -3.21873107,
  13.13403397,-21.92049364, -1.25091287,  2.14627862, -1.72771251,
  -0.46246058,  0.09813284,  1.8297497 , -0.04086984,-31.05700362,
   2.47609367,  0.32551481]

qfrc_actuator:
[ 2.05405308e-04, 1.46089207e-04,-2.67080115e-04,-1.01989371e-03,
  1.97074343e-04,-3.39551923e-04,-8.65104344e-04, 3.82551339e-04,
  5.66970088e-04, 1.53264984e-05,-3.99888977e-04, 8.45865368e-04,
  8.11910249e-02,-6.95372166e-04, 5.19585460e-02,-2.35384898e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006300442136014106
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.81067551e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.81067551e-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([ 0.09478503, -0.09298463,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82948663e-05,-2.04617172e-05,-3.31067275e-05, 1.43304886e-05,
 -2.74043061e-05, 5.72812131e-05, 4.17961246e-05, 1.60576997e-05,
  5.88368959e-06, 7.45587808e-06, 4.52729313e-05,-2.05396784e-05,
 -5.39057113e-04,-5.84440190e-05,-2.72467389e-04,-8.19624602e-05,
 -1.54360765e-05, 7.67484858e-06,-7.84792242e+00, 8.15218550e-04,
  9.35122479e-03,-8.42515726e-06]


--- Step 167 ---
qpos:
[ 6.94601715e-03, 3.89199406e-03,-3.49929793e-03,-2.49734747e-02,
  5.88026055e-03,-2.86315518e-03,-1.72792030e-02, 1.12329080e-02,
  1.51405066e-02, 2.22614276e-03,-8.66326835e-03, 2.32509789e-02,
  4.79477700e-01,-9.94777113e-03, 2.84669024e-01, 6.15114350e-02,
  9.49576417e-02,-7.00833062e-02, 1.21390191e-01, 9.99998299e-01,
  3.56197768e-04,-4.07150832e-04, 1.76359895e-03]

qacc:
[  2.65028314, -1.51154315,  6.14307175,-12.34381208, -3.10105382,
  -0.67782311,  2.53373246, -1.92706171, -0.11855716,  0.03886052,
   1.92459273, -8.44357737, -1.83732326,  6.08663857, -0.70382308,
  -3.01062787,  0.09835094,  1.80812837, -0.16229515,-30.63177644,
   2.38234756,  0.40283202]

qfrc_actuator:
[ 2.20035031e-04, 1.09991251e-04,-2.68905931e-04,-1.03978348e-03,
  1.79564826e-04,-3.36457080e-04,-8.47893104e-04, 3.85844521e-04,
  5.66172654e-04, 2.38448677e-05,-4.12813219e-04, 8.25508007e-04,
  8.10167241e-02,-6.79544785e-04, 5.18542703e-02,-2.39788850e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00062925979933319
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.8216586e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.8216586e-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([ 0.09478552, -0.09298512,  0.06198472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54226413e-05,-5.38168190e-05,-9.60420891e-06,-2.15941586e-05,
 -1.82746058e-05, 4.45776956e-05, 3.48752531e-05, 7.51610639e-06,
 -6.25457134e-07, 2.11607622e-05,-6.49793875e-06,-1.88979746e-05,
 -5.65753320e-04,-3.57801745e-05,-2.32230307e-04,-8.25140804e-05,
  2.85575672e-08, 5.49213076e-06,-7.84799280e+00, 8.16047243e-04,
  9.34543651e-03,-8.38086371e-06]


--- Step 168 ---
qpos:
[ 6.95069582e-03, 3.89448526e-03,-3.50175723e-03,-2.49924718e-02,
  5.88362408e-03,-2.86340746e-03,-1.72903156e-02, 1.12417249e-02,
  1.51512210e-02, 2.22812970e-03,-8.66959391e-03, 2.32672297e-02,
  4.81157069e-01,-9.95318979e-03, 2.86118306e-01, 6.15567980e-02,
  9.49557048e-02,-7.00694698e-02, 1.21389372e-01, 9.99998298e-01,
  2.36756754e-04,-4.18982703e-04, 1.78129543e-03]

qacc:
[  1.25361627, -1.75450848,  5.68887742, -7.48047371, -2.06948165,
  -1.16704936,  4.22661053, -4.96726226, -3.88558178, -0.09230148,
   1.54529206, -6.7527238 , -2.07295451,  7.80864889, -1.80117994,
   2.00307195,  0.09839905,  1.78986745, -0.26842125,-30.27831893,
   2.30673195,  0.46403103]

qfrc_actuator:
[ 2.26817492e-04, 8.73842192e-05,-2.51179348e-04,-1.04393450e-03,
  1.67831730e-04,-3.52386525e-04,-8.33202204e-04, 3.84242119e-04,
  5.43486884e-04,-7.51895140e-06,-4.35776760e-04, 8.06893042e-04,
  8.08623918e-02,-6.50118176e-04, 5.17875284e-02,-2.40649701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006262947913635991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43171107e-14,  1.77268443e-13,  1.00000000e+00,  7.85602521e-27,
        1.00000000e+00, -1.77268443e-13, -1.00000000e+00,  0.00000000e+00,
       -4.43171107e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09478586, -0.09298626,  0.06198479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.20001224e-06,-5.56523381e-05, 4.71567776e-06,-7.16811748e-06,
 -1.22412227e-05, 1.66433476e-05, 2.85744803e-05, 1.66838174e-06,
 -2.26914573e-05,-2.16888043e-05,-2.00255539e-05,-1.83266329e-05,
 -5.63054895e-04,-2.39805965e-05,-1.78413284e-04,-4.24393710e-05,
  1.66458938e-05, 3.27037363e-06,-7.84793834e+00, 7.97315561e-04,
  9.34110009e-03,-7.22932077e-06]


--- Step 169 ---
qpos:
[ 6.95610941e-03, 3.89654765e-03,-3.50405287e-03,-2.50106788e-02,
  5.88682062e-03,-2.86358989e-03,-1.73008474e-02, 1.12500933e-02,
  1.51619252e-02, 2.23004409e-03,-8.67615517e-03, 2.32831276e-02,
  4.82833451e-01,-9.95783834e-03, 2.87566231e-01, 6.15995789e-02,
  9.49541613e-02,-7.00485346e-02, 1.21387110e-01, 9.99998287e-01,
  5.73289513e-05,-4.26429658e-04, 1.79999307e-03]

qacc:
[  6.48219569,  0.59049233, -6.27849045, 20.01580284, -1.44497267,
  -2.45021986, 10.76977174,-19.51920967, -0.09575922, -0.16339987,
   1.93376761, -7.61127636, -2.2101823 ,  8.88984297,  5.79951153,
 -23.18936748,  0.09833965,  1.77470642, -0.36077537,-29.98922774,
   2.24599792,  0.51263528]

qfrc_actuator:
[ 2.64436588e-04, 7.31259335e-05,-2.39750212e-04,-1.00326328e-03,
  1.59589212e-04,-3.44107052e-04,-8.02448719e-04, 3.62002092e-04,
  5.43606796e-04,-9.32382155e-06,-4.46875314e-04, 7.89419939e-04,
  8.07148243e-02,-6.12917531e-04, 5.17273725e-02,-2.53609275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006216038762432291
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46515485e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.46515485e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09478609, -0.09298792,  0.0619849 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78025834e-05,-4.47431651e-05, 3.04281330e-07, 3.83527551e-05,
 -8.58757070e-06, 2.36755309e-05, 3.78830336e-05,-2.04993459e-05,
 -5.27723661e-07,-1.88635627e-05,-1.86530518e-05,-1.94756888e-05,
 -5.53114541e-04,-1.56746738e-05,-1.45279491e-04,-1.54889793e-04,
  3.48135112e-05, 1.00901204e-06,-7.84776366e+00, 7.59252035e-04,
  9.33819457e-03,-4.98050551e-06]


--- Step 170 ---
qpos:
[ 6.96193149e-03, 3.89859653e-03,-3.50639708e-03,-2.50279499e-02,
  5.89058331e-03,-2.86379238e-03,-1.73108274e-02, 1.12574531e-02,
  1.51725472e-02, 2.23203484e-03,-8.68234549e-03, 2.32986300e-02,
  4.84506875e-01,-9.96195190e-03, 2.89011741e-01, 6.16402798e-02,
  9.49574584e-02,-7.00303503e-02, 1.21386499e-01, 9.99998271e-01,
 -9.78893946e-05,-3.93650962e-04, 1.81458423e-03]

qacc:
[  3.59501512,  2.03810704,-11.24582155, 27.5191516 ,  4.97252548,
  -3.65356264, 17.23103508,-35.5380031 , -0.71275886, -1.74876805,
   8.05415608,-15.55141391, -1.95906729,  7.0526295 ,  2.72045608,
 -14.69026692,  1.21016126, -0.68773518,  0.41255255, 12.14003558,
  20.09088352, -2.05954823]

qfrc_actuator:
[ 2.84401656e-04, 9.95085694e-05,-2.32072669e-04,-9.54299297e-04,
  1.88970548e-04,-3.56860945e-04,-7.80132317e-04, 3.10074582e-04,
  5.39403152e-04, 2.43762860e-05,-4.15263257e-04, 7.72788628e-04,
  8.05607696e-02,-5.89199798e-04, 5.15806432e-02,-2.64716600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006212832090767978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.93491896e-14, -1.78698379e-13,  1.00000000e+00, -1.59665554e-26,
        1.00000000e+00,  1.78698379e-13, -1.00000000e+00,  0.00000000e+00,
       -8.93491896e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195956, -0.06180515,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10208419e-05, 3.05644794e-06,-1.63284852e-07, 4.78438400e-05,
  2.91436414e-05, 7.54027822e-06, 3.12712392e-05,-4.99954208e-05,
 -4.22116294e-06, 1.84694510e-05, 2.47739352e-05,-1.84871445e-05,
 -5.51537902e-04,-2.80802601e-05,-2.31490363e-04,-1.38920145e-04,
  5.48234369e-05,-1.19091711e-06,-7.84747224e+00, 7.02043293e-04,
  9.33670093e-03,-1.64282475e-06]


--- Step 171 ---
qpos:
[ 6.96760283e-03, 3.90076166e-03,-3.50869374e-03,-2.50448687e-02,
  5.89501388e-03,-2.86403783e-03,-1.73209607e-02, 1.12638409e-02,
  1.51820016e-02, 2.23398002e-03,-8.68781213e-03, 2.33141474e-02,
  4.86177407e-01,-9.96636368e-03, 2.90453787e-01, 6.16824202e-02,
  9.49655282e-02,-7.00148859e-02, 1.21387003e-01, 9.99998256e-01,
 -2.29487556e-04,-3.21054057e-04, 1.82541558e-03]

qacc:
[ -1.32728038,  0.74912665, -3.92798943,  9.85293015,  5.84116792,
  -1.64043479,  9.85127751,-26.37713929,-10.25231276, -2.0319134 ,
   7.12861191, -8.02889408, -1.07916184,  0.6398584 , -9.45503727,
  25.65582028,  1.19317294, -0.67996122,  0.27884847, 11.8454584 ,
  19.88782397, -1.8826019 ]

qfrc_actuator:
[ 2.76054134e-04, 1.14526699e-04,-2.26499313e-04,-9.36326531e-04,
  2.22507212e-04,-3.82172877e-04,-7.98586863e-04, 2.58826629e-04,
  4.79423535e-04, 2.60016093e-05,-3.76289825e-04, 7.74598835e-04,
  8.04029274e-02,-6.09149989e-04, 5.14140688e-02,-2.56906858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006236198293552292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.7802882e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.7802882e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195916, -0.06180603,  0.06198485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.75215774e-06, 1.87229216e-05, 7.87480030e-06, 1.90667717e-05,
  3.43725373e-05,-1.66604280e-05,-1.46731826e-05,-5.08106296e-05,
 -6.00902868e-05, 1.62766074e-05, 4.52258727e-05, 3.07615129e-06,
 -5.55366877e-04,-7.24020936e-05,-2.84635265e-04, 4.11194121e-05,
  3.75793698e-05,-4.40442227e-06,-7.84758845e+00, 6.52916983e-04,
  9.34639864e-03, 9.42255834e-07]


--- Step 172 ---
qpos:
[ 6.97278536e-03, 3.90282541e-03,-3.51053409e-03,-2.50614401e-02,
  5.89946748e-03,-2.86448640e-03,-1.73312151e-02, 1.12702750e-02,
  1.51906637e-02, 2.23586894e-03,-8.69299270e-03, 2.33295970e-02,
  4.87844918e-01,-9.97056247e-03, 2.91893499e-01, 6.17226647e-02,
  9.49783137e-02,-7.00021130e-02, 1.21388151e-01, 9.99998242e-01,
 -3.37958215e-04,-2.08987344e-04, 1.83277303e-03]

qacc:
[ -4.28636163, -0.6859613 ,  0.80160283,  4.53441926,  0.20123562,
   0.16492889, -1.17349116,  2.31759935, -6.96134974, -0.99983465,
   3.76676173, -5.38105631, -1.6707962 ,  4.68012121,  2.2826697 ,
 -12.98721826,  1.17894941, -0.67288365,  0.16121178, 11.59919841,
  19.71415965, -1.73613297]

qfrc_actuator:
[ 2.51114904e-04, 1.04849135e-04,-2.04512542e-04,-9.18986827e-04,
  2.22703623e-04,-3.97236081e-04,-8.05514305e-04, 2.61611160e-04,
  4.40354677e-04, 8.47343824e-06,-3.68905954e-04, 7.69468977e-04,
  8.02375875e-02,-6.01423833e-04, 5.13103296e-02,-2.66419838e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006233999937289431
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.67843501e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.67843501e-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([ 0.08195842, -0.06180648,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51552079e-05, 3.20065445e-06, 2.75170061e-05, 1.88223659e-05,
  1.17508163e-06,-2.94620966e-05,-1.38284260e-05, 5.81468051e-07,
 -4.07686832e-05, 1.01554053e-06, 1.64416592e-05,-2.83001014e-06,
 -5.69763735e-04,-4.73565588e-05,-2.22515189e-04,-1.28049615e-04,
  2.76333000e-05,-4.59994846e-06,-7.84763118e+00, 6.11118974e-04,
  9.36899878e-03, 3.26953508e-06]


--- Step 173 ---
qpos:
[ 6.97659362e-03, 3.90489588e-03,-3.51183364e-03,-2.50776940e-02,
  5.90354427e-03,-2.86530904e-03,-1.73408761e-02, 1.12770099e-02,
  1.51991348e-02, 2.23773822e-03,-8.69829917e-03, 2.33448891e-02,
  4.89509364e-01,-9.97424054e-03, 2.93330672e-01, 6.17627412e-02,
  9.49957683e-02,-6.99920063e-02, 1.21389534e-01, 9.99998221e-01,
 -4.23711748e-04,-5.77415364e-05, 1.83689425e-03]

qacc:
[-1.20800602e+01,-8.25462966e-01, 1.65801732e+00, 2.92013866e+00,
 -3.27293607e+00,-1.52678088e+00, 3.46806427e+00, 1.05162262e+00,
 -1.68480432e+00, 4.87331591e-03, 6.15770368e-01,-3.13260606e+00,
 -2.00456424e+00, 7.01540684e+00,-3.23185129e+00, 5.87712999e+00,
  1.16724755e+00,-6.66555913e-01, 5.83373016e-02, 1.13941068e+01,
  1.95692420e+01,-1.61385878e+00]

qfrc_actuator:
[ 1.81113735e-04, 1.16030567e-04,-1.73105487e-04,-9.02162824e-04,
  2.03273585e-04,-4.05972702e-04,-7.69991007e-04, 2.78433143e-04,
  4.31676469e-04,-2.76527488e-06,-3.80327669e-04, 7.60251880e-04,
  8.00785164e-02,-5.77483783e-04, 5.12017083e-02,-2.66522601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006211117543303557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46869270e-14, -1.78747708e-13,  1.00000000e+00,  7.98768577e-27,
        1.00000000e+00,  1.78747708e-13, -1.00000000e+00,  0.00000000e+00,
        4.46869270e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195739, -0.06180657,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.07178315e-05, 1.94191828e-05, 3.61380936e-05, 1.83159763e-05,
 -1.94062241e-05,-2.79204227e-05, 2.78656706e-05, 1.51018349e-05,
 -9.83292092e-06,-7.42491732e-06,-9.27020175e-06,-8.68349356e-06,
 -5.71550913e-04,-3.16746532e-05,-2.21832212e-04,-3.63564013e-05,
  2.42773457e-05,-2.27501175e-06,-7.84760354e+00, 5.76523618e-04,
  9.40435662e-03, 5.34100187e-06]


--- Step 174 ---
qpos:
[ 6.98022292e-03, 3.90715739e-03,-3.51304212e-03,-2.50943025e-02,
  5.90735638e-03,-2.86633958e-03,-1.73500674e-02, 1.12835354e-02,
  1.52070905e-02, 2.24004472e-03,-8.70476601e-03, 2.33603101e-02,
  4.91170877e-01,-9.97791554e-03, 2.94764339e-01, 6.18062453e-02,
  9.50090475e-02,-6.99878853e-02, 1.21391362e-01, 9.99998195e-01,
 -4.58918910e-04, 5.59388870e-05, 1.84315055e-03]

qacc:
[ -1.57588642, -0.72920336,  4.46469048,-10.88408311, -2.29850248,
  -2.01288715,  7.67085071,-11.90210856, -4.57906618,  4.09532785,
 -14.29216466, 18.03851706, -1.40883429,  2.94899551,-15.51218064,
  46.77178144, -1.04383437, -1.49642377,  0.11157061, 25.23869907,
 -18.82953585,  1.05812617]

qfrc_actuator:
[ 1.73919561e-04, 1.21907201e-04,-1.71818550e-04,-9.21262609e-04,
  1.90210932e-04,-4.10661177e-04,-7.45168775e-04, 2.67899285e-04,
  4.05443098e-04, 2.52608411e-05,-4.38240471e-04, 7.66451919e-04,
  7.99339707e-02,-5.79713582e-04, 5.10370024e-02,-2.48649348e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006221897460110815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.69142552e-14,  1.39404698e-13,  1.00000000e+00,  9.32816155e-27,
        1.00000000e+00, -1.39404698e-13, -1.00000000e+00,  0.00000000e+00,
       -6.69142552e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906726, -0.05178152,  0.06198489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.20018531e-06, 2.49238111e-05, 1.04080985e-05,-1.66247049e-05,
 -1.36284519e-05,-1.37772360e-05, 2.31192435e-05,-1.04628052e-05,
 -2.65110748e-05, 2.15706727e-05,-6.08736833e-05, 5.36769850e-06,
 -5.56760532e-04,-5.75556796e-05,-2.67005773e-04, 1.48694980e-04,
  2.70048040e-05, 2.18040856e-06,-7.84750797e+00, 5.49024063e-04,
  9.45235352e-03, 7.15863580e-06]


--- Step 175 ---
qpos:
[ 6.98408210e-03, 3.90968126e-03,-3.51483271e-03,-2.51106265e-02,
  5.91132696e-03,-2.86742776e-03,-1.73592372e-02, 1.12902412e-02,
  1.52153599e-02, 2.24264621e-03,-8.71188280e-03, 2.33753225e-02,
  4.92829516e-01,-9.98156078e-03, 2.96194855e-01, 6.18469561e-02,
  9.50182033e-02,-6.99896737e-02, 1.21393089e-01, 9.99998178e-01,
 -4.44417380e-04, 1.32818608e-04, 1.85165800e-03]

qacc:
[  2.00076435,  2.55627728, -9.81467917, 15.47312017,  1.38886512,
   0.23199338, -1.70378754,  4.83779585,  2.73486329,  1.3598262 ,
  -2.56660213, -3.67438582, -1.42226547,  3.16710065,  3.78462385,
 -19.99921642, -1.03087176, -1.47734766, -0.02526272, 24.82032621,
 -18.44664529,  1.11850979]

qfrc_actuator:
[ 1.86011342e-04, 1.24413954e-04,-2.06122897e-04,-9.08113702e-04,
  1.98759935e-04,-4.12937300e-04,-7.44633265e-04, 2.76847044e-04,
  4.22335257e-04, 4.08915665e-05,-4.69705199e-04, 7.46173586e-04,
  7.97929130e-02,-5.79583308e-04, 5.08334982e-02,-2.64724893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006248792627707583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.32828154e-14,  4.99696892e-14,  1.00000000e+00,  4.16161640e-27,
        1.00000000e+00, -4.99696892e-14, -1.00000000e+00,  0.00000000e+00,
       -8.32828154e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090664 , -0.05178203,  0.06198482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.18367527e-05, 1.78364129e-05,-2.84284916e-05, 1.42868757e-05,
  8.15442497e-06,-5.52735374e-06, 2.81607679e-07, 8.96267770e-06,
  1.61524623e-05, 1.53225070e-05,-3.42977125e-05,-2.13782700e-05,
 -5.44926035e-04,-5.51724047e-05,-3.02691918e-04,-1.85524802e-04,
  1.58944999e-05,-7.64176260e-06,-7.84776939e+00, 5.38128684e-04,
  9.48867966e-03, 8.53504785e-06]


--- Step 176 ---
qpos:
[ 6.98736596e-03, 3.91268610e-03,-3.51745419e-03,-2.51263304e-02,
  5.91536902e-03,-2.86863510e-03,-1.73680257e-02, 1.12969850e-02,
  1.52237677e-02, 2.24496816e-03,-8.71854630e-03, 2.33896266e-02,
  4.94485284e-01,-9.98545358e-03, 2.97622216e-01, 6.18837292e-02,
  9.50232812e-02,-6.99973058e-02, 1.21394233e-01, 9.99998178e-01,
 -3.80910767e-04, 1.73537837e-04, 1.86250930e-03]

qacc:
[ -5.09840382,  4.24529568,-16.80527051, 28.46873465,  0.63961806,
  -1.14538947,  3.69303069, -3.55467178,  1.23591257, -3.09700446,
  13.49271346,-26.2650663 , -1.14249197,  1.11711434,  7.22699743,
 -32.06454555, -1.01946703, -1.46092973, -0.1458004 , 24.46886612,
 -18.12610507,  1.16712315]

qfrc_actuator:
[ 1.56079551e-04, 1.60256302e-04,-2.43392640e-04,-8.76112900e-04,
  2.02206016e-04,-4.13833124e-04,-7.22904358e-04, 2.79425195e-04,
  4.28974541e-04, 1.35471500e-05,-4.49842080e-04, 7.10494185e-04,
  7.96380710e-02,-5.95817539e-04, 5.06707187e-02,-2.84707374e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000624801744576034
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.32931482e-14,  3.88701358e-14,  1.00000000e+00,  3.23761598e-27,
        1.00000000e+00, -3.88701358e-14, -1.00000000e+00,  0.00000000e+00,
       -8.32931482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906612, -0.05178185,  0.06198483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95918238e-05, 4.05143469e-05,-3.65691654e-05, 3.20928410e-05,
  3.67668530e-06,-3.40948880e-06, 2.10371151e-05, 2.53310403e-06,
  7.10972447e-06,-2.67894608e-05, 1.80910958e-05,-3.66480587e-05,
 -5.49988037e-04,-7.05108826e-05,-3.15453800e-04,-2.47781514e-04,
  3.88546329e-06,-1.16822042e-05,-7.84790053e+00, 5.42876703e-04,
  9.51294504e-03, 8.67095510e-06]


--- Step 177 ---
qpos:
[ 6.99095564e-03, 3.91589295e-03,-3.51991121e-03,-2.51412165e-02,
  5.91942102e-03,-2.86990943e-03,-1.73765147e-02, 1.13040514e-02,
  1.52315000e-02, 2.24702478e-03,-8.72488304e-03, 2.34030532e-02,
  4.96138120e-01,-9.98944435e-03, 2.99046654e-01, 6.19202833e-02,
  9.50243207e-02,-7.00107260e-02, 1.21394372e-01, 9.99998189e-01,
 -2.68982929e-04, 1.78628307e-04, 1.87577895e-03]

qacc:
[  2.69407882,  1.48648403, -8.36694182, 22.10248284,  0.09768856,
  -0.2617296 , -0.557582  ,  5.71172723, -5.92983736, -3.05906993,
  14.1238621 ,-29.66090851, -1.32023838,  2.25753468, -3.64682163,
   6.49923338, -1.00959309, -1.44703232, -0.25139332, 24.17718138,
 -17.85990144,  1.20658333]

qfrc_actuator:
[ 1.72657382e-04, 1.80271201e-04,-2.28702089e-04,-8.33250154e-04,
  2.02613955e-04,-4.13816188e-04,-7.06580347e-04, 2.96004360e-04,
  3.94006741e-04,-3.62054584e-06,-4.35530789e-04, 6.66037217e-04,
  7.94803874e-02,-6.03852414e-04, 5.05804203e-02,-2.83729416e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006224847804049416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.67206351e-14,  6.13089953e-14,  1.00000000e+00,  1.02512534e-27,
        1.00000000e+00, -6.13089953e-14, -1.00000000e+00,  0.00000000e+00,
       -1.67206351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906631, -0.05178113,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57478710e-05, 3.64276496e-05, 1.96934732e-05, 4.39922134e-05,
  5.10813100e-07, 2.69735647e-06, 1.84009812e-05, 1.72175014e-05,
 -3.47710029e-05,-2.99910509e-05, 9.76492758e-06,-4.57131496e-05,
 -5.57977484e-04,-6.37791353e-05,-2.55447872e-04,-4.32083558e-05,
 -9.29438461e-06,-9.92902569e-06,-7.84790807e+00, 5.63039773e-04,
  9.52534846e-03, 7.59381804e-06]


--- Step 178 ---
qpos:
[ 6.99506081e-03, 3.91909308e-03,-3.52177570e-03,-2.51558212e-02,
  5.92310137e-03,-2.87096954e-03,-1.73851318e-02, 1.13112550e-02,
  1.52390983e-02, 2.24861796e-03,-8.73062079e-03, 2.34158489e-02,
  4.97788030e-01,-9.99313000e-03, 3.00468271e-01, 6.19569299e-02,
  9.50213555e-02,-7.00298883e-02, 1.21393136e-01, 9.99998194e-01,
 -1.09110784e-04, 1.48527008e-04, 1.89152733e-03]

qacc:
[  4.55663036, -1.09470733,  2.68787655,  1.25466544, -3.26051902,
   0.92976519, -3.47261384,  5.88208697, -1.15238426, -3.58321166,
  14.55483387,-26.09348531, -1.73361541,  5.24165858, -4.43564959,
   9.48124255, -1.00118807, -1.43549013, -0.34346149, 23.93888218,
 -17.6411519 ,  1.23891456]

qfrc_actuator:
[ 1.98737356e-04, 1.73123560e-04,-2.01250996e-04,-8.19821444e-04,
  1.83479326e-04,-3.95503467e-04,-7.11322783e-04, 3.02931724e-04,
  3.88091066e-04,-3.23372556e-05,-4.06852736e-04, 6.34518942e-04,
  7.93370851e-02,-5.89265622e-04, 5.04538160e-02,-2.82816412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006183860285984416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.48838983e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.48838983e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906688, -0.05177997,  0.06198498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65325761e-05, 1.91137739e-05, 3.89421938e-05, 1.65566348e-05,
 -1.91205555e-05, 2.44898801e-05,-1.22398735e-06, 8.02083626e-06,
 -6.90980898e-06,-4.54477954e-05, 2.21333824e-05,-3.33727428e-05,
 -5.48579165e-04,-4.18904998e-05,-2.43525000e-04,-2.52328555e-05,
 -2.38834685e-05,-2.44796474e-06,-7.84779725e+00, 5.98428906e-04,
  9.52605527e-03, 5.32574326e-06]


--- Step 179 ---
qpos:
[ 6.99979175e-03, 3.92216654e-03,-3.52315127e-03,-2.51708183e-02,
  5.92652387e-03,-2.87203359e-03,-1.73933408e-02, 1.13177858e-02,
  1.52462212e-02, 2.24997075e-03,-8.73552575e-03, 2.34288121e-02,
  4.99435087e-01,-9.99658442e-03, 3.01886765e-01, 6.19957213e-02,
  9.50144135e-02,-7.00547550e-02, 1.21390207e-01, 9.99998168e-01,
  9.83243391e-05, 8.35879422e-05, 1.90980375e-03]

qacc:
[  5.52585573, -2.35314172,  9.77959446,-17.22576031, -2.24427246,
  -2.52543116, 11.84590024,-24.14905275, -4.15328966, -2.29234199,
   7.01914238, -5.28906141, -1.6206316 ,  4.5916677 ,-11.0738456 ,
  32.06562151, -0.99417036, -1.42612679, -0.42341619, 23.74830879,
 -17.46397091,  1.2656791 ]

qfrc_actuator:
[ 2.30186611e-04, 1.49806325e-04,-1.84390069e-04,-8.41596440e-04,
  1.70749403e-04,-4.01972954e-04,-6.92891848e-04, 2.68619168e-04,
  3.63830074e-04,-1.44212182e-05,-3.52204935e-04, 6.46373450e-04,
  7.91971906e-02,-5.79222358e-04, 5.03161760e-02,-2.71313174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000612899867874328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05713219e-14,  9.05713219e-14,  1.00000000e+00,  8.20316435e-27,
        1.00000000e+00, -9.05713219e-14, -1.00000000e+00,  0.00000000e+00,
       -9.05713219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10906773, -0.05177847,  0.06198511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22018402e-05,-3.94199718e-06, 2.61889652e-05,-1.92592923e-05,
 -1.32678142e-05, 7.43288993e-06, 2.37143501e-05,-3.31430907e-05,
 -2.44709660e-05,-4.35435391e-06, 4.68593143e-05, 1.00057029e-05,
 -5.36162591e-04,-4.47098638e-05,-2.47651696e-04, 8.30718312e-05,
 -4.01062757e-05, 1.06321028e-05,-7.84757203e+00, 6.48889761e-04,
  9.51520089e-03, 1.88423826e-06]


--- Step 180 ---
qpos:
[ 7.00451807e-03, 3.92506712e-03,-3.52426903e-03,-2.51855910e-02,
  5.92976716e-03,-2.87319606e-03,-1.74014832e-02, 1.13238911e-02,
  1.52529977e-02, 2.25154628e-03,-8.74019967e-03, 2.34417971e-02,
  5.01079390e-01,-1.00001991e-02, 3.03303051e-01, 6.20321590e-02,
  9.50078581e-02,-7.00719755e-02, 1.21388766e-01, 9.99998113e-01,
  2.40831907e-04, 2.46345873e-05, 1.92750150e-03]

qacc:
[-2.94408206e-02,-4.87006705e-01, 4.58994113e-01, 3.13680772e+00,
 -1.56508571e+00,-1.18886469e+00, 5.85256087e+00,-1.32581202e+01,
 -3.04532391e+00,-3.00685922e-01, 1.41787148e+00,-1.58653239e+00,
 -1.18296892e+00, 1.66943644e+00, 3.84592197e+00,-1.81947934e+01,
  9.66272892e-02, 1.91153365e+00, 3.71885860e-01,-3.24579770e+01,
  3.05482225e+00,-2.92312931e-01]

qfrc_actuator:
[ 2.29035688e-04, 1.34662598e-04,-1.74016629e-04,-8.30674526e-04,
  1.61897149e-04,-4.23179295e-04,-6.96547158e-04, 2.45822960e-04,
  3.46709584e-04, 1.36841477e-05,-3.35706582e-04, 6.48200361e-04,
  7.90594398e-02,-5.89706003e-04, 5.01986722e-02,-2.83844202e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006141210895650173
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51956073e-14,  2.71173644e-13,  1.00000000e+00,  1.22558575e-26,
        1.00000000e+00, -2.71173644e-13, -1.00000000e+00,  0.00000000e+00,
       -4.51956073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09479089, -0.09299189,  0.06198508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43389268e-07,-1.28291726e-05, 1.21256749e-05, 1.13114659e-05,
 -9.22821666e-06,-1.34560720e-05,-2.50949266e-07,-2.22954191e-05,
 -1.78177228e-05, 3.57721059e-05, 2.17377198e-05, 3.43784265e-06,
 -5.25200821e-04,-6.43535571e-05,-2.16620581e-04,-1.51594156e-04,
 -5.81877883e-05, 2.91280675e-05,-7.84723532e+00, 7.14298617e-04,
  9.49289404e-03,-2.71715560e-06]


--- Step 181 ---
qpos:
[ 7.00884898e-03, 3.92796294e-03,-3.52530827e-03,-2.52001265e-02,
  5.93253379e-03,-2.87392966e-03,-1.74104392e-02, 1.13303600e-02,
  1.52602058e-02, 2.25363708e-03,-8.74503014e-03, 2.34543460e-02,
  5.02720931e-01,-1.00035385e-02, 3.04717283e-01, 6.20657330e-02,
  9.50016956e-02,-7.00816793e-02, 1.21388137e-01, 9.99998057e-01,
  3.19648120e-04,-2.87293384e-05, 1.94501199e-03]

qacc:
[ -3.47801765,  0.26950748, -1.95755594,  5.92309058, -4.20453685,
   3.59591527,-13.52116128, 20.7861224 ,  3.78491281,  0.21360486,
   2.05447198, -9.71512549, -1.64057159,  4.89327559,  5.61973817,
 -24.05865366,  0.09821736,  1.87921545,  0.20304148,-31.84022871,
   2.85606942, -0.09508932]

qfrc_actuator:
[ 2.08704745e-04, 1.42272486e-04,-1.67500152e-04,-8.18346961e-04,
  1.37643379e-04,-3.82121163e-04,-7.31028607e-04, 2.65463704e-04,
  3.69439856e-04, 4.75361463e-05,-3.41829247e-04, 6.26336883e-04,
  7.89230689e-02,-5.76701574e-04, 5.01039319e-02,-2.98004901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006221787827610376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92205790e-14,  8.92205790e-14,  1.00000000e+00,  7.96031171e-27,
        1.00000000e+00, -8.92205790e-14, -1.00000000e+00,  0.00000000e+00,
       -8.92205790e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09479225, -0.09298994,  0.06198489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03484727e-05, 3.35062975e-06, 5.75859707e-06, 1.24459926e-05,
 -2.45211225e-05, 3.26472886e-05,-3.79673719e-05, 1.86290977e-05,
  2.22382980e-05, 5.84774371e-05, 4.07790743e-06,-1.95314287e-05,
 -5.17782747e-04,-4.09299701e-05,-2.08565456e-04,-1.77643608e-04,
 -3.79988563e-05, 2.34379730e-05,-7.84761568e+00, 7.59945895e-04,
  9.47552718e-03,-5.10616346e-06]


--- Step 182 ---
qpos:
[ 7.01324741e-03, 3.93086760e-03,-3.52629058e-03,-2.52140557e-02,
  5.93533294e-03,-2.87422905e-03,-1.74195669e-02, 1.13373133e-02,
  1.52676302e-02, 2.25631242e-03,-8.74995728e-03, 2.34665217e-02,
  5.04359658e-01,-1.00059746e-02, 3.06129403e-01, 6.20992323e-02,
  9.49959297e-02,-7.00839791e-02, 1.21387719e-01, 9.99998015e-01,
  3.35834330e-04,-7.68253373e-05, 1.96264542e-03]

qacc:
[  0.5964224 ,  1.10001924, -6.46075713, 16.84437997,  0.27206041,
   2.04954082, -8.52175404, 16.86226175,  1.88946766,  0.27055057,
   1.72608749, -8.45572755, -2.31223603,  9.51046101, -2.8780526 ,
   5.56630158,  0.09918099,  1.85095939,  0.05287825,-31.30981759,
   2.69488619,  0.06151701]

qfrc_actuator:
[ 2.12763701e-04, 1.45682951e-04,-1.63221682e-04,-7.87525922e-04,
  1.40023090e-04,-3.39697535e-04,-7.29894291e-04, 2.92195059e-04,
  3.79935737e-04, 8.44544984e-05,-3.43476734e-04, 6.08460773e-04,
  7.87823000e-02,-5.32223034e-04, 5.00335667e-02,-2.97020882e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006264758214526711
  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([ 0.09479329, -0.09298908,  0.06198478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47615618e-06, 6.92534580e-06, 6.11734565e-06, 3.14343514e-05,
  1.69143759e-06, 5.37446314e-05, 3.94548416e-06, 2.71871993e-05,
  1.11528969e-05, 6.96080320e-05, 1.02688490e-05,-1.56305253e-05,
 -5.14456835e-04,-7.81936216e-06,-1.83983061e-04,-2.67478395e-05,
 -1.97503290e-05, 1.86955377e-05,-7.84785405e+00, 7.85227622e-04,
  9.45971492e-03,-6.36112090e-06]


--- Step 183 ---
qpos:
[ 7.01765999e-03, 3.93380480e-03,-3.52719915e-03,-2.52278563e-02,
  5.93813907e-03,-2.87470169e-03,-1.74283258e-02, 1.13438827e-02,
  1.52754679e-02, 2.25962637e-03,-8.75491827e-03, 2.34783764e-02,
  5.05995758e-01,-1.00088322e-02, 3.07539498e-01, 6.21299182e-02,
  9.49905627e-02,-7.00789727e-02, 1.21386982e-01, 9.99997989e-01,
  2.90292349e-04,-1.19914296e-04, 1.98064835e-03]

qacc:
[  0.1262815 ,  0.10144158, -0.84150218,  2.92310495,  0.07536534,
  -2.04898063,  8.5946238 ,-15.70114384,  3.62481597,  0.27052602,
   1.60353118, -7.56350654, -0.85789358, -0.34013676,  5.5018708 ,
 -23.60101847,  0.09969274,  1.82658277, -0.07971954,-30.85910996,
   2.56415327,  0.18626451]

qfrc_actuator:
[ 0.0002134 , 0.00014656,-0.0001603 ,-0.00078158, 0.00014031,-0.00038539,
 -0.00072546, 0.00026966, 0.00040089, 0.00012294,-0.00034244, 0.00059309,
  0.07864432,-0.00055836, 0.049914  ,-0.00311968, 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: -0.0006276658580316868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42203049e-14, -8.84406098e-14,  1.00000000e+00, -3.91087073e-27,
        1.00000000e+00,  8.84406098e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42203049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09479406, -0.09298912,  0.06198476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.29577145e-07, 7.28591658e-06, 6.20096349e-06, 7.09392986e-06,
  3.54441350e-07,-1.35604072e-05, 1.70575102e-05,-1.95643103e-05,
  2.12979022e-05, 7.88203669e-05, 1.61492019e-05,-1.23590154e-05,
 -5.05855361e-04,-7.67374754e-05,-2.05651395e-04,-1.74616964e-04,
 -2.20043019e-06, 1.44841817e-05,-7.84795845e+00, 7.90494088e-04,
  9.44543488e-03,-6.49434092e-06]


--- Step 184 ---
qpos:
[ 7.02170098e-03, 3.93658646e-03,-3.52799318e-03,-2.52411107e-02,
  5.94058231e-03,-2.87570057e-03,-1.74370246e-02, 1.13501995e-02,
  1.52834960e-02, 2.26346563e-03,-8.75979504e-03, 2.34899603e-02,
  5.07629169e-01,-1.00122391e-02, 3.08946669e-01, 6.21563845e-02,
  9.49855952e-02,-7.00667429e-02, 1.21385461e-01, 9.99997972e-01,
  1.83779224e-04,-1.58207869e-04, 1.99921745e-03]

qacc:
[ -3.26423215,  0.60546337, -4.74673758, 14.1071746 , -3.16533998,
  -1.37700392,  4.97808861, -9.07055042,  1.66982501, -0.10155958,
   2.50667314, -7.7063291 , -0.75998578, -1.1833992 ,  8.41666463,
 -35.73545976,  0.09988377,  1.80584064, -0.19613   ,-30.48072853,
   2.4581517 ,  0.28603403]

qfrc_actuator:
[ 0.00019425, 0.00012814,-0.00015822,-0.00075481, 0.00012161,-0.00044803,
 -0.00073727, 0.00025374, 0.00041007, 0.00014432,-0.00033981, 0.00057932,
  0.07849213,-0.0005904 , 0.04972769,-0.00334422, 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: -0.0006263219740727105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43151873e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.43151873e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09479463, -0.09298989,  0.06198479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91278339e-05,-1.28394736e-05, 4.59111550e-06, 2.74544552e-05,
 -1.87005544e-05,-6.74231367e-05,-1.30925563e-05,-1.62860778e-05,
  9.82756745e-06, 6.82078276e-05, 2.04718589e-05,-1.00984708e-05,
 -5.20690864e-04,-8.52910748e-05,-2.98442839e-04,-2.60623706e-04,
  1.55499957e-05, 1.05639188e-05,-7.84793533e+00, 7.76041456e-04,
  9.43266266e-03,-5.51690888e-06]


--- Step 185 ---
qpos:
[ 7.02548118e-03, 3.93909848e-03,-3.52897477e-03,-2.52535592e-02,
  5.94312713e-03,-2.87706685e-03,-1.74455831e-02, 1.13565966e-02,
  1.52908829e-02, 2.26724310e-03,-8.76430532e-03, 2.35010000e-02,
  5.09259679e-01,-1.00152393e-02, 3.10350123e-01, 6.21803298e-02,
  9.49810271e-02,-7.00473592e-02, 1.21382748e-01, 9.99997944e-01,
  1.69210727e-05,-1.91877629e-04, 2.01851030e-03]

qacc:
[ -2.29658986,  1.83206719,-10.4349234 , 24.8513112 ,  0.89975103,
  -0.71378315,  1.49884713, -0.06086495, -5.63173353, -2.21559326,
  10.09845938,-20.07951499, -1.85397651,  5.96833542,  2.13176118,
 -15.42077131,  0.09985235,  1.78845955, -0.29784146,-30.16777235,
   2.37228875,  0.36623038]

qfrc_actuator:
[ 1.81373961e-04, 9.83187831e-05,-1.74480066e-04,-7.16028221e-04,
  1.27375098e-04,-4.49382939e-04,-7.23158782e-04, 2.59561330e-04,
  3.76755329e-04, 1.02037963e-04,-3.36329909e-04, 5.48829168e-04,
  7.83314996e-02,-5.72427181e-04, 4.95387781e-02,-3.46924329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006229430271155745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.91111206e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.91111206e-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([ 0.09479503, -0.09299125,  0.06198487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34348653e-05,-3.49609599e-05,-1.73927032e-05, 3.89540992e-05,
  5.21292399e-06,-4.23449171e-05,-1.89197385e-06, 2.17438866e-06,
 -3.30063579e-05,-4.20963744e-07, 1.97330738e-05,-2.70748083e-05,
 -5.40849325e-04,-3.74437316e-05,-3.48899097e-04,-1.76809851e-04,
  3.41545376e-05, 6.83969396e-06,-7.84778977e+00, 7.42117411e-04,
  9.42137382e-03,-3.43857425e-06]


--- Step 186 ---
qpos:
[ 7.03011204e-03, 3.94155861e-03,-3.52993396e-03,-2.52658334e-02,
  5.94606588e-03,-2.87860981e-03,-1.74539528e-02, 1.13619492e-02,
  1.52978136e-02, 2.27050721e-03,-8.76845211e-03, 2.35113026e-02,
  5.10887246e-01,-1.00179264e-02, 3.11749694e-01, 6.22074390e-02,
  9.49813251e-02,-7.00307273e-02, 1.21381832e-01, 9.99997907e-01,
 -1.25587974e-04,-1.84962386e-04, 2.03371555e-03]

qacc:
[  7.48979988,  0.213263  , -1.61961617,  4.66305982,  3.45613602,
  -2.91749704, 14.46294085,-32.70191377, -3.99329309, -3.20410741,
  13.56559475,-26.54011157, -1.76609018,  5.25012437,-15.26759893,
  45.11648695,  1.21652637, -0.68791639,  0.44913262, 12.21509594,
  20.26784984, -2.04646255]

qfrc_actuator:
[ 2.25548040e-04, 1.15086796e-04,-1.65977621e-04,-7.06013760e-04,
  1.47510508e-04,-4.49430644e-04,-7.11353312e-04, 2.07191527e-04,
  3.54194376e-04, 3.96906480e-05,-3.32659176e-04, 5.08694885e-04,
  7.81712560e-02,-5.60686880e-04, 4.94070616e-02,-3.28603424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006201730506354836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.95091316e-14, -1.79018263e-13,  1.00000000e+00, -1.60237693e-26,
        1.00000000e+00,  1.79018263e-13, -1.00000000e+00,  0.00000000e+00,
       -8.95091316e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195478, -0.06181442,  0.06198494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.37748467e-05,-4.77463418e-06, 4.93717872e-07, 8.69840858e-06,
  2.02695221e-05,-2.38868330e-05, 3.00320030e-06,-5.41997336e-05,
 -2.34889577e-05,-5.97636416e-05, 5.07031822e-06,-4.00166345e-05,
 -5.50300159e-04,-4.36753912e-05,-3.02548857e-04, 1.30316778e-04,
  5.40919527e-05, 3.33922592e-06,-7.84752567e+00, 6.88926216e-04,
  9.41154525e-03,-2.67712120e-07]


--- Step 187 ---
qpos:
[ 7.03523592e-03, 3.94419107e-03,-3.53092951e-03,-2.52775717e-02,
  5.94887807e-03,-2.88007766e-03,-1.74622185e-02, 1.13659153e-02,
  1.53044205e-02, 2.27271255e-03,-8.77223595e-03, 2.35214609e-02,
  5.12511877e-01,-1.00207195e-02, 3.13146879e-01, 6.22359291e-02,
  9.49864189e-02,-7.00168165e-02, 1.21382161e-01, 9.99997869e-01,
 -2.44358242e-04,-1.37920891e-04, 2.04517744e-03]

qacc:
[  4.33593397,  1.42456311, -7.02007614, 16.22802813, -1.1066315 ,
  -3.04260374, 16.85148542,-41.07665181, -2.82089468, -2.70530958,
   8.23423924,-10.54232634, -1.33631557,  2.25159207, -7.68278488,
  21.77665325,  1.19896561, -0.68029695,  0.31119452, 11.90982154,
  20.03918076, -1.87134787]

qfrc_actuator:
[ 2.49689739e-04, 1.41947316e-04,-1.60505917e-04,-6.77447405e-04,
  1.40427260e-04,-4.30983437e-04,-7.01035490e-04, 1.38750030e-04,
  3.38159128e-04,-5.19732699e-05,-3.29016117e-04, 4.98688139e-04,
  7.80113506e-02,-5.70508305e-04, 4.93311148e-02,-3.20660341e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006232772776466333
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90633322e-14, -8.90633322e-14,  1.00000000e+00, -7.93227714e-27,
        1.00000000e+00,  8.90633322e-14, -1.00000000e+00,  0.00000000e+00,
       -8.90633322e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195458, -0.06181543,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53784921e-05, 2.46151297e-05, 4.85057445e-06, 2.85696544e-05,
 -6.51045719e-06, 3.53706125e-06, 3.98184095e-06,-7.04066073e-05,
 -1.67138426e-05,-1.25830616e-04,-9.46673636e-06,-1.31899106e-05,
 -5.57223350e-04,-6.67583009e-05,-1.92167617e-04, 4.94113036e-05,
  3.53895655e-05,-1.99787109e-06,-7.84766681e+00, 6.43959034e-04,
  9.41301549e-03, 2.02093431e-06]


--- Step 188 ---
qpos:
[ 7.03991974e-03, 3.94687664e-03,-3.53181354e-03,-2.52888712e-02,
  5.95158359e-03,-2.88146202e-03,-1.74698315e-02, 1.13696812e-02,
  1.53104386e-02, 2.27396946e-03,-8.77567669e-03, 2.35317532e-02,
  5.14133586e-01,-1.00235643e-02, 3.14541991e-01, 6.22657338e-02,
  9.49962494e-02,-7.00055990e-02, 1.21383248e-01, 9.99997833e-01,
 -3.39899331e-04,-5.11463105e-05, 2.05317855e-03]

qacc:
[ -3.87077347,  0.669551  , -4.12038455, 11.47226301, -0.91460145,
  -2.12335817,  8.58013913,-13.15470779, -5.1532167 , -1.92672858,
   4.50308574, -2.05457611, -1.38978084,  2.63877139, -7.01972971,
  20.13036706,  1.18415163, -0.67333657,  0.1896144 , 11.65495666,
  19.84316886, -1.72713946]

qfrc_actuator:
[ 2.26324137e-04, 1.39154617e-04,-1.56802856e-04,-6.55933779e-04,
  1.35128380e-04,-4.01620412e-04,-6.56095609e-04, 1.32435868e-04,
  3.08336963e-04,-8.94658598e-05,-3.07781878e-04, 5.06459957e-04,
  7.78624050e-02,-5.75220346e-04, 4.92460284e-02,-3.13566422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000623685125848511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90050908e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.90050908e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081954  , -0.06181597,  0.06198485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26426522e-05, 1.31323015e-05, 1.03735677e-05, 2.33122448e-05,
 -5.48084536e-06, 2.92857030e-05, 4.38301290e-05,-7.38191086e-06,
 -3.03348778e-05,-1.10421818e-04,-6.37709759e-06, 1.77801832e-06,
 -5.53445114e-04,-6.37551798e-05,-1.65787250e-04, 4.91535496e-05,
  2.40149849e-05,-4.18143835e-06,-7.84773323e+00, 6.06352164e-04,
  9.42748086e-03, 4.05296944e-06]


--- Step 189 ---
qpos:
[ 7.04359737e-03, 3.94956846e-03,-3.53262609e-03,-2.52994703e-02,
  5.95420428e-03,-2.88240103e-03,-1.74772891e-02, 1.13733290e-02,
  1.53163971e-02, 2.27465801e-03,-8.77901557e-03, 2.35423706e-02,
  5.15752477e-01,-1.00264356e-02, 3.15935158e-01, 6.22948212e-02,
  9.50019303e-02,-7.00003528e-02, 1.21384619e-01, 9.99997797e-01,
 -3.85117403e-04,-1.86915641e-06, 2.06318466e-03]

qacc:
[ -8.85456253,  1.2684463 , -7.43117378, 19.38754705, -0.74529517,
  -0.08714877,  1.66606531, -4.28930111, -0.51142176, -0.36542242,
  -1.15835123,  7.04032711, -1.37216272,  2.74601099, -0.70139477,
  -1.71018676, -1.03739452, -1.49281196,  0.07082864, 25.12301085,
 -18.80067423,  0.99483892]

qfrc_actuator:
[ 1.75190018e-04, 1.36372896e-04,-1.54294324e-04,-6.21016372e-04,
  1.30930839e-04,-3.65746312e-04,-6.44230766e-04, 1.27261136e-04,
  3.06142254e-04,-9.41424868e-05,-2.93870895e-04, 5.24678449e-04,
  7.77307913e-02,-5.76878571e-04, 4.91395387e-02,-3.17682189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006255923593399132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.31878835e-14,  4.99127301e-14,  1.00000000e+00,  4.15213437e-27,
        1.00000000e+00, -4.99127301e-14, -1.00000000e+00,  0.00000000e+00,
       -8.31878835e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905851, -0.05177984,  0.0619848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.17794271e-05, 7.61816826e-06, 7.30513328e-06, 3.63137500e-05,
 -4.34534093e-06, 6.11167186e-05, 2.31550410e-05,-2.53481307e-06,
 -3.09240003e-06,-6.76860898e-05,-9.61224691e-06, 1.32847346e-05,
 -5.32994506e-04,-6.04036349e-05,-1.76512637e-04,-5.98973251e-05,
  1.92367712e-05,-3.73457830e-06,-7.84772829e+00, 5.75976175e-04,
  9.45478296e-03, 5.83000417e-06]


--- Step 190 ---
qpos:
[ 7.04628816e-03, 3.95250007e-03,-3.53375087e-03,-2.53099168e-02,
  5.95640919e-03,-2.88268016e-03,-1.74849341e-02, 1.13768825e-02,
  1.53229726e-02, 2.27483752e-03,-8.78219892e-03, 2.35531113e-02,
  5.17368625e-01,-1.00292867e-02, 3.17326290e-01, 6.23176138e-02,
  9.50035071e-02,-7.00010023e-02, 1.21385742e-01, 9.99997774e-01,
 -3.80817082e-04, 1.06539561e-05, 2.07531854e-03]

qacc:
[ -8.70056713,  1.52111218, -5.57605107,  8.50216461, -3.65611295,
   1.20793509, -2.63135117,  0.79998684,  5.44312408, -0.8641467 ,
   1.56578179,  0.71508061, -1.40095186,  3.08492469, 15.99879424,
 -60.34590372, -1.0260334 , -1.4739339 , -0.06198526, 24.72123091,
 -18.42847285,  1.0567436 ]

qfrc_actuator:
[ 0.00012589, 0.00015138,-0.00017026,-0.000614  , 0.00010966,-0.00032636,
 -0.00065197, 0.00012277, 0.00033798,-0.00011464,-0.00028425, 0.00053117,
  0.07759902,-0.00057671, 0.04898299,-0.00351452, 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: -0.0006272790098696412
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.87166289e-14, -2.76547350e-14,  1.00000000e+00, -1.07069811e-27,
        1.00000000e+00,  2.76547350e-14, -1.00000000e+00,  0.00000000e+00,
       -3.87166289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905772, -0.05178007,  0.06198476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.07758458e-05, 2.22329035e-05,-1.22360518e-05, 8.32404969e-06,
 -2.13721548e-05, 7.83477518e-05, 7.73508020e-06,-1.11148071e-06,
  3.17300079e-05,-5.97515407e-05,-5.07128674e-06, 3.49783389e-06,
 -5.18007295e-04,-5.64975173e-05,-2.43671968e-04,-3.63897797e-04,
  9.67521975e-06,-5.95188881e-06,-7.84792678e+00, 5.61545337e-04,
  9.47041658e-03, 7.14580074e-06]


--- Step 191 ---
qpos:
[ 7.04836664e-03, 3.95554642e-03,-3.53472967e-03,-2.53205584e-02,
  5.95868713e-03,-2.88264718e-03,-1.74922027e-02, 1.13803603e-02,
  1.53298781e-02, 2.27513537e-03,-8.78548717e-03, 2.35630920e-02,
  5.18981824e-01,-1.00310192e-02, 3.18714204e-01, 6.23405174e-02,
  9.50010193e-02,-7.00074828e-02, 1.21386149e-01, 9.99997763e-01,
 -3.27673360e-04,-1.29602081e-05, 2.08967357e-03]

qacc:
[ -5.38748341, -0.64790191,  3.37002193, -7.08016017,  0.6455382 ,
  -0.79556975,  3.75271755, -5.89144525,  2.8976809 , -1.12111132,
   7.42419531,-20.48966381, -2.63799532, 11.0491517 , -5.06659268,
  10.86029691, -1.01612142, -1.45772346, -0.17874652, 24.38413894,
 -18.11970394,  1.10394126]

qfrc_actuator:
[ 9.58250971e-05, 1.59061383e-04,-1.61449051e-04,-6.23454578e-04,
  1.14021319e-04,-3.20766447e-04,-6.35697999e-04, 1.18707407e-04,
  3.54087127e-04,-7.34397885e-05,-2.77297237e-04, 4.95185301e-04,
  7.74406223e-02,-5.22221273e-04, 4.88550666e-02,-3.49168819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006263543229391988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.09302356e-14,  1.05243134e-13,  1.00000000e+00,  6.41248897e-27,
        1.00000000e+00, -1.05243134e-13, -1.00000000e+00,  0.00000000e+00,
       -6.09302356e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905751, -0.05177966,  0.06198479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15047980e-05, 1.78511288e-05, 1.21851972e-05,-8.74366263e-06,
  3.77558975e-06, 5.10406466e-05, 3.34597426e-05,-4.46758257e-07,
  1.69841756e-05, 6.92325960e-06,-5.87691057e-06,-3.86674782e-05,
 -5.33539569e-04,-6.31275172e-07,-2.77830154e-04,-2.85012861e-05,
 -5.46432063e-07,-2.53369529e-06,-7.84799719e+00, 5.62699708e-04,
  9.47401727e-03, 7.22912750e-06]


--- Step 192 ---
qpos:
[ 7.05041318e-03, 3.95851341e-03,-3.53552698e-03,-2.53308623e-02,
  5.96099972e-03,-2.88260967e-03,-1.74993067e-02, 1.13834721e-02,
  1.53365779e-02, 2.27591523e-03,-8.78859966e-03, 2.35721504e-02,
  5.20592154e-01,-1.00323613e-02, 3.20099271e-01, 6.23679726e-02,
  9.49945010e-02,-7.00197393e-02, 1.21385433e-01, 9.99997754e-01,
 -2.26245425e-04,-7.22047709e-05, 2.10632016e-03]

qacc:
[ -0.2738068 ,  0.0839155 , -1.87358402,  7.48007092,  0.30808756,
  -1.20796564,  5.8602444 ,-12.4604225 , -1.81362952, -1.74910939,
  11.06064317,-27.66318794, -1.82673548,  5.69799912,-17.92307908,
  56.64088243, -1.00764122, -1.4440246 , -0.28085999, 24.10483949,
 -17.86598406,  1.13962641]

qfrc_actuator:
[ 9.50750442e-05, 1.44632579e-04,-1.55858726e-04,-6.07001357e-04,
  1.15681735e-04,-3.53115536e-04,-6.41002910e-04, 9.71726580e-05,
  3.43036788e-04,-1.34072439e-05,-2.53994790e-04, 4.52307218e-04,
  7.72876672e-02,-5.07259286e-04, 4.87817796e-02,-3.23868270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006233277814971794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72546225e-13,  9.46221233e-14,  1.00000000e+00,  1.63266902e-26,
        1.00000000e+00, -9.46221233e-14, -1.00000000e+00,  0.00000000e+00,
       -1.72546225e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905777, -0.05177875,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64531672e-06,-2.39691911e-06, 1.04741755e-05, 1.74889188e-05,
  1.78474938e-06, 3.16227297e-06, 9.42089554e-06,-1.81902226e-05,
 -1.05639952e-05, 6.10662453e-05, 2.26898020e-05,-4.35522313e-05,
 -5.33491561e-04,-3.92396231e-05,-1.98115436e-04, 2.16786172e-04,
 -1.17631385e-05, 6.52886887e-06,-7.84794576e+00, 5.79219822e-04,
  9.46577473e-03, 6.10597162e-06]


--- Step 193 ---
qpos:
[ 7.05277927e-03, 3.96160406e-03,-3.53659762e-03,-2.53408829e-02,
  5.96331443e-03,-2.88273885e-03,-1.75063434e-02, 1.13870226e-02,
  1.53427487e-02, 2.27666275e-03,-8.79097710e-03, 2.35813415e-02,
  5.22199779e-01,-1.00348044e-02, 3.21482057e-01, 6.23962211e-02,
  9.49864343e-02,-7.00369316e-02, 1.21384702e-01, 9.99997731e-01,
 -8.27665949e-05,-1.44976079e-04, 2.12367958e-03]

qacc:
[ 2.80225872e+00, 1.50562408e+00,-6.33301074e+00, 1.15838903e+01,
  2.38818513e-02, 4.94664493e-01,-3.93541143e+00, 1.15419414e+01,
 -4.63082932e+00,-1.81515992e+00, 5.86572309e+00,-4.73864587e+00,
 -1.90692838e-01,-5.01880363e+00,-5.76675476e+00, 1.52711108e+01,
 -3.87107235e-01,-1.23394586e+00,-3.88266188e-03, 2.10111793e+01,
 -6.80772518e+00, 3.53377394e-01]

qfrc_actuator:
[ 1.11578187e-04, 1.52588752e-04,-1.70047127e-04,-5.93210530e-04,
  1.15732163e-04,-3.72542717e-04,-6.41443118e-04, 1.18731902e-04,
  3.16097488e-04,-3.12467681e-05,-2.21121143e-04, 4.59015531e-04,
  7.71380773e-02,-5.68990079e-04, 4.86561439e-02,-3.20710831e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006185647764232186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.08162406e-07, -1.54081113e-07,  1.00000000e+00,  4.74820067e-14,
        1.00000000e+00,  1.54081113e-07, -1.00000000e+00,  0.00000000e+00,
        3.08162406e-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([ 0.10097236, -0.05477259,  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:
[ 1.64478463e-05, 9.44587686e-06,-1.27929638e-05, 1.44088833e-05,
  1.02891243e-07,-1.64167349e-05, 8.19899104e-07, 2.16755154e-05,
 -2.72161354e-05, 1.91351061e-05, 4.67898687e-05, 9.24950437e-06,
 -5.33807514e-04,-1.18088799e-04,-1.89450375e-04, 1.85902519e-05,
 -2.42545153e-05, 2.11580328e-05,-7.84777729e+00, 6.10924772e-04,
  9.44584584e-03, 3.79712093e-06]


--- Step 194 ---
qpos:
[ 7.05428970e-03, 3.96478731e-03,-3.53781566e-03,-2.53510098e-02,
  5.96561169e-03,-2.88290833e-03,-1.75133920e-02, 1.13911385e-02,
  1.53485490e-02, 2.27697281e-03,-8.79295725e-03, 2.35906175e-02,
  5.23804540e-01,-1.00372372e-02, 3.22862644e-01, 6.24223214e-02,
  9.49830263e-02,-7.00568085e-02, 1.21384604e-01, 9.99997696e-01,
  8.40705076e-05,-1.77102209e-04, 2.13786968e-03]

qacc:
[ -7.53829203,  0.33013681, -0.52563166, -1.1738879 , -0.15216828,
   1.14393982, -6.54344957, 16.37934214, -3.24000983, -1.50733326,
   4.1878047 , -3.04229029, -1.44971844,  3.09398887,  3.24382942,
 -16.05861478,  1.16468287, -0.67115036,  0.15833329, 11.72203802,
  20.29787102, -1.58465101]

qfrc_actuator:
[ 6.70840115e-05, 1.56051994e-04,-1.77967917e-04,-5.98850450e-04,
  1.14835254e-04,-3.66294706e-04,-6.38932856e-04, 1.47736763e-04,
  2.97782957e-04,-9.54879767e-05,-2.18639647e-04, 4.59284545e-04,
  7.69905949e-02,-5.68885478e-04, 4.85257797e-02,-3.32420746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006186469700787678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24324833e-13, -1.79459866e-13,  1.00000000e+00, -4.02573045e-26,
        1.00000000e+00,  1.79459866e-13, -1.00000000e+00,  0.00000000e+00,
       -2.24324833e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195265, -0.06181843,  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:
[-4.40305663e-05, 6.64124729e-06,-7.05120342e-06,-5.38073114e-06,
 -9.00635402e-07,-1.75465704e-06, 4.66071857e-08, 2.87597387e-05,
 -1.90815948e-05,-4.34889577e-05, 1.25233074e-05, 2.87350564e-06,
 -5.40095238e-04,-6.04822469e-05,-2.13732335e-04,-1.40361800e-04,
 -3.59343456e-05, 2.91756609e-05,-7.84758154e+00, 6.56349688e-04,
  9.42162803e-03, 6.76884138e-07]


--- Step 195 ---
qpos:
[ 7.05491036e-03, 3.96791146e-03,-3.53936325e-03,-2.53607473e-02,
  5.96788026e-03,-2.88298688e-03,-1.75206794e-02, 1.13952235e-02,
  1.53544293e-02, 2.27725483e-03,-8.79553589e-03, 2.35994967e-02,
  5.25406439e-01,-1.00392806e-02, 3.24240182e-01, 6.24472422e-02,
  9.49800056e-02,-7.00691956e-02, 1.21385219e-01, 9.99997646e-01,
  1.87032649e-04,-2.03910696e-04, 2.15222722e-03]

qacc:
[ -7.8414837 ,  1.66042844, -7.64604604, 14.91533154, -0.26007457,
   0.72411994, -2.27632227,  2.0554876 ,  0.68502768,  0.81746109,
  -1.29546755, -4.59187042, -1.8471585 ,  5.75326899, -0.92881966,
  -3.27097534,  0.09682366,  1.87245142,  0.17840626,-31.93170747,
   2.72709905,  0.089166  ]

qfrc_actuator:
[ 2.25440952e-05, 1.39048453e-04,-1.99897364e-04,-5.80367184e-04,
  1.13388683e-04,-3.62453924e-04,-6.52352788e-04, 1.45401406e-04,
  3.02449025e-04,-9.83889853e-05,-2.52102317e-04, 4.37931957e-04,
  7.68498144e-02,-5.50103112e-04, 4.83606982e-02,-3.38586556e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006192009108278301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.96496602e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.96496602e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480103, -0.09299425,  0.06198496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57944965e-05,-1.50751561e-05,-2.16124288e-05, 1.84386851e-05,
 -1.47410962e-06, 4.18090499e-06,-1.27058383e-05,-1.84220778e-06,
  4.10893579e-06,-2.45073656e-05,-4.07984695e-05,-2.27420752e-05,
 -5.32028029e-04,-3.98092527e-05,-2.76908162e-04,-9.68073114e-05,
 -3.77930242e-05, 1.05185967e-05,-7.84753282e+00, 7.10328897e-04,
  9.41126319e-03,-2.24928242e-06]


--- Step 196 ---
qpos:
[ 7.05602695e-03, 3.97080450e-03,-3.54136721e-03,-2.53701556e-02,
  5.97011414e-03,-2.88340788e-03,-1.75276145e-02, 1.13992640e-02,
  1.53596294e-02, 2.27775356e-03,-8.79867556e-03, 2.36083620e-02,
  5.27005502e-01,-1.00413581e-02, 3.25613862e-01, 6.24716627e-02,
  9.49773758e-02,-7.00742005e-02, 1.21385965e-01, 9.99997601e-01,
  2.27222237e-04,-2.25673556e-04, 2.16699229e-03]

qacc:
[  4.35520307,  1.63982122, -7.68966769, 14.29122033, -0.28678872,
  -1.52779234,  4.97990955, -6.06268378, -6.00631505,  1.83745433,
  -6.05659744,  6.52995287, -1.38540331,  2.71575594, -4.17660163,
   6.34875089,  0.09772917,  1.84554544,  0.03244926,-31.3807326 ,
   2.59039659,  0.20968978]

qfrc_actuator:
[ 4.93636415e-05, 1.09879496e-04,-2.29990908e-04,-5.65615876e-04,
  1.11630519e-04,-3.95677863e-04,-6.39593866e-04, 1.42384748e-04,
  2.67343309e-04,-6.47203097e-05,-2.70789378e-04, 4.39559385e-04,
  7.66971808e-02,-5.56002576e-04, 4.81536389e-02,-3.41436837e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000623355730921607
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45260615e-14,  8.90521230e-14,  1.00000000e+00,  3.96514031e-27,
        1.00000000e+00, -8.90521230e-14, -1.00000000e+00,  0.00000000e+00,
       -4.45260615e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480189, -0.09299325,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55073351e-05,-4.13644778e-05,-3.52264456e-05, 1.37371482e-05,
 -1.79822424e-06,-3.35106179e-05, 1.20709126e-05,-3.30564488e-06,
 -3.49949293e-05, 1.05820752e-05,-2.95486357e-05,-1.29081429e-06,
 -5.35919144e-04,-6.27966961e-05,-3.39588564e-04,-6.85314840e-05,
 -2.34034702e-05, 8.06766667e-06,-7.84781734e+00, 7.43269310e-04,
  9.40372669e-03,-4.01821679e-06]


--- Step 197 ---
qpos:
[ 7.05780079e-03, 3.97325225e-03,-3.54305823e-03,-2.53796843e-02,
  5.97162000e-03,-2.88445834e-03,-1.75341561e-02, 1.14029264e-02,
  1.53640237e-02, 2.27808789e-03,-8.80163084e-03, 2.36171742e-02,
  5.28601735e-01,-1.00431212e-02, 3.26984374e-01, 6.24950517e-02,
  9.49751392e-02,-7.00719164e-02, 1.21386324e-01, 9.99997568e-01,
  2.05573499e-04,-2.42610833e-04, 2.18235385e-03]

qacc:
[  5.80295247, -1.72285376,  5.77551651, -8.00599638, -6.34873131,
  -2.69624412, 10.02500171,-16.7585603 , -7.08286231, -0.82820801,
   2.88603225, -4.00522909, -1.75609447,  5.17839054, -1.55237964,
  -1.34626411,  0.09827488,  1.82225105, -0.09644838,-30.91379406,
   2.47985632,  0.30465822]

qfrc_actuator:
[ 8.24638078e-05, 9.13595645e-05,-2.11466360e-04,-5.70951935e-04,
  7.41976239e-05,-4.50743619e-04,-6.29375948e-04, 1.21232593e-04,
  2.26855246e-04,-8.03538898e-05,-2.62656496e-04, 4.36998107e-04,
  7.65588391e-02,-5.40938164e-04, 4.80227655e-02,-3.45869071e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006244768904541398
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.88922426e-14,  8.88922426e-14,  1.00000000e+00,  7.90183079e-27,
        1.00000000e+00, -8.88922426e-14, -1.00000000e+00,  0.00000000e+00,
       -8.88922426e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480253, -0.09299317,  0.06198483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.38057422e-05,-4.83932018e-05, 6.12650217e-06,-8.04071784e-06,
 -3.74963079e-05,-7.13661239e-05, 4.74620000e-06,-2.22271859e-05,
 -4.14772265e-05,-1.58718994e-05, 6.65238288e-06,-3.16675747e-06,
 -5.26875461e-04,-4.36428611e-05,-2.85665317e-04,-9.00393267e-05,
 -9.06890112e-06, 5.90956510e-06,-7.84796662e+00, 7.56162982e-04,
  9.39769285e-03,-4.66011896e-06]


--- Step 198 ---
qpos:
[ 7.05995750e-03, 3.97538233e-03,-3.54399301e-03,-2.53895957e-02,
  5.97335492e-03,-2.88556009e-03,-1.75410305e-02, 1.14062835e-02,
  1.53685883e-02, 2.27818922e-03,-8.80414089e-03, 2.36258774e-02,
  5.30195250e-01,-1.00449995e-02, 3.28352460e-01, 6.25185018e-02,
  9.49732968e-02,-7.00624229e-02, 1.21385846e-01, 9.99997543e-01,
  1.22869398e-04,-2.54900192e-04, 2.19846080e-03]

qacc:
[  3.39942657, -3.32865901, 12.85655088,-20.42579316,  1.99495684,
   0.22955438,  0.36592165, -5.0750869 ,  1.51602869, -1.77950667,
   6.35276578, -8.77212833, -1.24697405,  2.03884882, -3.7589231 ,
   7.9590675 ,  0.09857033,  1.80236993, -0.20961571,-30.52244581,
   2.39065337,  0.37961392]

qfrc_actuator:
[ 1.01220024e-04, 9.72883154e-05,-1.64357718e-04,-5.88022439e-04,
  8.70776193e-05,-4.29727311e-04,-6.38617224e-04, 1.07303139e-04,
  2.36793466e-04,-8.97691270e-05,-2.38952656e-04, 4.31968363e-04,
  7.64238482e-02,-5.49135526e-04, 4.79483320e-02,-3.44076292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000623125137024283
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90850777e-14,  2.67255233e-13,  1.00000000e+00,  2.38084532e-26,
        1.00000000e+00, -2.67255233e-13, -1.00000000e+00,  0.00000000e+00,
       -8.90850777e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.094803  , -0.09299384,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.96953773e-05,-2.02528442e-05, 3.75989967e-05,-1.90695547e-05,
  1.17847096e-05,-1.87697561e-05,-2.40841257e-05,-1.72454509e-05,
  8.75392970e-06,-1.70502403e-05, 2.11522309e-05,-5.55260243e-06,
 -5.14862768e-04,-6.51811478e-05,-2.09792217e-04,-2.27424440e-05,
  5.92626523e-06, 3.83950572e-06,-7.84798741e+00, 7.49313219e-04,
  9.39313924e-03,-4.18728189e-06]


--- Step 199 ---
qpos:
[ 7.06301238e-03, 3.97724688e-03,-3.54434107e-03,-2.53999750e-02,
  5.97557481e-03,-2.88610997e-03,-1.75486027e-02, 1.14097397e-02,
  1.53732358e-02, 2.27838217e-03,-8.80619349e-03, 2.36344092e-02,
  5.31785918e-01,-1.00462225e-02, 3.29718128e-01, 6.25422659e-02,
  9.49718492e-02,-7.00457867e-02, 1.21384133e-01, 9.99997511e-01,
 -2.02429183e-05,-2.62684640e-04, 2.21543070e-03]

qacc:
[  7.92907115, -2.9705115 , 12.0243252 ,-20.8211773 ,  4.21324343,
   2.87387779, -9.62237182, 12.064256  ,  0.74269165, -1.51189535,
   6.28789623,-10.05140807, -2.12958594,  7.5622733 , -4.49951567,
  10.59069771,  0.09869724,  1.78566751, -0.30849054,-30.19897172,
   2.31890427,  0.43890429]

qfrc_actuator:
[ 1.46886607e-04, 8.24315063e-05,-1.36172365e-04,-6.11823261e-04,
  1.11726847e-04,-3.63388159e-04,-6.58965116e-04, 1.15538542e-04,
  2.40828438e-04,-5.98137363e-05,-2.06240835e-04, 4.25534566e-04,
  7.62749824e-02,-5.17728270e-04, 4.78385744e-02,-3.42167032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006197885041591827
  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([ 0.09480332, -0.0929951 ,  0.06198494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.62143057e-05,-1.92769736e-05, 2.79781247e-05,-2.37205018e-05,
  2.49810074e-05, 5.02469395e-05,-2.77028169e-05, 6.27189611e-06,
  4.27656974e-06, 2.45759057e-05, 3.16161298e-05,-6.55415905e-06,
 -5.22147211e-04,-2.56057126e-05,-2.06387705e-04,-8.91837807e-06,
  2.20983043e-05, 1.78259676e-06,-7.84788502e+00, 7.22973577e-04,
  9.39004382e-03,-2.61043080e-06]


--- Step 200 ---
qpos:
[ 7.06555600e-03, 3.97897796e-03,-3.54467243e-03,-2.54101903e-02,
  5.97738325e-03,-2.88633698e-03,-1.75560777e-02, 1.14132409e-02,
  1.53785854e-02, 2.27885160e-03,-8.80821522e-03, 2.36431477e-02,
  5.33373840e-01,-1.00473539e-02, 3.31081558e-01, 6.25656847e-02,
  9.49752174e-02,-7.00318816e-02, 1.21383854e-01, 9.99997481e-01,
 -1.39363811e-04,-2.30198483e-04, 2.22848876e-03]

qacc:
[-4.4975963 , 0.12356288,-1.37227467, 4.26285458,-3.60345483, 0.25488653,
 -0.46775758, 0.84150594, 6.17516712, 0.69263422,-2.83318572, 6.18074753,
 -1.48691688, 3.52961649,-2.25259626, 3.09654311, 1.20397189,-0.68278349,
  0.35850139,12.03977679,20.10871664,-1.95865965]

qfrc_actuator:
[ 1.19267803e-04, 7.29309184e-05,-1.37226602e-04,-6.03918599e-04,
  8.98321725e-05,-3.41448471e-04,-6.49973734e-04, 1.19037839e-04,
  2.76845916e-04,-4.19726633e-05,-2.03819801e-04, 4.36117095e-04,
  7.61338784e-02,-5.16540548e-04, 4.77343379e-02,-3.43766145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006212648832746998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.93518252e-14, -8.93518252e-14,  1.00000000e+00, -7.98374866e-27,
        1.00000000e+00,  8.93518252e-14, -1.00000000e+00,  0.00000000e+00,
       -8.93518252e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195097, -0.06182248,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63166494e-05,-1.55511071e-05,-2.41032918e-06, 7.60243307e-06,
 -2.11626731e-05, 4.46940983e-05, 1.62609378e-05, 4.82515997e-06,
  3.61467461e-05, 3.78481646e-05, 1.11722497e-05, 1.25879592e-05,
 -5.15403949e-04,-5.48022296e-05,-1.97923078e-04,-4.28299559e-05,
  3.98222886e-05,-2.24345336e-07,-7.84766356e+00, 6.77353226e-04,
  9.38838605e-03, 6.12597368e-08]


--- Step 201 ---
qpos:
[ 7.06705928e-03, 3.98056841e-03,-3.54502461e-03,-2.54198820e-02,
  5.97926078e-03,-2.88683910e-03,-1.75628608e-02, 1.14171380e-02,
  1.53846701e-02, 2.27980038e-03,-8.81055880e-03, 2.36519430e-02,
  5.34959170e-01,-1.00494334e-02, 3.32443077e-01, 6.25843781e-02,
  9.49833389e-02,-7.00206798e-02, 1.21384502e-01, 9.99997456e-01,
 -2.35039996e-04,-1.57859003e-04, 2.23794096e-03]

qacc:
[ -9.15554541,  0.96843164, -5.89651952, 15.04821251,  0.63130357,
  -1.48284915,  3.08655261,  2.86295972,  6.44934102,  1.63749913,
  -5.18104617,  6.34959015, -0.32174758, -3.78704953, 11.43314419,
 -44.12700778,  1.18830061, -0.6758226 ,  0.23162825, 11.76631634,
  19.90074039, -1.80285668]

qfrc_actuator:
[ 6.64805749e-05, 6.66182167e-05,-1.37736611e-04,-5.77435488e-04,
  9.39714988e-05,-3.81645468e-04,-6.23894573e-04, 1.37462530e-04,
  3.13647885e-04,-1.38690382e-05,-2.19329649e-04, 4.38847186e-04,
  7.59975249e-02,-5.68688204e-04, 4.76121819e-02,-3.68720064e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006226711530614021
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45750144e-14, -8.91500288e-14,  1.00000000e+00,  3.97386382e-27,
        1.00000000e+00,  8.91500288e-14, -1.00000000e+00,  0.00000000e+00,
        4.45750144e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08195054, -0.06182322,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.35434714e-05,-1.52343644e-05,-3.75092426e-06, 2.59021141e-05,
  3.54953172e-06,-1.15580200e-05, 3.75642835e-05, 2.10067324e-05,
  3.78422927e-05, 5.21325065e-05,-5.87743582e-06, 4.96710393e-06,
 -5.08831719e-04,-1.09129272e-04,-2.16360447e-04,-2.77326950e-04,
  2.61771331e-05,-4.02244339e-06,-7.84775052e+00, 6.39724773e-04,
  9.39815284e-03, 2.05073111e-06]


--- Step 202 ---
qpos:
[ 7.06929791e-03, 3.98195989e-03,-3.54562618e-03,-2.54291571e-02,
  5.98082816e-03,-2.88741141e-03,-1.75695913e-02, 1.14215896e-02,
  1.53904587e-02, 2.28144467e-03,-8.81319662e-03, 2.36606723e-02,
  5.36541846e-01,-1.00520713e-02, 3.33801584e-01, 6.26010091e-02,
  9.49961612e-02,-7.00121561e-02, 1.21385630e-01, 9.99997434e-01,
 -3.07726177e-04,-4.60191214e-05, 2.24403904e-03]

qacc:
[  6.46873354,  1.27970076, -6.72031098, 14.48878093, -2.71124144,
   0.90717236, -5.70185777, 15.25886532, -2.62586515,  1.61084344,
  -4.12209294,  2.92803934, -0.75775995, -1.0536489 ,  1.77784608,
 -12.68915785,  1.17520721, -0.66953772,  0.12020804, 11.53890767,
  19.72481979, -1.67422919]

qfrc_actuator:
[ 1.05841650e-04, 4.45261548e-05,-1.55641889e-04,-5.57983060e-04,
  7.79099959e-05,-3.87645127e-04,-6.23701656e-04, 1.64473622e-04,
  2.97348964e-04, 3.78312769e-05,-2.27505016e-04, 4.36933020e-04,
  7.58587808e-02,-5.98576163e-04, 4.74580220e-02,-3.78830839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006217127198639566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46437313e-14, -8.92874626e-14,  1.00000000e+00,  3.98612549e-27,
        1.00000000e+00,  8.92874626e-14, -1.00000000e+00,  0.00000000e+00,
        4.46437313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194977, -0.06182355,  0.0619849 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.78313182e-05,-3.03319276e-05,-2.06099329e-05, 1.91954800e-05,
 -1.59665300e-05,-3.71341539e-06, 3.23659250e-06, 2.82320548e-05,
 -1.52032310e-05, 7.98578477e-05, 2.04267074e-06, 1.96328854e-07,
 -5.12349870e-04,-8.91892562e-05,-2.83181837e-04,-1.44388340e-04,
  1.93668353e-05,-4.94695014e-06,-7.84776509e+00, 6.09384005e-04,
  9.42080525e-03, 3.78371007e-06]


--- Step 203 ---
qpos:
[ 7.07198997e-03, 3.98360005e-03,-3.54662807e-03,-2.54385189e-02,
  5.98219075e-03,-2.88789951e-03,-1.75763426e-02, 1.14266611e-02,
  1.53960076e-02, 2.28354064e-03,-8.81584080e-03, 2.36693215e-02,
  5.38121755e-01,-1.00546498e-02, 3.35156558e-01, 6.26208948e-02,
  9.50048404e-02,-7.00095936e-02, 1.21386965e-01, 9.99997409e-01,
 -3.30132591e-04, 2.84759469e-05, 2.25224986e-03]

qacc:
[  3.97436558,  1.26131945, -3.66696339,  2.63513542, -1.79389885,
   1.44860507, -7.61511209, 18.30897809, -2.11763319,  0.454034  ,
  -0.40744989, -1.30854335, -1.45416753,  3.25520107,-15.02391593,
  45.01586206, -1.03578225, -1.49028757,  0.051628  , 25.0979657 ,
 -18.72909891,  1.04947315]

qfrc_actuator:
[ 1.28121633e-04, 8.40916073e-05,-1.65994795e-04,-5.60604244e-04,
  6.78322384e-05,-3.73221253e-04,-6.20925229e-04, 1.96319493e-04,
  2.85431743e-04, 5.00238073e-05,-2.31178563e-04, 4.32332417e-04,
  7.57133756e-02,-5.97366087e-04, 4.73274341e-02,-3.60585119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006221781217626426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.24917974e-14, -5.01866290e-14,  1.00000000e+00, -3.63811894e-27,
        1.00000000e+00,  5.01866290e-14, -1.00000000e+00,  0.00000000e+00,
       -7.24917974e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905137, -0.05177645,  0.06198489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33419067e-05, 1.91525981e-05,-1.84841782e-05,-4.24230104e-06,
 -1.05364646e-05, 1.43098518e-05, 3.46149061e-06, 3.23552756e-05,
 -1.23171341e-05, 5.72447706e-05, 1.30793080e-05,-1.11935590e-06,
 -5.19442098e-04,-5.76463872e-05,-2.71392627e-04, 1.38963317e-04,
  1.87986148e-05,-3.45097468e-06,-7.84771016e+00, 5.86213833e-04,
  9.45620291e-03, 5.26189459e-06]


--- Step 204 ---
qpos:
[ 7.07458342e-03, 3.98536932e-03,-3.54720191e-03,-2.54478820e-02,
  5.98411158e-03,-2.88831584e-03,-1.75826919e-02, 1.14313561e-02,
  1.54010257e-02, 2.28589078e-03,-8.81811298e-03, 2.36775020e-02,
  5.39698823e-01,-1.00567942e-02, 3.36509142e-01, 6.26396670e-02,
  9.50094228e-02,-7.00129204e-02, 1.21387989e-01, 9.99997392e-01,
 -3.03045847e-04, 6.63502414e-05, 2.26268905e-03]

qacc:
[ -0.85671716, -1.02682921,  3.91555699, -4.7161605 ,  4.89666401,
  -1.81269682,  8.1748423 ,-15.37084233, -4.6641762 , -1.6596931 ,
   8.39995164,-17.31100404, -1.91195186,  6.00739903, -0.15417795,
  -4.56280836, -1.02420406, -1.47233168, -0.07782874, 24.70524532,
 -18.36644293,  1.10882448]

qfrc_actuator:
[ 1.22388112e-04, 1.07025611e-04,-1.36060328e-04,-5.58380155e-04,
  9.68686777e-05,-3.64422208e-04,-5.98793724e-04, 1.77521242e-04,
  2.58453054e-04, 5.62299344e-05,-2.14568567e-04, 4.08407783e-04,
  7.55640794e-02,-5.77891635e-04, 4.72111446e-02,-3.66605759e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006237792448911539
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.78098941e-14,  1.66859365e-14,  1.00000000e+00,  4.64034127e-28,
        1.00000000e+00, -1.66859365e-14, -1.00000000e+00,  0.00000000e+00,
       -2.78098941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905066, -0.05177669,  0.06198485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06532120e-06, 2.96174526e-05, 3.14768705e-05, 2.34012827e-06,
  2.87389574e-05, 1.89843786e-05, 2.67073325e-05,-1.74302830e-05,
 -2.73034818e-05, 4.08205260e-05, 3.00002755e-05,-2.10571569e-05,
 -5.24901956e-04,-3.87327589e-05,-2.19347433e-04,-8.62076288e-05,
  8.33595832e-06,-8.32000871e-06,-7.84790136e+00, 5.79205091e-04,
  9.47987726e-03, 6.19014317e-06]


--- Step 205 ---
qpos:
[ 7.07639843e-03, 3.98700671e-03,-3.54730443e-03,-2.54567697e-02,
  5.98567559e-03,-2.88870336e-03,-1.75884179e-02, 1.14357794e-02,
  1.54056815e-02, 2.28837521e-03,-8.81979149e-03, 2.36849866e-02,
  5.41273012e-01,-1.00586122e-02, 3.37859397e-01, 6.26581598e-02,
  9.50099488e-02,-7.00220750e-02, 1.21388246e-01, 9.99997383e-01,
 -2.27123881e-04, 6.82059457e-05, 2.27544705e-03]

qacc:
[ -6.83485506, -0.49966664, -0.45158388,  7.9890524 , -3.10392179,
  -2.25611475,  9.2579138 ,-14.99052242, -3.17169404, -2.90815415,
  13.57549219,-26.67818131, -1.81722376,  5.28981008, -2.58150145,
   4.06206194, -1.0140801 , -1.45694684, -0.19167907, 24.37672192,
 -18.06484922,  1.15556126]

qfrc_actuator:
[ 8.24645203e-05, 8.44955704e-05,-1.18126935e-04,-5.35547086e-04,
  7.76820057e-05,-3.59019316e-04,-5.65463669e-04, 1.64590238e-04,
  2.40577110e-04, 5.88610567e-05,-1.86164275e-04, 3.73309402e-04,
  7.54072290e-02,-5.65609642e-04, 4.71141101e-02,-3.67351694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006228362539179022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45631985e-14, -8.91263970e-14,  1.00000000e+00, -3.97175732e-27,
        1.00000000e+00,  8.91263970e-14, -1.00000000e+00,  0.00000000e+00,
       -4.45631985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090505 , -0.05177631,  0.06198487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.00616832e-05, 5.86906575e-07, 2.80124587e-05, 2.52536899e-05,
 -1.83594264e-05, 2.08775851e-05, 4.00058251e-05,-1.15291058e-05,
 -1.86309984e-05, 3.06824061e-05, 3.97899944e-05,-3.27371143e-05,
 -5.34315282e-04,-4.57681729e-05,-2.05146561e-04,-4.02304121e-05,
 -3.02354906e-06,-7.47115494e-06,-7.84796498e+00, 5.87766762e-04,
  9.49154569e-03, 5.88783948e-06]


--- Step 206 ---
qpos:
[ 7.07772068e-03, 3.98871994e-03,-3.54752553e-03,-2.54649544e-02,
  5.98699772e-03,-2.88895195e-03,-1.75940167e-02, 1.14403788e-02,
  1.54104319e-02, 2.29089129e-03,-8.82077555e-03, 2.36923437e-02,
  5.42844356e-01,-1.00602226e-02, 3.39207007e-01, 6.26780693e-02,
  9.50064533e-02,-7.00370056e-02, 1.21387338e-01, 9.99997371e-01,
 -1.02909795e-04, 3.45393020e-05, 2.29059473e-03]

qacc:
[ -4.34230753,  1.88820358, -9.53280625, 21.80082382, -2.11503372,
   0.19464482, -1.16443703,  3.90074069,  0.85297236, -2.16342641,
   8.3102388 ,-11.64839305, -1.66835245,  4.40129132, -8.16655686,
  22.92702176, -1.00538663, -1.44398942, -0.29128561, 24.10550047,
 -17.81634187,  1.19244986]

qfrc_actuator:
[ 5.82514231e-05, 8.81543574e-05,-1.25361317e-04,-5.00824706e-04,
  6.57584933e-05,-3.55639851e-04,-5.61301814e-04, 1.72977973e-04,
  2.45959188e-04, 5.93653795e-05,-1.51053862e-04, 3.67426655e-04,
  7.52619293e-02,-5.57709090e-04, 4.69967545e-02,-3.59645893e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006198457963343257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47781945e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.47781945e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905079, -0.05177542,  0.06198494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.53562428e-05, 1.07960851e-05,-2.78812880e-06, 3.62260191e-05,
 -1.24418267e-05, 2.28883225e-05, 1.30659363e-05, 1.04469205e-05,
  4.87086079e-06, 2.43996018e-05, 4.51959308e-05,-3.84501759e-06,
 -5.30224711e-04,-5.17959431e-05,-2.14361360e-04, 4.85518307e-05,
 -1.55756555e-05,-9.13987734e-07,-7.84790713e+00, 6.11685086e-04,
  9.49139434e-03, 4.38030358e-06]


--- Step 207 ---
qpos:
[ 7.07977704e-03, 3.99040707e-03,-3.54805478e-03,-2.54726322e-02,
  5.98851166e-03,-2.88931716e-03,-1.75996453e-02, 1.14447422e-02,
  1.54152101e-02, 2.29320456e-03,-8.82148490e-03, 2.37003230e-02,
  5.44413071e-01,-1.00620776e-02, 3.40552008e-01, 6.26980784e-02,
  9.49989655e-02,-7.00576693e-02, 1.21384917e-01, 9.99997333e-01,
  6.91558350e-05,-3.42458048e-05, 2.30818758e-03]

qacc:
[  6.45315301,  1.85813046, -8.83046327, 18.12264674,  1.6794518 ,
  -0.55959727,  2.76296391, -6.70979314,  0.25754094,  0.24474042,
  -3.88982962, 14.37080121, -1.08119373,  1.09901536, -4.14489265,
   8.91610414, -0.9980681 , -1.4332941 , -0.37804896, 23.88544493,
 -17.61411517,  1.22163359]

qfrc_actuator:
[ 9.67482246e-05, 7.18661948e-05,-1.47294993e-04,-4.77139251e-04,
  7.59732837e-05,-3.89101370e-04,-5.74394251e-04, 1.58312471e-04,
  2.47231588e-04, 2.31372893e-05,-1.47763285e-04, 3.96536000e-04,
  7.51449636e-02,-5.70201792e-04, 4.68619926e-02,-3.59454320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006152376880785987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.25567908e-13, -1.80454326e-13,  1.00000000e+00, -4.07047048e-26,
        1.00000000e+00,  1.80454326e-13, -1.00000000e+00,  0.00000000e+00,
       -2.25567908e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10905142, -0.05177413,  0.06198505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.77754079e-05,-9.32993188e-06,-1.87935367e-05, 2.47724163e-05,
  9.86639450e-06,-1.74559371e-05,-6.33493586e-06,-1.30259563e-05,
  1.42605331e-06,-1.34918535e-05, 1.37347959e-05, 3.16248717e-05,
 -4.99523512e-04,-7.22697738e-05,-2.25212267e-04,-2.26151907e-05,
 -2.95773067e-05, 1.12631120e-05,-7.84773247e+00, 6.50784171e-04,
  9.47957700e-03, 1.68776200e-06]


--- Step 208 ---
qpos:
[ 7.08193371e-03, 3.99182719e-03,-3.54872882e-03,-2.54799458e-02,
  5.99013637e-03,-2.89006312e-03,-1.76052445e-02, 1.14489270e-02,
  1.54199667e-02, 2.29525823e-03,-8.82261009e-03, 2.37086452e-02,
  5.45979158e-01,-1.00637086e-02, 3.41894039e-01, 6.27199580e-02,
  9.49918538e-02,-7.00707460e-02, 1.21383661e-01, 9.99997276e-01,
  1.76792781e-04,-9.72544946e-05, 2.32538544e-03]

qacc:
[  0.88310417,  0.80034319, -4.9024148 , 11.62857585,  0.97676456,
  -0.95470507,  3.4248682 , -6.27941195, -0.19781824,  1.52536546,
  -7.38361207, 14.17274222, -1.57737079,  4.2673052 ,-10.01674712,
  28.70298725,  0.09402124,  1.89676766,  0.29096521,-32.20759617,
   2.96254362, -0.19657146]

qfrc_actuator:
[ 1.00830655e-04, 4.36814720e-05,-1.60058609e-04,-4.60160933e-04,
  8.13815062e-05,-4.26714851e-04,-5.79980274e-04, 1.47909477e-04,
  2.46067048e-04,-1.71558283e-05,-1.81175293e-04, 4.10436535e-04,
  7.50184524e-02,-5.59056049e-04, 4.67275305e-02,-3.49494130e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006181261247403397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49027707e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.49027707e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948078 , -0.09299728,  0.06198498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.14847012e-06,-3.62539561e-05,-1.61481648e-05, 1.64236067e-05,
  5.68477921e-06,-4.91684071e-05,-1.03625390e-05,-1.16204750e-05,
 -1.12242986e-06,-4.37231167e-05,-3.34446792e-05, 1.43925500e-05,
 -4.89164434e-04,-4.64830493e-05,-2.37625442e-04, 6.97539139e-05,
 -4.52678557e-05, 2.89070308e-05,-7.84744452e+00, 7.04921433e-04,
  9.45621855e-03,-2.17393101e-06]


--- Step 209 ---
qpos:
[ 7.08412284e-03, 3.99296502e-03,-3.54951616e-03,-2.54873438e-02,
  5.99215806e-03,-2.89096647e-03,-1.76106829e-02, 1.14529169e-02,
  1.54243276e-02, 2.29719707e-03,-8.82444078e-03, 2.37167260e-02,
  5.47542553e-01,-1.00651162e-02, 3.43233612e-01, 6.27421093e-02,
  9.49851236e-02,-7.00763565e-02, 1.21382928e-01, 9.99997220e-01,
  2.21162337e-04,-1.54856416e-04, 2.34255271e-03]

qacc:
[ 2.87104429e-01,-2.30897632e-01, 6.36952919e-01,-1.70742694e+00,
  3.48189450e+00,-1.06545146e+00, 4.30880449e+00,-7.81237451e+00,
 -3.50356456e+00, 1.33009042e+00,-3.93179868e+00, 9.54183201e-01,
 -1.61832048e+00, 4.36282289e+00,-4.43449476e+00, 1.02687472e+01,
  9.53710355e-02, 1.86653468e+00, 1.30884710e-01,-3.16273237e+01,
  2.77693500e+00,-1.26939771e-02]

qfrc_actuator:
[ 1.02357269e-04, 2.63627996e-05,-1.67360290e-04,-4.65019734e-04,
  1.01662725e-04,-4.13250845e-04,-5.63357233e-04, 1.40100903e-04,
  2.25725936e-04,-2.42447632e-05,-2.18275556e-04, 3.97489634e-04,
  7.48703312e-02,-5.51850571e-04, 4.66146778e-02,-3.48055968e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006243882040972704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33357303e-13,  8.89048686e-14,  1.00000000e+00,  1.18561135e-26,
        1.00000000e+00, -8.89048686e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33357303e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480903, -0.09299582,  0.06198483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65776179e-06,-4.02559589e-05,-1.62049690e-05,-6.63602434e-06,
  2.04273571e-05,-1.65836459e-05, 4.85346718e-06,-1.04955836e-05,
 -2.03805149e-05,-3.78959914e-05,-4.97778486e-05,-1.57174260e-05,
 -5.00426900e-04,-4.80760435e-05,-2.10356240e-04,-1.16620207e-05,
 -2.65510290e-05, 2.32198852e-05,-7.84774885e+00, 7.39416208e-04,
  9.43739967e-03,-3.92154453e-06]


--- Step 210 ---
qpos:
[ 7.08734805e-03, 3.99399618e-03,-3.55047778e-03,-2.54947605e-02,
  5.99406219e-03,-2.89199010e-03,-1.76156605e-02, 1.14571010e-02,
  1.54280658e-02, 2.29906645e-03,-8.82648232e-03, 2.37242029e-02,
  5.49103247e-01,-1.00666838e-02, 3.44571275e-01, 6.27634725e-02,
  9.49787780e-02,-7.00746060e-02, 1.21382151e-01, 9.99997173e-01,
  2.03256141e-04,-2.07351631e-04, 2.35997905e-03]

qacc:
[ 9.11635186e+00, 2.89813146e-01,-1.18922946e+00, 1.25437543e+00,
 -1.01227527e+00,-1.04400235e+00, 2.67517162e+00, 3.56456213e-02,
 -5.48507589e+00,-7.35318800e-01, 5.05754320e+00,-1.51434570e+01,
 -1.22108581e+00, 1.79691858e+00,-4.35899095e-01,-2.56336078e+00,
  9.61512023e-02, 1.84025423e+00,-1.10185186e-02,-3.11317894e+01,
  2.62631733e+00, 1.33776084e-01]

qfrc_actuator:
[ 1.55635992e-04, 3.34384698e-05,-1.71358381e-04,-4.64925147e-04,
  9.50319544e-05,-4.04716658e-04,-5.33551988e-04, 1.51689425e-04,
  1.94261789e-04,-1.14521317e-05,-2.21627495e-04, 3.68881312e-04,
  7.47199957e-02,-5.64850997e-04, 4.65361549e-02,-3.51645943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000627198642365559
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42532457e-14,  1.77012983e-13,  1.00000000e+00,  7.83339902e-27,
        1.00000000e+00, -1.77012983e-13, -1.00000000e+00,  0.00000000e+00,
       -4.42532457e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09480997, -0.09299537,  0.06198477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.33113203e-05,-1.90882596e-05,-1.45277484e-05,-2.30377971e-06,
 -6.05277101e-06,-9.17091945e-08, 2.66792210e-05, 1.08460226e-05,
 -3.20478683e-05,-1.94150791e-05,-1.78689719e-05,-3.22771742e-05,
 -5.10875731e-04,-6.98544920e-05,-1.74431598e-04,-6.34122722e-05,
 -9.14741129e-06, 1.83436038e-05,-7.84791482e+00, 7.53684350e-04,
  9.42012593e-03,-4.53985020e-06]


--- Step 211 ---
qpos:
[ 7.09084164e-03, 3.99505911e-03,-3.55183403e-03,-2.55024663e-02,
  5.99587224e-03,-2.89313908e-03,-1.76201838e-02, 1.14607015e-02,
  1.54313978e-02, 2.30066487e-03,-8.82824649e-03, 2.37316151e-02,
  5.50661147e-01,-1.00676722e-02, 3.45906872e-01, 6.27845430e-02,
  9.49728185e-02,-7.00655847e-02, 1.21380830e-01, 9.99997133e-01,
  1.23911678e-04,-2.54983806e-04, 2.37789548e-03]

qacc:
[  2.34939824,  0.54529664, -0.67272817, -3.70988218, -0.80728409,
  -2.6340545 , 11.61938777,-22.359575  , -3.5605067 , -1.25938344,
   4.2555282 , -5.63033152, -2.06178373,  6.8927737 , -2.14729507,
   3.1192565 ,  0.09652028,  1.81771773, -0.13599663,-30.71325835,
   2.5040601 ,  0.25091755]

qfrc_actuator:
[ 1.67938875e-04, 3.73354118e-05,-1.91020645e-04,-4.79643092e-04,
  9.03623803e-05,-4.16867162e-04,-5.13954233e-04, 1.21347028e-04,
  1.74261614e-04,-2.22352687e-05,-2.04942908e-04, 3.66840609e-04,
  7.45790811e-02,-5.36422843e-04, 4.64409884e-02,-3.52831906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006271732522445117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42550372e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.42550372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481066, -0.09299575,  0.06198477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38101808e-05,-9.87750665e-06,-2.54633136e-05,-1.60692046e-05,
 -4.84404335e-06,-6.14227940e-06, 2.33019751e-05,-2.92076631e-05,
 -2.09100737e-05,-2.67743342e-05, 9.34678319e-06,-4.13341645e-06,
 -5.11303454e-04,-3.10071067e-05,-1.82490957e-04,-3.81414096e-05,
  8.04207582e-06, 1.39389315e-05,-7.84794972e+00, 7.48052941e-04,
  9.40437280e-03,-4.04054484e-06]


--- Step 212 ---
qpos:
[ 7.09307618e-03, 3.99602468e-03,-3.55314016e-03,-2.55099572e-02,
  5.99795741e-03,-2.89486181e-03,-1.76236653e-02, 1.14642732e-02,
  1.54344643e-02, 2.30175165e-03,-8.82967144e-03, 2.37389715e-02,
  5.52216319e-01,-1.00679558e-02, 3.47240202e-01, 6.28039982e-02,
  9.49672454e-02,-7.00493687e-02, 1.21378527e-01, 9.99997084e-01,
 -1.61730410e-05,-2.97950801e-04, 2.39648715e-03]

qacc:
[-11.07961832,  0.19541914, -1.7511348 ,  5.41643384,  2.45010846,
  -3.73280345, 12.32395057,-14.05958203, -2.31774146, -1.73476193,
   5.44776261, -6.58807784, -2.17030639,  7.68329632,  1.54709768,
 -10.24078304,  0.09659753,  1.79866993, -0.24548771,-30.3644078 ,
   2.40484088,  0.34507708]

qfrc_actuator:
[ 1.02751602e-04, 3.92293451e-05,-1.84286103e-04,-4.67465496e-04,
  1.04645692e-04,-4.59127927e-04,-4.65153492e-04, 1.19804211e-04,
  1.61172359e-04,-6.46872046e-05,-1.94392907e-04, 3.62690043e-04,
  7.44492504e-02,-5.01565515e-04, 4.63146154e-02,-3.61469802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006248501539792978
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.88391415e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.88391415e-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([ 0.09481117, -0.09299678,  0.06198482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.47972829e-05,-9.58852716e-06, 1.01916787e-06, 1.05774467e-05,
  1.41430641e-05,-4.20488977e-05, 4.94504967e-05,-1.56324540e-06,
 -1.36881514e-05,-5.57212765e-05, 6.01725760e-06,-5.06964277e-06,
 -4.96184432e-04,-2.27290781e-05,-2.14090057e-04,-1.12170238e-04,
  2.58143459e-05, 9.83110791e-06,-7.84785939e+00, 7.22796960e-04,
  9.39011478e-03,-2.43404479e-06]


--- Step 213 ---
qpos:
[ 7.09416728e-03, 3.99681590e-03,-3.55410884e-03,-2.55162182e-02,
  5.99985258e-03,-2.89698425e-03,-1.76268442e-02, 1.14685185e-02,
  1.54370051e-02, 2.30224508e-03,-8.83083743e-03, 2.37455468e-02,
  5.53768905e-01,-1.00681290e-02, 3.48570527e-01, 6.28200611e-02,
  9.49665268e-02,-7.00359007e-02, 1.21378017e-01, 9.99997040e-01,
 -1.31973564e-04,-3.00257540e-04, 2.41106946e-03]

qacc:
[-1.00508296e+01, 1.37876903e+00,-1.03971290e+01, 3.12083130e+01,
 -1.64601135e+00, 1.65239055e-02,-3.66411183e+00, 1.51280605e+01,
 -4.60825304e+00,-3.10730989e+00, 1.32555263e+01,-2.67702438e+01,
 -1.46472351e+00, 3.54203827e+00, 5.81091315e+00,-2.67675013e+01,
  1.21364210e+00,-6.87011208e-01, 4.48220369e-01, 1.21901862e+01,
  2.03010040e+01,-2.00796468e+00]

qfrc_actuator:
[ 4.57482300e-05, 4.00378842e-05,-1.62000359e-04,-4.04033616e-04,
  9.44639139e-05,-4.83451049e-04,-4.52858299e-04, 1.52972418e-04,
  1.34498943e-04,-1.08038717e-04,-1.87696459e-04, 3.21785374e-04,
  7.43208389e-02,-4.98713193e-04, 4.61270047e-02,-3.79760668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006277282549703028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32647728e-13, -8.84318187e-14,  1.00000000e+00, -1.17302798e-26,
        1.00000000e+00,  8.84318187e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32647728e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819487 , -0.06183095,  0.06198475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.88478158e-05,-3.92256580e-06, 2.08177557e-05, 6.32822415e-05,
 -9.79435654e-06,-3.75892131e-05, 9.70000876e-06, 3.30503369e-05,
 -2.70783504e-05,-7.35196899e-05,-4.25662179e-06,-4.31975154e-05,
 -4.82981486e-04,-5.27519198e-05,-2.96845323e-04,-2.16596407e-04,
  4.47505390e-05, 5.98198759e-06,-7.84764834e+00, 6.78144796e-04,
  9.37732705e-03, 2.70590635e-07]


--- Step 214 ---
qpos:
[ 7.09560093e-03, 3.99769028e-03,-3.55544269e-03,-2.55216547e-02,
  6.00161087e-03,-2.89895762e-03,-1.76311712e-02, 1.14731589e-02,
  1.54395515e-02, 2.30187533e-03,-8.83178553e-03, 2.37519641e-02,
  5.55318858e-01,-1.00681945e-02, 3.49897187e-01, 6.28338402e-02,
  9.49705927e-02,-7.00251508e-02, 1.21378740e-01, 9.99997008e-01,
 -2.24086567e-04,-2.62398457e-04, 2.42196009e-03]

qacc:
[  3.0028129 ,  2.82282649,-13.38631418, 28.16549269, -1.23618134,
   4.21966223,-16.424842  , 24.98622008,  0.07172532, -2.07495582,
   6.40925806, -8.85361452, -1.48212402,  3.54422439,  1.49328995,
 -13.07155195,  1.19609905, -0.67952494,  0.308237  , 11.89159312,
  20.05454033, -1.84675212]

qfrc_actuator:
[ 6.50537207e-05, 4.03111378e-05,-1.83949177e-04,-3.64208040e-04,
  8.77107742e-05,-4.79203484e-04,-5.15401648e-04, 1.70771041e-04,
  1.35546644e-04,-1.69396255e-04,-1.83367566e-04, 3.12833837e-04,
  7.41773870e-02,-4.96998832e-04, 4.59400799e-02,-3.91174160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006302226453331755
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80818099e-14,  8.80818099e-14,  1.00000000e+00,  7.75840523e-27,
        1.00000000e+00, -8.80818099e-14, -1.00000000e+00,  0.00000000e+00,
       -8.80818099e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194848, -0.06183187,  0.06198469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76289785e-05, 5.06191770e-06,-1.79887878e-05, 4.16266089e-05,
 -7.04782330e-06,-1.32508960e-05,-6.79156894e-05, 1.71696330e-05,
  2.56366385e-07,-1.05221002e-04,-1.28797668e-05,-1.31016952e-05,
 -4.91988131e-04,-5.41982026e-05,-3.42032389e-04,-1.63396387e-04,
  2.76271819e-05,-5.02884658e-07,-7.84778018e+00, 6.41720629e-04,
  9.37595148e-03, 2.09000691e-06]


--- Step 215 ---
qpos:
[ 7.09794408e-03, 3.99876971e-03,-3.55707100e-03,-2.55269370e-02,
  6.00327436e-03,-2.90072910e-03,-1.76362906e-02, 1.14776000e-02,
  1.54420903e-02, 2.30087887e-03,-8.83277150e-03, 2.37585569e-02,
  5.56866132e-01,-1.00684851e-02, 3.51220990e-01, 6.28481873e-02,
  9.49793837e-02,-7.00170919e-02, 1.21380203e-01, 9.99996989e-01,
 -2.93008725e-04,-1.84795112e-04, 2.42941898e-03]

qacc:
[ 7.99312956, 1.39630322,-5.26093886, 8.27335184,-0.85807218, 2.07184368,
 -6.15693331, 3.82553671,-0.05775641,-0.3612826 ,-0.65395766, 4.21094594,
 -1.14123598, 1.32604016,-5.92456049,14.61208486, 1.18128845,-0.67274906,
  0.18514215,11.64306882,19.84437454,-1.71447383]

qfrc_actuator:
[ 1.11363287e-04, 5.78280730e-05,-1.96365830e-04,-3.56385379e-04,
  8.30376994e-05,-4.58202411e-04,-5.50507957e-04, 1.61604397e-04,
  1.35153264e-04,-1.87792341e-04,-1.80521732e-04, 3.22743297e-04,
  7.40250081e-02,-5.13761137e-04, 4.58655757e-02,-3.86009559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006300350519152231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76216073e-13,  4.40540182e-14,  1.00000000e+00,  7.76302606e-27,
        1.00000000e+00, -4.40540182e-14, -1.00000000e+00,  0.00000000e+00,
       -1.76216073e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194787, -0.06183233,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.68106679e-05, 1.84122476e-05,-1.21311733e-05, 8.23981104e-06,
 -4.87701147e-06, 4.08547531e-07,-4.55516043e-05,-1.17465266e-05,
 -4.22636110e-07,-8.04400109e-05,-2.09251522e-05, 4.68875847e-06,
 -5.07570293e-04,-7.39829678e-05,-2.41850128e-04, 1.53245225e-07,
  1.75523587e-05,-3.82335370e-06,-7.84783769e+00, 6.12646296e-04,
  9.38756716e-03, 3.65335430e-06]


--- Step 216 ---
qpos:
[ 7.10013422e-03, 3.99990287e-03,-3.55820227e-03,-2.55328106e-02,
  6.00452370e-03,-2.90217853e-03,-1.76413585e-02, 1.14814766e-02,
  1.54446042e-02, 2.29981631e-03,-8.83426607e-03, 2.37651767e-02,
  5.58410713e-01,-1.00692404e-02, 3.52542829e-01, 6.28638006e-02,
  9.49928506e-02,-7.00116999e-02, 1.21381977e-01, 9.99996979e-01,
 -3.39151506e-04,-6.78001096e-05, 2.43366015e-03]

qacc:
[ -1.33233095, -2.53365826, 11.62995436,-22.68448036, -3.62864903,
  -0.87350728,  6.12886679,-16.23535836, -0.23413307,  1.39015717,
  -5.19659539,  6.52455996, -0.89256068, -0.2527675 , -6.71619157,
  19.29476913,  1.168987  , -0.66673972,  0.07755847, 11.43720713,
  19.66857144, -1.60520098]

qfrc_actuator:
[ 1.02160810e-04, 6.77834301e-05,-1.67482556e-04,-3.85176684e-04,
  6.18727083e-05,-4.09509034e-04,-5.33543294e-04, 1.36694817e-04,
  1.33906316e-04,-1.62550114e-04,-1.96149745e-04, 3.25946646e-04,
  7.38780235e-02,-5.41319938e-04, 4.58159770e-02,-3.78192964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006276776494818226
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42194742e-14, -8.84389484e-14,  1.00000000e+00, -3.91072379e-27,
        1.00000000e+00,  8.84389484e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42194742e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194693, -0.06183244,  0.06198475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.86713679e-06, 1.80992836e-05, 3.14911454e-05,-2.82515009e-05,
 -2.13018453e-05, 3.91225969e-05, 1.11023233e-05,-2.66913424e-05,
 -1.28925143e-06,-2.38210147e-05,-3.46481149e-05,-8.86414574e-07,
 -5.15335977e-04,-8.79002659e-05,-1.57111816e-04, 4.76415957e-05,
  1.38550686e-05,-4.48201601e-06,-7.84782426e+00, 5.90794746e-04,
  9.41201035e-03, 4.96193409e-06]


--- Step 217 ---
qpos:
[ 7.10185239e-03, 4.00119989e-03,-3.55876169e-03,-2.55386578e-02,
  6.00585433e-03,-2.90309513e-03,-1.76463555e-02, 1.14853399e-02,
  1.54470833e-02, 2.29894303e-03,-8.83612179e-03, 2.37717390e-02,
  5.59952546e-01,-1.00699424e-02, 3.53862195e-01, 6.28799805e-02,
  9.50021914e-02,-7.00122373e-02, 1.21383756e-01, 9.99996967e-01,
 -3.35253670e-04, 1.21288131e-05, 2.44009953e-03]

qacc:
[-4.13938587e+00,-1.31967666e+00, 4.92070379e+00,-5.51051228e+00,
  7.04479911e-01, 4.77532061e-01,-6.27946534e-01,-1.02019131e-01,
 -3.20996315e-01, 1.14202323e+00,-3.46541729e+00, 2.90838135e+00,
 -1.48252197e+00, 3.27028494e+00,-5.34819790e+00, 1.34312373e+01,
 -1.03152649e+00,-1.48231236e+00, 1.25720049e-03, 2.49752045e+01,
 -1.85942478e+01, 1.09112396e+00]

qfrc_actuator:
[ 7.81024331e-05, 9.10237732e-05,-1.32245669e-04,-3.81994598e-04,
  6.66751014e-05,-3.62153848e-04,-5.21368264e-04, 1.38289896e-04,
  1.32167543e-04,-1.29187467e-04,-2.04623577e-04, 3.25204543e-04,
  7.37396991e-02,-5.39521644e-04, 4.56748281e-02,-3.75978782e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006263679052278537
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.76949611e-14, -8.30848833e-14,  1.00000000e+00,  2.30103261e-27,
        1.00000000e+00,  8.30848833e-14, -1.00000000e+00,  0.00000000e+00,
        2.76949611e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10904308, -0.05177533,  0.06198479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42768873e-05, 3.86314548e-05, 4.18871510e-05, 4.50937279e-06,
  4.20816915e-06, 7.04779020e-05, 2.07684910e-05, 3.14298684e-06,
 -1.78587306e-06, 1.28954194e-05,-1.76749805e-05,-2.98758307e-06,
 -5.13631276e-04,-6.04447795e-05,-2.08639908e-04, 4.17711938e-06,
  1.60570519e-05,-2.87020919e-06,-7.84774253e+00, 5.76058396e-04,
  9.44914625e-03, 6.01718634e-06]


--- Step 218 ---
qpos:
[ 7.10361370e-03, 4.00277724e-03,-3.55924093e-03,-2.55437119e-02,
  6.00757699e-03,-2.90364269e-03,-1.76511149e-02, 1.14892014e-02,
  1.54498669e-02, 2.29854201e-03,-8.83851101e-03, 2.37778706e-02,
  5.61491653e-01,-1.00705776e-02, 3.55178416e-01, 6.28960878e-02,
  9.50074518e-02,-7.00186367e-02, 1.21385042e-01, 9.99996960e-01,
 -2.82068517e-04, 5.56773888e-05, 2.44883812e-03]

qacc:
[  0.37788058,  1.77922316, -9.14813437, 22.52394468,  3.43203578,
  -0.18698381,  1.37111038, -2.04395492,  2.65484812,  1.22308701,
  -1.64520021, -5.29660789, -1.48849415,  3.3405677 , -4.41104505,
   8.70889199, -1.02011742, -1.46552802, -0.12309603, 24.59918433,
 -18.2506368 ,  1.14379594]

qfrc_actuator:
[ 8.10159598e-05, 1.04350856e-04,-1.28975514e-04,-3.42256986e-04,
  8.67281472e-05,-3.51446421e-04,-5.12106979e-04, 1.37709470e-04,
  1.47906169e-04,-9.11815032e-05,-2.26501517e-04, 3.04416154e-04,
  7.36013469e-02,-5.38193829e-04, 4.54948430e-02,-3.77106724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006267144125529089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96467352e-14,  4.98233676e-14,  1.00000000e+00,  4.96473592e-27,
        1.00000000e+00, -4.98233676e-14, -1.00000000e+00,  0.00000000e+00,
       -9.96467352e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10904264, -0.05177532,  0.06198478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.23323016e-06, 4.37328039e-05, 1.65672466e-05, 4.29407312e-05,
  2.01968907e-05, 5.46275712e-05, 2.65463049e-05, 3.22381530e-06,
  1.56898522e-05, 4.14840220e-05,-2.14747557e-05,-2.09134848e-05,
 -5.09394185e-04,-5.93890050e-05,-2.73573845e-04,-3.77263973e-05,
  5.84324982e-06,-8.62634016e-06,-7.84789584e+00, 5.77512247e-04,
  9.47451869e-03, 6.39620587e-06]


--- Step 219 ---
qpos:
[ 7.10539608e-03, 4.00456944e-03,-3.56019681e-03,-2.55478574e-02,
  6.00918180e-03,-2.90387591e-03,-1.76556405e-02, 1.14923428e-02,
  1.54531624e-02, 2.29855327e-03,-8.84116215e-03, 2.37833483e-02,
  5.63028049e-01,-1.00711478e-02, 3.56492117e-01, 6.29124353e-02,
  9.50086714e-02,-7.00308411e-02, 1.21385400e-01, 9.99996956e-01,
 -1.80222001e-04, 6.34150708e-05, 2.45995660e-03]

qacc:
[  0.16728311,  3.48737524,-15.84763155, 32.15109394, -1.02988246,
  -1.71748808,  9.77069672,-22.84239488,  4.48878694, -0.07784272,
   3.81363677,-14.99792546, -1.48158041,  3.31533024, -4.43375292,
  10.12950146, -1.01019311, -1.45125213, -0.23212257, 24.28669451,
 -17.96531007,  1.18624472]

qfrc_actuator:
[ 8.20336693e-05, 9.37953401e-05,-1.62375094e-04,-2.99116061e-04,
  8.00830518e-05,-3.45024358e-04,-5.04789050e-04, 1.00312548e-04,
  1.73805791e-04,-6.85008646e-05,-2.38352499e-04, 2.71996357e-04,
  7.34630749e-02,-5.37183185e-04, 4.54035473e-02,-3.74872895e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006247117991343698
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44294083e-14, -1.77717633e-13,  1.00000000e+00, -7.89588930e-27,
        1.00000000e+00,  1.77717633e-13, -1.00000000e+00,  0.00000000e+00,
       -4.44294083e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090427 , -0.05177472,  0.06198483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09042043e-06, 1.91151547e-05,-2.08446568e-05, 4.64312368e-05,
 -6.05025652e-06, 4.26650258e-05, 2.20358347e-05,-3.40723625e-05,
  2.63590867e-05, 4.05896931e-05,-6.62941176e-06,-3.17996629e-05,
 -5.06228905e-04,-5.93450077e-05,-2.16240996e-04,-1.40570334e-05,
 -5.48161732e-06,-8.60211134e-06,-7.84792357e+00, 5.94464693e-04,
  9.48795087e-03, 5.55298396e-06]


--- Step 220 ---
qpos:
[ 7.10717673e-03, 4.00658713e-03,-3.56152521e-03,-2.55518067e-02,
  6.01069476e-03,-2.90387240e-03,-1.76599775e-02, 1.14946800e-02,
  1.54563983e-02, 2.29840414e-03,-8.84370655e-03, 2.37884433e-02,
  5.64561735e-01,-1.00713340e-02, 3.57803790e-01, 6.29274797e-02,
  9.50058841e-02,-7.00488029e-02, 1.21384449e-01, 9.99996940e-01,
 -3.02267996e-05, 3.58101712e-05, 2.47351983e-03]

qacc:
[ -0.03081638,  1.74366747, -6.6096823 , 10.42743876, -0.80245807,
  -1.86763579, 10.51204295,-24.91125565, -0.51887692, -1.29732511,
   5.93599399,-12.61509296, -1.83686955,  5.46084688,  0.95519404,
  -7.66191721, -1.00170935, -1.43933407, -0.3272496 , 24.03072048,
 -17.73067881,  1.22072641]

qfrc_actuator:
[ 8.19186951e-05, 1.04368869e-04,-1.81746509e-04,-2.89871100e-04,
  7.55247848e-05,-3.41266444e-04,-4.98728304e-04, 5.92971948e-05,
  1.69967591e-04,-1.08402259e-04,-2.44245484e-04, 2.50745657e-04,
  7.33302737e-02,-5.18634989e-04, 4.53122644e-02,-3.81301973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006208345350236788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34120643e-13, -1.78827524e-13,  1.00000000e+00, -2.39844624e-26,
        1.00000000e+00,  1.78827524e-13, -1.00000000e+00,  0.00000000e+00,
       -1.34120643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10904317, -0.05177365,  0.06198492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.23212985e-08, 1.88958065e-05,-1.63865793e-05, 1.02534910e-05,
 -4.71569011e-06, 3.07599910e-05, 1.64577299e-05,-3.90838723e-05,
 -3.07516150e-06,-1.98975157e-05, 5.95487353e-07,-2.03663057e-05,
 -4.98324105e-04,-4.16548599e-05,-1.90139827e-04,-9.26703660e-05,
 -1.81714110e-05,-2.85152840e-06,-7.84783141e+00, 6.26713291e-04,
  9.48962012e-03, 3.51136941e-06]


--- Step 221 ---
qpos:
[ 7.10894222e-03, 4.00862233e-03,-3.56296578e-03,-2.55562959e-02,
  6.01179646e-03,-2.90374377e-03,-1.76641933e-02, 1.14972176e-02,
  1.54592184e-02, 2.29802766e-03,-8.84655675e-03, 2.37939727e-02,
  5.66092757e-01,-1.00712564e-02, 3.59113281e-01, 6.29416013e-02,
  9.49991185e-02,-7.00724831e-02, 1.21381858e-01, 9.99996887e-01,
  1.67505278e-04,-2.67572383e-05, 2.48958030e-03]

qacc:
[ -0.13752292, -0.77507335,  5.07187002,-14.23882211, -3.59720281,
   0.24633019, -1.47230252,  4.64174793, -3.66429154,  1.45582067,
  -7.44876497, 15.61077339, -1.68314066,  4.60476961, -0.41978915,
  -3.18201674, -0.99459697, -1.42960676, -0.40990717, 23.82507978,
 -17.54027775,  1.24898475]

qfrc_actuator:
[ 8.11384933e-05, 9.20179766e-05,-1.92614486e-04,-3.18367423e-04,
  5.44871225e-05,-3.39155132e-04,-4.93470200e-04, 6.97408953e-05,
  1.48653466e-04,-1.32187204e-04,-2.64580189e-04, 2.71692160e-04,
  7.31955265e-02,-5.07662062e-04, 4.52103839e-02,-3.85683003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006154918619812877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12737379e-14,  1.35284854e-13,  1.00000000e+00,  1.52516598e-27,
        1.00000000e+00, -1.35284854e-13, -1.00000000e+00,  0.00000000e+00,
       -1.12737379e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10904395, -0.05177222,  0.06198505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.79979010e-07,-4.78429208e-06,-8.62961602e-06,-2.80474857e-05,
 -2.11606813e-05, 2.10806900e-05, 1.23322740e-05, 1.15752782e-05,
 -2.14096816e-05,-3.56285811e-05,-2.50526172e-05, 1.97134547e-05,
 -4.92508340e-04,-4.75147999e-05,-1.99289277e-04,-7.36331790e-05,
 -3.24587499e-05, 8.50458766e-06,-7.84762367e+00, 6.74092421e-04,
  9.47967208e-03, 2.90285312e-07]


--- Step 222 ---
qpos:
[ 7.11033978e-03, 4.01044386e-03,-3.56440809e-03,-2.55614141e-02,
  6.01229239e-03,-2.90329550e-03,-1.76686702e-02, 1.14998621e-02,
  1.54617610e-02, 2.29754924e-03,-8.84968953e-03, 2.37996925e-02,
  5.67621209e-01,-1.00713476e-02, 3.60420721e-01, 6.29540236e-02,
  9.49927356e-02,-7.00885191e-02, 1.21380777e-01, 9.99996813e-01,
  3.00270837e-04,-8.36062479e-05, 2.50536839e-03]

qacc:
[ -3.23552558, -1.56667702,  7.83613242,-18.55872038, -5.31488317,
   1.38171877, -4.74736798,  6.7604378 , -2.44950792,  1.05152653,
  -4.73984029,  8.55057403, -1.17101781,  1.67576197,  2.10559361,
 -11.75990631,  0.09570156,  1.91105073,  0.37756008,-32.4760421 ,
   2.94003778, -0.13577308]

qfrc_actuator:
[ 6.22206349e-05, 6.60302362e-05,-1.98491743e-04,-3.51098186e-04,
  2.39179616e-05,-3.20262248e-04,-5.06454312e-04, 7.48718515e-05,
  1.34986420e-04,-1.28418543e-04,-2.75457448e-04, 2.81787615e-04,
  7.30650311e-02,-5.19020238e-04, 4.51128832e-02,-3.94146904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006257264774937044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43573616e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.43573616e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481548, -0.09299837,  0.0619848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89442701e-05,-3.16991705e-05,-8.89714358e-06,-3.37719318e-05,
 -3.11673003e-05, 3.37560882e-05,-6.66699482e-06, 6.69065698e-06,
 -1.42905693e-05,-2.04491626e-05,-2.06113651e-05, 8.08171915e-06,
 -4.84706378e-04,-6.96877807e-05,-1.96441236e-04,-1.14445907e-04,
 -4.85715241e-05, 2.52889033e-05,-7.84730356e+00, 7.36468859e-04,
  9.45822414e-03,-4.09557058e-06]


--- Step 223 ---
qpos:
[ 7.11115466e-03, 4.01207044e-03,-3.56566343e-03,-2.55665546e-02,
  6.01276307e-03,-2.90291185e-03,-1.76731114e-02, 1.15025767e-02,
  1.54644646e-02, 2.29694571e-03,-8.85265002e-03, 2.38051142e-02,
  5.69147084e-01,-1.00715265e-02, 3.61725738e-01, 6.29656596e-02,
  9.49867398e-02,-7.00970424e-02, 1.21380514e-01, 9.99996744e-01,
  3.69334150e-04,-1.35092388e-04, 2.52121846e-03]

qacc:
[ -5.11974463, -0.81617292,  2.64654536, -3.20346931, -0.21873322,
  -0.04025079, -0.27611846,  1.48110598,  1.42493719, -1.26304633,
   5.51674838,-10.85145039, -1.25966745,  2.19615437, -1.19302913,
  -1.00550706,  0.09673558,  1.87817497,  0.20436707,-31.84430185,
   2.76123447,  0.03284403]

qfrc_actuator:
[ 3.27790287e-05, 6.75898029e-05,-1.83687502e-04,-3.50559327e-04,
  2.34941885e-05,-3.44802859e-04,-5.12297414e-04, 7.68285214e-05,
  1.43688343e-04,-1.25904804e-04,-2.62808514e-04, 2.67690212e-04,
  7.29318484e-02,-5.25697423e-04, 4.49967743e-02,-3.97844914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006329669154204881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38499627e-14, -8.76999253e-14,  1.00000000e+00, -3.84563845e-27,
        1.00000000e+00,  8.76999253e-14, -1.00000000e+00,  0.00000000e+00,
       -4.38499627e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481666, -0.09299661,  0.06198463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99922560e-05,-1.94989153e-05, 5.99937748e-06,-1.77282526e-06,
 -1.30238911e-06,-6.73528351e-06, 5.82110534e-07, 3.30700339e-06,
  8.28568381e-06,-1.27885422e-05, 6.19841629e-06,-1.55332506e-05,
 -4.84305661e-04,-6.55394208e-05,-2.18650606e-04,-6.87790832e-05,
 -3.13600269e-05, 2.04049285e-05,-7.84766283e+00, 7.78964141e-04,
  9.44131886e-03,-6.31525106e-06]


--- Step 224 ---
qpos:
[ 7.11195507e-03, 4.01349976e-03,-3.56647817e-03,-2.55713211e-02,
  6.01322482e-03,-2.90275080e-03,-1.76772166e-02, 1.15052938e-02,
  1.54669063e-02, 2.29619621e-03,-8.85517433e-03, 2.38106540e-02,
  5.70670295e-01,-1.00713854e-02, 3.63028185e-01, 6.29803283e-02,
  9.49811330e-02,-7.00981676e-02, 1.21380455e-01, 9.99996694e-01,
  3.75777497e-04,-1.81504739e-04, 2.53739564e-03]

qacc:
[ -0.10995747, -0.72206529,  0.6202813 ,  5.28690109, -0.06386139,
  -1.22753811,  3.94054259, -4.27346184, -2.28854952, -1.16452568,
   3.38150369, -1.93642043, -1.73090705,  4.87566085,-12.92915938,
  39.76299747,  0.09727107,  1.84952458,  0.05085774,-31.30346671,
   2.61588725,  0.16682523]

qfrc_actuator:
[ 3.28903437e-05, 6.79918877e-05,-1.56662365e-04,-3.30413850e-04,
  2.30668054e-05,-3.59641921e-04,-4.96295631e-04, 7.68745195e-05,
  1.29978761e-04,-1.24080095e-04,-2.36385699e-04, 2.74994459e-04,
  7.27918206e-02,-5.11826887e-04, 4.49122138e-02,-3.80954094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006364427479847029
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72209659e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.72209659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481754, -0.09299596,  0.06198454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.50356291e-07,-9.38420778e-06, 2.36828119e-05, 1.94952698e-05,
 -4.67101417e-07,-1.83118213e-05, 1.48383458e-05,-1.55037246e-07,
 -1.34821207e-05,-4.65618926e-06, 2.40391629e-05, 6.66441287e-06,
 -4.90364305e-04,-4.48976207e-05,-1.90861929e-04, 1.37119805e-04,
 -1.53261591e-05, 1.62474641e-05,-7.84788042e+00, 8.01099145e-04,
  9.42595215e-03,-7.39855974e-06]


--- Step 225 ---
qpos:
[ 7.11171528e-03, 4.01484495e-03,-3.56698953e-03,-2.55758144e-02,
  6.01367772e-03,-2.90275733e-03,-1.76805455e-02, 1.15079523e-02,
  1.54691648e-02, 2.29526195e-03,-8.85730151e-03, 2.38159002e-02,
  5.72190911e-01,-1.00710490e-02, 3.64328591e-01, 6.29968155e-02,
  9.49759160e-02,-7.00919932e-02, 1.21380058e-01, 9.99996662e-01,
  3.20517911e-04,-2.23078367e-04, 2.55411084e-03]

qacc:
[ -9.14527732, -0.37885075,  0.06886079,  4.19863309, -0.05019216,
  -2.50997776,  8.87623653,-11.00835482, -1.59698011, -1.95549948,
   7.86316702,-13.44920239, -1.56912137,  4.01805643, -8.48397875,
  25.34147265,  0.09745423,  1.82488241, -0.08428382,-30.84517992,
   2.49773905,  0.273675  ]

qfrc_actuator:
[-2.06122374e-05, 6.77797600e-05,-1.40385745e-04,-3.16644345e-04,
  2.26310398e-05,-3.50723587e-04,-4.49748803e-04, 7.58138647e-05,
  1.20933485e-04,-1.40350513e-04,-2.19783991e-04, 2.59337631e-04,
  7.26637638e-02,-5.03752994e-04, 4.48253799e-02,-3.71588310e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006368214691648694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.35845476e-14, -8.71690951e-14,  1.00000000e+00, -3.79922557e-27,
        1.00000000e+00,  8.71690951e-14, -1.00000000e+00,  0.00000000e+00,
       -4.35845476e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481819, -0.09299621,  0.06198453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.35317014e-05, 2.32144445e-07, 1.79320395e-05, 1.45756945e-05,
 -4.56092589e-07, 1.77274937e-06, 4.46272525e-05,-1.33206821e-06,
 -9.43504953e-06,-1.35756298e-05, 1.88604037e-05,-1.48988960e-05,
 -4.80172474e-04,-5.04384317e-05,-1.57887749e-04, 7.68144629e-05,
  5.70110073e-07, 1.24654456e-05,-7.84796444e+00, 8.03228690e-04,
  9.41210042e-03,-7.35869932e-06]


--- Step 226 ---
qpos:
[ 7.11049092e-03, 4.01640786e-03,-3.56767634e-03,-2.55804585e-02,
  6.01412191e-03,-2.90294076e-03,-1.76832705e-02, 1.15109355e-02,
  1.54716417e-02, 2.29474173e-03,-8.86025233e-03, 2.38202353e-02,
  5.73709019e-01,-1.00706003e-02, 3.65626339e-01, 6.30131117e-02,
  9.49710886e-02,-7.00786030e-02, 1.21378851e-01, 9.99996639e-01,
  2.04323137e-04,-2.60004339e-04, 2.57153253e-03]

qacc:
[ -8.67600514,  0.48454095, -0.64491655, -1.87512723, -0.05410728,
  -1.25278754,  2.75761381,  2.02475221,  1.88890508,  0.96961865,
   1.17786441,-15.93001303, -1.44204863,  3.41353489, -3.33420377,
   5.98891472,  0.09739404,  1.80397552, -0.2026    ,-30.46148004,
   2.40175151,  0.35928381]

qfrc_actuator:
[-6.97463791e-05, 8.49175218e-05,-1.48349895e-04,-3.24501863e-04,
  2.21937222e-05,-3.63022057e-04,-4.20954827e-04, 9.19018091e-05,
  1.32465511e-04,-1.14122937e-04,-2.62468271e-04, 2.12515951e-04,
  7.25429792e-02,-4.99160447e-04, 4.46573398e-02,-3.73838484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
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  dim: 3
  dist: -0.0006346865514354899
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.62386927e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.62386927e-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([ 0.09481866, -0.09299718,  0.06198458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06586376e-05, 2.15447799e-05,-5.20094191e-06,-6.93298766e-06,
 -4.51474051e-07,-2.11324460e-06, 3.46447412e-05, 1.76838694e-05,
  1.12549896e-05, 2.19442624e-05,-4.36541981e-05,-4.70448548e-05,
 -4.66145759e-04,-5.32227441e-05,-2.32703069e-04,-3.89479194e-05,
  1.70807885e-05, 8.86935748e-06,-7.84792138e+00, 7.85652259e-04,
  9.39973896e-03,-6.20741183e-06]


--- Step 227 ---
qpos:
[ 7.11075652e-03, 4.01807980e-03,-3.56814799e-03,-2.55851737e-02,
  6.01455761e-03,-2.90346888e-03,-1.76857709e-02, 1.15141367e-02,
  1.54742371e-02, 2.29496088e-03,-8.86394687e-03, 2.38242731e-02,
  5.75224579e-01,-1.00700324e-02, 3.66921265e-01, 6.30283622e-02,
  9.49666498e-02,-7.00580667e-02, 1.21376421e-01, 9.99996603e-01,
  2.78263882e-05,-2.92437795e-04, 2.58979598e-03]

qacc:
[ 13.12025065, -0.6292439 ,  2.70676027, -4.30887176, -0.06125531,
  -0.63368713,  0.67801654,  2.99090131,  1.00635328,  2.44203612,
  -6.03778193,  1.54194173, -1.47644704,  3.51758292, -0.9962889 ,
  -2.54462531,  0.09717138,  1.7865081 , -0.3057119 ,-30.14499916,
   2.32386951,  0.42827437]

qfrc_actuator:
[ 8.36940209e-06, 9.44443873e-05,-1.34995760e-04,-3.27268197e-04,
  2.17588841e-05,-4.05726890e-04,-4.20703508e-04, 1.00166537e-04,
  1.38262864e-04,-4.51688387e-05,-2.86404330e-04, 2.00988268e-04,
  7.24053404e-02,-4.96651719e-04, 4.45099403e-02,-3.79379514e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006305445017288497
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80368492e-14,  1.76073698e-13,  1.00000000e+00,  1.55009736e-26,
        1.00000000e+00, -1.76073698e-13, -1.00000000e+00,  0.00000000e+00,
       -8.80368492e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09481899, -0.09299873,  0.06198468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.66816744e-05, 2.01515015e-05, 1.69270825e-05,-2.14795010e-06,
 -4.50607585e-07,-3.59410950e-05, 4.72203406e-06, 9.71710349e-06,
  6.12468273e-06, 7.02474419e-05,-2.63749269e-05,-1.30152549e-05,
 -4.73397830e-04,-5.39532410e-05,-2.56035673e-04,-8.71590426e-05,
  3.47525940e-05, 5.40379724e-06,-7.84775632e+00, 7.48619842e-04,
  9.38884367e-03,-3.95492455e-06]


--- Step 228 ---
qpos:
[ 7.11195583e-03, 4.01969256e-03,-3.56839114e-03,-2.55895192e-02,
  6.01532977e-03,-2.90444652e-03,-1.76884254e-02, 1.15174531e-02,
  1.54772267e-02, 2.29601212e-03,-8.86749520e-03, 2.38280658e-02,
  5.76737417e-01,-1.00693108e-02, 3.68213629e-01, 6.30427229e-02,
  9.49670857e-02,-7.00402866e-02, 1.21375887e-01, 9.99996562e-01,
 -1.24326241e-04,-2.84208064e-04, 2.60398731e-03]

qacc:
[ 8.22752517, 0.02823819,-1.79951679, 7.89848079, 2.94736899, 0.06794317,
 -1.60054354, 4.18188853, 3.45819117, 0.17974054, 1.97798928,-7.05370038,
 -1.60856185, 3.92888093,-1.08385335,-1.67907689, 1.21865564,-0.68903819,
  0.47409912,12.22407772,20.29994338,-2.04016759]

qfrc_actuator:
[ 5.42386647e-05, 8.16736737e-05,-1.26923711e-04,-3.09246673e-04,
  3.90814291e-05,-4.48684359e-04,-4.37439919e-04, 1.03714018e-04,
  1.58384641e-04, 3.11776030e-05,-2.63336648e-04, 1.92634837e-04,
  7.22417057e-02,-4.95445221e-04, 4.44016646e-02,-3.83251402e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006289593434382484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82587274e-14,  1.76517455e-13,  1.00000000e+00,  1.55792059e-26,
        1.00000000e+00, -1.76517455e-13, -1.00000000e+00,  0.00000000e+00,
       -8.82587274e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194448, -0.06183959,  0.06198472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.80496913e-05, 1.88347489e-06, 1.42375714e-05, 1.94327568e-05,
  1.72965340e-05,-6.16226448e-05,-2.32137228e-05, 2.35958109e-06,
  2.03196198e-05, 1.09660005e-04, 3.39133565e-05,-6.50993936e-06,
 -5.04701453e-04,-5.63492230e-05,-2.32058106e-04,-7.59320759e-05,
  5.39870413e-05, 2.12831726e-06,-7.84747316e+00, 6.92337158e-04,
  9.37939208e-03,-6.09953328e-07]


--- Step 229 ---
qpos:
[ 7.11335134e-03, 4.02109046e-03,-3.56841006e-03,-2.55939394e-02,
  6.01630330e-03,-2.90550097e-03,-1.76916981e-02, 1.15207710e-02,
  1.54804343e-02, 2.29773037e-03,-8.87070336e-03, 2.38317355e-02,
  5.78247522e-01,-1.00688314e-02, 3.69503286e-01, 6.30581081e-02,
  9.49723235e-02,-7.00252296e-02, 1.21376675e-01, 9.99996523e-01,
 -2.52753361e-04,-2.35798431e-04, 2.61444690e-03]

qacc:
[ 1.73778371,-1.0680607 , 3.70403275,-5.18681892, 1.74418728, 1.62472792,
 -5.95307113, 7.03063394, 1.91831458,-0.3262346 , 2.95531306,-6.11244394,
 -1.17658457, 1.34635682,-7.07825506,18.97622863, 1.20046745,-0.68076133,
  0.33033569,11.91449838,20.059224  ,-1.86674636]

qfrc_actuator:
[ 6.29676379e-05, 5.56490219e-05,-1.22120318e-04,-3.14669978e-04,
  4.89642155e-05,-4.38292810e-04,-4.64080099e-04, 1.04446843e-04,
  1.69025432e-04, 5.83130954e-05,-2.48164431e-04, 1.86252748e-04,
  7.20892096e-02,-5.12854722e-04, 4.42903125e-02,-3.77219265e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006318051347564829
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.78611904e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.78611904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194424, -0.06184054,  0.06198465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00889198e-05,-2.12315544e-05, 7.60854928e-06,-4.46732343e-06,
  1.03562503e-05,-2.86959763e-05,-4.21118547e-05,-2.66509444e-06,
  1.12557107e-05, 9.51959185e-05, 4.17989463e-05,-6.39087729e-07,
 -5.16200110e-04,-7.90787932e-05,-2.24103180e-04, 2.65317642e-05,
  3.51938997e-05,-2.07992859e-06,-7.84762027e+00, 6.44250890e-04,
  9.38131103e-03, 1.84209211e-06]


--- Step 230 ---
qpos:
[ 7.11484103e-03, 4.02218607e-03,-3.56802137e-03,-2.55983911e-02,
  6.01738743e-03,-2.90612183e-03,-1.76955478e-02, 1.15236572e-02,
  1.54834000e-02, 2.29989973e-03,-8.87385436e-03, 2.38353481e-02,
  5.79754889e-01,-1.00685179e-02, 3.70791138e-01, 6.30709555e-02,
  9.49823018e-02,-7.00128655e-02, 1.21378278e-01, 9.99996489e-01,
 -3.57972422e-04,-1.47622516e-04, 2.62145484e-03]

qacc:
[  0.84715001, -1.60550656,  5.27290703, -6.23889297,  0.94209787,
   1.29455914, -1.96500414, -4.90014915, -2.13461241,  0.32303049,
  -0.0382663 , -1.38175786, -1.28534547,  1.93911028,  5.00291864,
 -21.36344375,  1.18513141, -0.67324049,  0.20386911, 11.65556557,
  19.85317077, -1.72353338]

qfrc_actuator:
[ 6.75290999e-05, 3.96039814e-05,-1.01612623e-04,-3.16111071e-04,
  5.43836518e-05,-3.78332121e-04,-4.78384303e-04, 8.58058577e-05,
  1.56243374e-04, 5.57542457e-05,-2.55734579e-04, 1.81029442e-04,
  7.19488216e-02,-5.23346918e-04, 4.42038487e-02,-3.90254220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006318770690412756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39255940e-14, -8.78511881e-14,  1.00000000e+00, -3.85891562e-27,
        1.00000000e+00,  8.78511881e-14, -1.00000000e+00,  0.00000000e+00,
       -4.39255940e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194361, -0.06184103,  0.06198465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.83692016e-06,-2.65788671e-05, 1.68968695e-05,-2.16792613e-06,
  5.70709173e-06, 3.51745051e-05,-2.54682994e-05,-2.13779431e-05,
 -1.24278221e-05, 5.92633079e-05, 1.72323201e-05, 2.85402826e-07,
 -5.14904311e-04,-7.50840572e-05,-1.84064646e-04,-1.57383823e-04,
  2.37506553e-05,-3.16409075e-06,-7.84769230e+00, 6.03529150e-04,
  9.39623941e-03, 4.03804201e-06]


--- Step 231 ---
qpos:
[ 7.11568389e-03, 4.02298499e-03,-3.56708575e-03,-2.56028358e-02,
  6.01852820e-03,-2.90635044e-03,-1.76998768e-02, 1.15259498e-02,
  1.54861898e-02, 2.30246562e-03,-8.87703641e-03, 2.38392292e-02,
  5.81259497e-01,-1.00682806e-02, 3.72076590e-01, 6.30805350e-02,
  9.49969697e-02,-7.00031675e-02, 1.21380254e-01, 9.99996457e-01,
 -4.40414656e-04,-2.00272675e-05, 2.62524338e-03]

qacc:
[ -5.67149987, -1.89572428,  6.17830799, -6.73019712,  0.47359202,
   0.63449357,  0.99411974,-10.78763568, -1.55626636,  1.16674054,
  -4.52817127,  8.92760549, -1.39755956,  2.54750469,  6.32736514,
 -27.27637785,  1.1724074 , -0.66652785,  0.09330593, 11.43980486,
  19.68031969, -1.60432136]

qfrc_actuator:
[ 3.41083222e-05, 2.97200926e-05,-7.19554215e-05,-3.15176206e-04,
  5.71353040e-05,-3.60120151e-04,-5.02833281e-04, 5.59732263e-05,
  1.47532986e-04, 7.08331586e-05,-2.59050560e-04, 1.94237346e-04,
  7.18051456e-02,-5.29668128e-04, 4.40630989e-02,-4.07313145e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000629701267682789
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32232109e-13,  6.61160546e-14,  1.00000000e+00,  8.74266536e-27,
        1.00000000e+00, -6.61160546e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32232109e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194266, -0.06184116,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.32962749e-05,-2.13869051e-05, 2.61643061e-05, 3.45184894e-07,
  2.92888732e-06, 3.17681398e-05,-2.10150390e-05,-2.96195234e-05,
 -9.03912779e-06, 5.17464409e-05, 1.10650638e-05, 1.63446311e-05,
 -5.16755730e-04,-7.07377964e-05,-2.43479060e-04,-2.03437267e-04,
  1.89183800e-05,-1.63735281e-06,-7.84769273e+00, 5.70039731e-04,
  9.42401227e-03, 5.97939705e-06]


--- Step 232 ---
qpos:
[ 7.11646466e-03, 4.02346336e-03,-3.56573504e-03,-2.56075677e-02,
  6.01900366e-03,-2.90664868e-03,-1.77043230e-02, 1.15282471e-02,
  1.54888540e-02, 2.30465235e-03,-8.87992302e-03, 2.38443522e-02,
  5.82761342e-01,-1.00677575e-02, 3.73359358e-01, 6.30863142e-02,
  9.50074814e-02,-6.99994453e-02, 1.21382583e-01, 9.99996424e-01,
 -4.72386584e-04, 7.01859667e-05, 2.63123136e-03]

qacc:
[ -0.52800804, -2.17469363,  8.34928293,-13.73986045, -5.82468916,
   0.25643785, -1.04821457,  1.34737212, -1.08740916,  1.23219059,
 -10.3610078 , 31.65973646, -1.79853715,  4.87818547,  7.52346279,
 -32.05401583, -1.03905831, -1.49396717,  0.08806033, 25.18601658,
 -18.75767383,  1.09097749]

qfrc_actuator:
[ 3.18594505e-05, 5.89557719e-06,-5.48635012e-05,-3.30594217e-04,
  2.27907395e-05,-3.84842139e-04,-5.15483509e-04, 5.52653596e-05,
  1.41296447e-04, 7.60570363e-06,-2.59748695e-04, 2.53706444e-04,
  7.16702489e-02,-5.15757423e-04, 4.39218508e-02,-4.26611917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006331624725754714
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36988810e-13, -3.83568669e-14,  1.00000000e+00, -5.25446156e-27,
        1.00000000e+00,  3.83568669e-14, -1.00000000e+00,  0.00000000e+00,
       -1.36988810e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090335 , -0.05177497,  0.06198462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.20569725e-06,-3.04094240e-05, 1.58988740e-05,-1.54146993e-05,
 -3.42477231e-05,-1.25122372e-05,-9.65403599e-06,-6.45374529e-07,
 -6.47077088e-06,-3.13631070e-05, 1.19210459e-05, 6.23812479e-05,
 -5.08875191e-04,-5.06611875e-05,-2.73570576e-04,-2.35373952e-04,
  2.01639624e-05, 2.10073823e-06,-7.84762433e+00, 5.43670061e-04,
  9.46449359e-03, 7.66776291e-06]


--- Step 233 ---
qpos:
[ 7.11790196e-03, 4.02382318e-03,-3.56480206e-03,-2.56124151e-02,
  6.01906367e-03,-2.90688967e-03,-1.77086840e-02, 1.15308331e-02,
  1.54914232e-02, 2.30616099e-03,-8.88280201e-03, 2.38495173e-02,
  5.84260465e-01,-1.00667189e-02, 3.74639312e-01, 6.30883342e-02,
  9.50138879e-02,-7.00016229e-02, 1.21384716e-01, 9.99996405e-01,
 -4.54727885e-04, 1.23762586e-04, 2.63951421e-03]

qacc:
[  5.76791816,  0.76207616, -2.47651095,  1.25413921, -3.63378492,
   0.43877802, -2.66132051,  7.46602768, -0.82511991, -0.82928591,
   1.48172262, -0.26980757, -2.02882246,  6.29301611,  7.21094488,
 -31.23201511, -1.02629378, -1.47491458, -0.04896625, 24.76694825,
 -18.38407945,  1.14050285]

qfrc_actuator:
[ 6.57403301e-05,-8.39815340e-06,-8.09029562e-05,-3.37779897e-04,
  2.39300040e-06,-3.64008988e-04,-5.03472221e-04, 7.16715086e-05,
  1.36564085e-04,-6.64832265e-05,-2.76942835e-04, 2.51088240e-04,
  7.15407195e-02,-4.90039046e-04, 4.37857414e-02,-4.45295389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006345642446563826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.10768228e-14, -3.82721354e-14,  1.00000000e+00, -2.72026178e-27,
        1.00000000e+00,  3.82721354e-14, -1.00000000e+00,  0.00000000e+00,
       -7.10768228e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903287, -0.05177522,  0.06198459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37772420e-05,-2.87009668e-05,-3.09070331e-05,-8.23152432e-06,
 -2.13800927e-05, 1.18605849e-05, 8.26721044e-06, 1.55302669e-05,
 -4.92524260e-06,-8.65422978e-05,-2.00460919e-05,-2.34480755e-06,
 -4.95500637e-04,-3.68994955e-05,-2.84433977e-04,-2.34541446e-04,
  1.08704444e-05,-5.96157554e-06,-7.84785079e+00, 5.33759493e-04,
  9.49333621e-03, 8.87003556e-06]


--- Step 234 ---
qpos:
[ 7.11973397e-03, 4.02430419e-03,-3.56489613e-03,-2.56169534e-02,
  6.01922313e-03,-2.90684550e-03,-1.77129872e-02, 1.15335674e-02,
  1.54939155e-02, 2.30721107e-03,-8.88560305e-03, 2.38538881e-02,
  5.85756968e-01,-1.00653612e-02, 3.75916391e-01, 6.30879867e-02,
  9.50162338e-02,-7.00096348e-02, 1.21386172e-01, 9.99996403e-01,
 -3.88141301e-04, 1.41324362e-04, 2.65016705e-03]

qacc:
[  3.44011713,  3.66103977,-14.13067256, 21.02800561,  0.86727652,
   0.51870103, -1.9317311 ,  4.19918266, -0.66670265, -2.45801286,
  11.24098342,-24.77837358, -1.75449202,  4.89306245,  2.91609412,
 -16.34289473, -1.01515743, -1.45858835, -0.16919817, 24.41618086,
 -18.07246929,  1.1798078 ]

qfrc_actuator:
[ 8.51000215e-05, 7.05437659e-07,-1.32154444e-04,-3.22330464e-04,
  8.13225312e-06,-3.33694419e-04,-4.94572182e-04, 8.03076111e-05,
  1.32754075e-04,-7.56279269e-05,-2.68359656e-04, 2.11920777e-04,
  7.14145062e-02,-4.75332739e-04, 4.36634751e-02,-4.56360714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006333025154173777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80785243e-13,  1.15045155e-13,  1.00000000e+00,  2.07984663e-26,
        1.00000000e+00, -1.15045155e-13, -1.00000000e+00,  0.00000000e+00,
       -1.80785243e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090328 , -0.0517748 ,  0.06198462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.03094357e-05,-1.36877785e-05,-6.12775660e-05, 1.29972180e-05,
  5.13161483e-06, 3.93667080e-05, 1.29547789e-05, 9.73807935e-06,
 -3.97638704e-06,-6.18070786e-05,-1.18362900e-05,-4.36231894e-05,
 -4.80932791e-04,-4.56525999e-05,-2.74933988e-04,-1.59574623e-04,
  5.49316171e-07,-8.13077410e-06,-7.84794835e+00, 5.39452243e-04,
  9.51015336e-03, 8.83683110e-06]


--- Step 235 ---
qpos:
[ 7.12074892e-03, 4.02512819e-03,-3.56578440e-03,-2.56213163e-02,
  6.01979495e-03,-2.90666898e-03,-1.77171115e-02, 1.15367402e-02,
  1.54966873e-02, 2.30824541e-03,-8.88851354e-03, 2.38577107e-02,
  5.87250824e-01,-1.00634532e-02, 3.77190390e-01, 6.30878875e-02,
  9.50145573e-02,-7.00234259e-02, 1.21386531e-01, 9.99996409e-01,
 -2.73207790e-04, 1.23385434e-04, 2.66324920e-03]

qacc:
[ -7.22309634,  3.04917933,-10.92622228, 14.94385938,  3.61228825,
   0.57076081, -3.6455623 , 10.86717333,  2.45652297, -0.84832706,
   5.30109953,-14.59406631, -2.00877121,  6.32257401, -5.27103278,
  11.88471442, -1.00559914, -1.44482693, -0.27414742, 24.1261647 ,
 -17.81482432,  1.21116947]

qfrc_actuator:
[ 4.24883114e-05, 4.14077451e-05,-1.62251471e-04,-3.11430873e-04,
  2.92049874e-05,-3.33447076e-04,-4.87545582e-04, 1.02059239e-04,
  1.47269918e-04,-4.57543731e-05,-2.62136110e-04, 1.87148580e-04,
  7.12797197e-02,-4.49490922e-04, 4.35389700e-02,-4.53967644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006299023665768677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.87269016e-13,  1.59729455e-13,  1.00000000e+00,  2.99123778e-26,
        1.00000000e+00, -1.59729455e-13, -1.00000000e+00,  0.00000000e+00,
       -1.87269016e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903318, -0.05177385,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.20382867e-05, 2.09434725e-05,-4.00180247e-05, 8.45480339e-06,
  2.12321470e-05, 2.53986914e-05, 1.71343277e-05, 2.40795120e-05,
  1.43849173e-05,-9.01227733e-06,-9.49747962e-06,-2.86846170e-05,
 -4.80015841e-04,-3.34446566e-05,-2.64574149e-04,-1.96128801e-05,
 -1.10346332e-05,-4.45086994e-06,-7.84792354e+00, 5.60522642e-04,
  9.51514081e-03, 7.59513259e-06]


--- Step 236 ---
qpos:
[ 7.12124554e-03, 4.02613585e-03,-3.56700187e-03,-2.56262175e-02,
  6.02027023e-03,-2.90664111e-03,-1.77207053e-02, 1.15405064e-02,
  1.54999562e-02, 2.30961207e-03,-8.89126900e-03, 2.38611418e-02,
  5.88742179e-01,-1.00615602e-02, 3.78461242e-01, 6.30864069e-02,
  9.50088906e-02,-7.00429509e-02, 1.21385429e-01, 9.99996403e-01,
 -1.10399961e-04, 7.03660090e-05, 2.67880770e-03]

qacc:
[ -4.57655024,  0.06321694,  2.41058186,-11.34333884, -0.82533286,
  -0.45541637, -1.16345699, 10.69101441,  4.37263963, -0.80841974,
   5.15751071,-12.4079285 , -1.32364472,  2.61358077, -0.467146  ,
  -5.10046963, -0.99754031, -1.43344776, -0.36535243, 23.8902054 ,
 -17.60427395,  1.23634363]

qfrc_actuator:
[ 1.70055395e-05, 4.75410956e-05,-1.79477865e-04,-3.38756560e-04,
  2.36198454e-05,-3.51201320e-04,-4.64034625e-04, 1.31330535e-04,
  1.72455588e-04, 7.27072205e-06,-2.39419479e-04, 1.71085167e-04,
  7.11558636e-02,-4.52831824e-04, 4.33706372e-02,-4.61419045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006248175765135311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.77687547e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.77687547e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903391, -0.05177248,  0.06198482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66690086e-05, 9.91388990e-06,-1.75253724e-05,-2.76371930e-05,
 -4.97139957e-06, 1.06178891e-06, 3.17394560e-05, 3.14220643e-05,
  2.55938403e-05, 4.47961230e-05, 1.87083342e-05,-1.73409028e-05,
 -4.66831810e-04,-6.19770901e-05,-2.87912790e-04,-1.08887677e-04,
 -2.40929906e-05, 4.96811950e-06,-7.84778139e+00, 5.96784466e-04,
  9.50846049e-03, 5.16655771e-06]


--- Step 237 ---
qpos:
[ 7.12177763e-03, 4.02707814e-03,-3.56833951e-03,-2.56313900e-02,
  6.02067479e-03,-2.90637215e-03,-1.77240534e-02, 1.15435277e-02,
  1.55031566e-02, 2.31140250e-03,-8.89381419e-03, 2.38643368e-02,
  5.90231115e-01,-1.00600239e-02, 3.79729225e-01, 6.30829409e-02,
  9.49992604e-02,-7.00681730e-02, 1.21382550e-01, 9.99996358e-01,
  9.99061279e-05,-1.73959372e-05, 2.69687996e-03]

qacc:
[  0.30954223, -0.30985029,  2.12144762, -6.57043889, -0.61578558,
  -1.89962402, 10.38365474,-23.85095798, -0.60315657, -0.51266626,
   3.63986706, -8.37787525, -0.91191588,  0.38726035,  1.76327816,
 -12.31836046, -0.99088733, -1.42426212, -0.44431057, 23.70241998,
 -17.43495493,  1.2566807 ]

qfrc_actuator:
[ 1.95808652e-05, 3.29552210e-05,-1.89129198e-04,-3.52868470e-04,
  2.01365733e-05,-3.26270562e-04,-4.48808798e-04, 9.37729430e-05,
  1.68208601e-04, 3.83397295e-05,-2.24780338e-04, 1.60309483e-04,
  7.10333220e-02,-4.73337132e-04, 4.32400342e-02,-4.71073576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006184377611023056
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34640431e-13, -8.97602875e-14,  1.00000000e+00, -1.20853638e-26,
        1.00000000e+00,  8.97602875e-14, -1.00000000e+00,  0.00000000e+00,
       -1.34640431e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10903492, -0.05177079,  0.06198498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82220802e-06,-1.38674257e-05,-1.07041077e-05,-1.48194088e-05,
 -3.62751666e-06, 3.34577322e-05, 2.04760221e-05,-3.58024192e-05,
 -3.50205793e-06, 5.92349973e-05, 2.56076301e-05,-8.55111205e-06,
 -4.59548127e-04,-7.93995372e-05,-2.70073339e-04,-1.38714011e-04,
 -3.88306716e-05, 1.99613190e-05,-7.84752568e+00, 6.48086186e-04,
  9.49024426e-03, 1.56812786e-06]


--- Step 238 ---
qpos:
[ 7.12233602e-03, 4.02819173e-03,-3.56992253e-03,-2.56363677e-02,
  6.02172415e-03,-2.90560756e-03,-1.77281321e-02, 1.15457653e-02,
  1.55059371e-02, 2.31310603e-03,-8.89648125e-03, 2.38674671e-02,
  5.91717482e-01,-1.00586435e-02, 3.80994583e-01, 6.30795142e-02,
  9.49900004e-02,-7.00857247e-02, 1.21381284e-01, 9.99996281e-01,
  2.45088324e-04,-9.92539550e-05, 2.71442474e-03]

qacc:
[  0.22080534,  1.31320301, -5.174121  ,  8.80610834,  5.61091742,
   1.07165577,  0.41844506,-13.15640238, -3.69776114,  0.09973824,
  -0.23642057, -0.63870541, -1.20392051,  1.77887828, -3.98370166,
   8.32525509,  0.09257132,  1.91758553,  0.40324842,-32.55387046,
   3.03974272, -0.2634202 ]

qfrc_actuator:
[ 2.08919301e-05, 5.93712586e-05,-1.94312834e-04,-3.41351170e-04,
  5.34324855e-05,-3.11564344e-04,-4.91739306e-04, 5.27242381e-05,
  1.46668685e-04,-1.49998254e-05,-2.50610202e-04, 1.52707790e-04,
  7.08850228e-02,-4.86040941e-04, 4.31481346e-02,-4.69507475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006219059457204662
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.78519442e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.78519442e-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([ 0.09482398, -0.09300323,  0.06198489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35841675e-06, 1.58080430e-05,-9.86317418e-06, 1.02768693e-05,
  3.32046193e-05, 3.61323419e-05,-3.47068587e-05,-3.96029948e-05,
 -2.16157103e-05,-1.53250736e-05,-1.07306663e-05,-4.34825419e-06,
 -4.82136264e-04,-7.19321111e-05,-2.27574582e-04,-2.61262932e-05,
 -5.54583424e-05, 4.03154330e-05,-7.84715916e+00, 7.14306908e-04,
  9.46059716e-03,-3.18709044e-06]


--- Step 239 ---
qpos:
[ 7.12290573e-03, 4.02949560e-03,-3.57160347e-03,-2.56411818e-02,
  6.02316468e-03,-2.90467199e-03,-1.77329195e-02, 1.15482255e-02,
  1.55084381e-02, 2.31435276e-03,-8.89922290e-03, 2.38705280e-02,
  5.93201251e-01,-1.00573664e-02, 3.82257709e-01, 6.30774750e-02,
  9.49811157e-02,-7.00957404e-02, 1.21380929e-01, 9.99996200e-01,
  3.26423755e-04,-1.75612333e-04, 2.73184094e-03]

qacc:
[  0.09343946,  0.86210495, -3.39814115,  6.24250868,  3.39808803,
   2.65712536,-10.09812197, 14.97056168, -2.45325738, -0.53332776,
   1.32686575, -2.08114418, -1.27373219,  2.12177577, -7.47003602,
  21.37348478,  0.09380072,  1.88397714,  0.22792608,-31.91580529,
   2.83644754, -0.06179101]

qfrc_actuator:
[ 2.14394424e-05, 7.46726654e-05,-1.96642578e-04,-3.32566598e-04,
  7.26034030e-05,-3.21096456e-04,-5.33180517e-04, 6.31753460e-05,
  1.32884510e-04,-6.53854660e-05,-2.64968169e-04, 1.46933508e-04,
  7.07479985e-02,-4.94121775e-04, 4.30742126e-02,-4.61332052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006299192600208309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32186349e-13, -8.81242323e-14,  1.00000000e+00, -1.16488205e-26,
        1.00000000e+00,  8.81242323e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32186349e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482533, -0.09300129,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.90642123e-07, 2.25320805e-05, 9.20764177e-08, 9.33236842e-06,
  2.01351899e-05, 1.83388673e-06,-3.95914228e-05, 1.00285638e-05,
 -1.43997345e-05,-6.13946563e-05,-1.89877500e-05,-6.89033859e-06,
 -4.85944897e-04,-6.98627435e-05,-1.79219833e-04, 5.13162495e-05,
 -3.56522372e-05, 3.30874011e-05,-7.84755075e+00, 7.60805856e-04,
  9.43588189e-03,-5.55912384e-06]


--- Step 240 ---
qpos:
[ 7.12347785e-03, 4.03056286e-03,-3.57285738e-03,-2.56454891e-02,
  6.02551406e-03,-2.90394866e-03,-1.77371773e-02, 1.15504098e-02,
  1.55107540e-02, 2.31557118e-03,-8.90174295e-03, 2.38734200e-02,
  5.94682545e-01,-1.00565177e-02, 3.83518874e-01, 6.30773323e-02,
  9.49726087e-02,-7.00983377e-02, 1.21380864e-01, 9.99996130e-01,
  3.45008621e-04,-2.46800330e-04, 2.74944643e-03]

qacc:
[  0.03897396, -0.46289894, -0.93901627,  9.19271   ,  7.97349569,
  -2.34317081,  9.08633497,-14.52387788, -1.62248723, -1.00123695,
   4.23408445, -7.49576536, -0.8508153 , -0.05512287, -8.61371119,
  25.94265702,  0.09442002,  1.8546279 ,  0.07226328,-31.36808662,
   2.67092475,  0.09929141]

qfrc_actuator:
[ 2.15332676e-05, 4.77125402e-05,-1.79556666e-04,-3.07715790e-04,
  1.18800309e-04,-3.27292543e-04,-5.02447109e-04, 5.05757951e-05,
  1.23781222e-04,-2.48309384e-05,-2.36936276e-04, 1.42286213e-04,
  7.06284860e-02,-5.17171775e-04, 4.30004848e-02,-4.51102681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000634064734169118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37740409e-14,  8.75480818e-14,  1.00000000e+00,  3.83233332e-27,
        1.00000000e+00, -8.75480818e-14, -1.00000000e+00,  0.00000000e+00,
       -4.37740409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -0.09300047,  0.0619846 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16599349e-07,-1.39600949e-05, 2.20884284e-05, 2.60119838e-05,
  4.67739627e-05,-1.28948087e-05, 2.66209823e-05,-1.36935961e-05,
 -9.53101625e-06, 1.98774675e-06, 1.27865730e-05,-8.07182518e-06,
 -4.70733242e-04,-8.53864726e-05,-1.50340414e-04, 8.18857070e-05,
 -1.76931659e-05, 2.69940507e-05,-7.84779903e+00, 7.86882683e-04,
  9.41271178e-03,-6.79623592e-06]


--- Step 241 ---
qpos:
[ 7.12439160e-03, 4.03142014e-03,-3.57383670e-03,-2.56498027e-02,
  6.02805403e-03,-2.90334536e-03,-1.77405040e-02, 1.15523857e-02,
  1.55129427e-02, 2.31662445e-03,-8.90389837e-03, 2.38765856e-02,
  5.96161330e-01,-1.00559045e-02, 3.84778196e-01, 6.30770770e-02,
  9.49644800e-02,-7.00936177e-02, 1.21380538e-01, 9.99996076e-01,
  3.01774265e-04,-3.13086404e-04, 2.76749560e-03]

qacc:
[  3.01952504, -1.06418526,  3.40730275, -3.78819617,  1.69892984,
  -3.19183885, 12.02607382,-17.03007038, -1.10401666, -0.67191364,
   0.92743768,  3.34300158, -1.09471467,  1.24687329, -2.37087753,
   4.3593251 ,  0.09460032,  1.82933074, -0.06496917,-30.90270057,
   2.53601461,  0.22860119]

qfrc_actuator:
[ 3.91119063e-05, 3.12515151e-05,-1.69059777e-04,-3.09139095e-04,
  1.27280756e-04,-3.13419548e-04,-4.47116449e-04, 4.23078662e-05,
  1.17504038e-04,-3.64738627e-05,-2.19242079e-04, 1.56194970e-04,
  7.04982597e-02,-5.31084162e-04, 4.29003006e-02,-4.52174208e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006350198135127022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37082041e-14,  8.74164082e-14,  1.00000000e+00,  3.82081421e-27,
        1.00000000e+00, -8.74164082e-14, -1.00000000e+00,  0.00000000e+00,
       -4.37082041e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482713, -0.09300058,  0.06198458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.75738447e-05,-1.86075798e-05, 1.12448290e-05,-7.40545020e-07,
  9.81171725e-06, 1.16092015e-05, 5.55074091e-05,-8.16466626e-06,
 -6.54559625e-06,-8.25312106e-06, 1.94119593e-05, 1.42765831e-05,
 -4.72348855e-04,-7.54905733e-05,-1.61478175e-04,-2.60254138e-05,
 -3.27869630e-07, 2.15778440e-05,-7.84791236e+00, 7.92900371e-04,
  9.39106376e-03,-6.91093808e-06]


--- Step 242 ---
qpos:
[ 7.12550891e-03, 4.03202631e-03,-3.57435872e-03,-2.56541068e-02,
  6.02964163e-03,-2.90278739e-03,-1.77434320e-02, 1.15546193e-02,
  1.55146943e-02, 2.31748757e-03,-8.90603617e-03, 2.38795755e-02,
  5.97637495e-01,-1.00547479e-02, 3.86034879e-01, 6.30800778e-02,
  9.49567292e-02,-7.00816663e-02, 1.21379472e-01, 9.99996029e-01,
  1.97502689e-04,-3.74689654e-04, 2.78619315e-03]

qacc:
[  1.81061025, -1.59411351,  5.15425395, -5.52440622, -8.32077499,
  -0.62690395,  1.08823991,  2.738789  , -3.84340746, -0.65499366,
   2.72600476, -5.67076947, -1.98647888,  6.12962554,-13.69466514,
  42.31474766,  0.09446975,  1.80781719, -0.18526098,-30.51191023,
   2.42596212,  0.33303061]

qfrc_actuator:
[ 4.90886102e-05, 2.11579787e-05,-1.44782040e-04,-3.08263815e-04,
  7.79807911e-05,-3.23017689e-04,-4.30898657e-04, 5.44344896e-05,
  9.51858633e-05,-6.15344709e-05,-2.25734802e-04, 1.45357172e-04,
  7.03670232e-02,-5.04030418e-04, 4.27843023e-02,-4.35047517e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006333776502530086
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.38215267e-14,  8.76430534e-14,  1.00000000e+00,  3.84065241e-27,
        1.00000000e+00, -8.76430534e-14, -1.00000000e+00,  0.00000000e+00,
       -4.38215267e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482769, -0.09300144,  0.06198462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04680362e-05,-1.82147202e-05, 2.18031118e-05, 4.62060658e-07,
 -4.90175034e-05, 8.02503108e-06, 2.51980651e-05, 1.43873026e-05,
 -2.25066396e-05,-2.50695265e-05,-5.30420874e-06,-1.02458585e-05,
 -4.73341065e-04,-3.42976926e-05,-1.94429458e-04, 1.48509065e-04,
  1.73534587e-05, 1.65656957e-05,-7.84789746e+00, 7.79165752e-04,
  9.37091259e-03,-5.91446641e-06]


--- Step 243 ---
qpos:
[ 7.12708217e-03, 4.03247067e-03,-3.57459764e-03,-2.56583662e-02,
  6.03097124e-03,-2.90256132e-03,-1.77459447e-02, 1.15566719e-02,
  1.55168546e-02, 2.31820772e-03,-8.90796411e-03, 2.38823931e-02,
  5.99111083e-01,-1.00532298e-02, 3.87289260e-01, 6.30863685e-02,
  9.49493550e-02,-7.00625558e-02, 1.21377245e-01, 9.99995970e-01,
  3.28410383e-05,-4.31789013e-04, 2.80570492e-03]

qacc:
[  4.025293  , -0.92126985,  2.77202496, -2.31719482, -2.23908055,
  -1.96665692,  7.1480834 ,-10.70928762,  3.60575766, -1.13704054,
   4.49492459, -7.69231736, -1.76673043,  4.94864523,-13.30449821,
  41.66346099,  0.09412403,  1.78979223, -0.29020406,-30.1884894 ,
   2.33614381,  0.4179925 ]

qfrc_actuator:
[ 7.22582051e-05, 1.50100607e-05,-1.30280963e-04,-3.06022779e-04,
  6.60898241e-05,-3.64477826e-04,-4.20236029e-04, 4.29097092e-05,
  1.16861907e-04,-5.90493551e-05,-2.11033261e-04, 1.37764030e-04,
  7.02352809e-02,-4.88586815e-04, 4.26909084e-02,-4.17985844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006296539365008014
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40806831e-14,  1.76322732e-13,  1.00000000e+00,  7.77242648e-27,
        1.00000000e+00, -1.76322732e-13, -1.00000000e+00,  0.00000000e+00,
       -4.40806831e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09482808, -0.09300289,  0.06198471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34590973e-05,-1.18166029e-05, 1.34471121e-05, 2.23308042e-06,
 -1.32901540e-05,-3.11594287e-05, 1.59469494e-05,-1.00265559e-05,
  2.10296469e-05,-1.30838991e-05, 8.52615712e-06,-9.05296060e-06,
 -4.69452981e-04,-4.36766693e-05,-1.64985865e-04, 1.53945488e-04,
  3.60149420e-05, 1.18354091e-05,-7.84775963e+00, 7.45935451e-04,
  9.35223303e-03,-3.81667919e-06]


--- Step 244 ---
qpos:
[ 7.12823075e-03, 4.03318485e-03,-3.57513899e-03,-2.56622352e-02,
  6.03249237e-03,-2.90252778e-03,-1.77483210e-02, 1.15585727e-02,
  1.55196028e-02, 2.31854780e-03,-8.90959027e-03, 2.38851218e-02,
  6.00582167e-01,-1.00518201e-02, 3.88541556e-01, 6.30936565e-02,
  9.49468604e-02,-7.00462030e-02, 1.21377000e-01, 9.99995915e-01,
 -1.07396062e-04,-4.48224108e-04, 2.82106776e-03]

qacc:
[-3.75226708, 2.0134802 ,-8.2920688 ,15.30789806, 1.68348299,-0.95122774,
  3.65837138,-6.35799963, 5.1898583 ,-1.53899428, 5.11636941,-6.83886415,
 -1.22885918, 2.01146698,-6.07612961,16.81027085, 1.21993732,-0.68940103,
  0.49568425,12.26837645,20.29771896,-2.08040003]

qfrc_actuator:
[ 4.97518231e-05, 4.67459077e-05,-1.39407247e-04,-2.85248535e-04,
  7.63308233e-05,-3.71492569e-04,-4.13082560e-04, 3.52823638e-05,
  1.46510807e-04,-9.32658376e-05,-2.01567072e-04, 1.32184411e-04,
  7.01033254e-02,-4.97897418e-04, 4.25791871e-02,-4.13523662e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006317052321002659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.63625256e-13, -8.78750854e-14,  1.00000000e+00, -2.31660919e-26,
        1.00000000e+00,  8.78750854e-14, -1.00000000e+00,  0.00000000e+00,
       -2.63625256e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194066, -0.06184934,  0.06198466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18452033e-05, 2.80004727e-05,-9.82907205e-06, 2.07846794e-05,
  9.85021458e-06,-2.15626994e-05, 2.35772244e-06,-8.60472458e-06,
  3.02426958e-05,-4.01554788e-05, 7.50965256e-06,-6.02553502e-06,
 -4.67924454e-04,-6.87082937e-05,-1.70703595e-04, 3.16788853e-05,
  5.61461847e-05, 7.39206481e-06,-7.84750295e+00, 6.93421218e-04,
  9.33500114e-03,-6.26023590e-07]


--- Step 245 ---
qpos:
[ 7.12841076e-03, 4.03440713e-03,-3.57620828e-03,-2.56658405e-02,
  6.03377939e-03,-2.90266344e-03,-1.77506387e-02, 1.15610603e-02,
  1.55216501e-02, 2.31890368e-03,-8.91153571e-03, 2.38881001e-02,
  6.02050761e-01,-1.00504923e-02, 3.89791131e-01, 6.31025130e-02,
  9.49491697e-02,-7.00325749e-02, 1.21378150e-01, 9.99995873e-01,
 -2.23839313e-04,-4.24496375e-04, 2.83262610e-03]

qacc:
[-8.55117289, 2.70730824,-9.75836423,14.75010907,-2.04370059, 0.82452963,
 -5.7355338 ,15.91654272,-6.1786423 , 1.4390742 ,-6.13354871,10.92863578,
 -1.24521856, 2.13600914,-8.73632268,24.75806907, 1.20095766,-0.68121015,
  0.34855338,11.95267491,20.04797715,-1.90544114]

qfrc_actuator:
[ 5.38107495e-07, 8.30924922e-05,-1.62237647e-04,-2.71470622e-04,
  6.39994248e-05,-3.75599311e-04,-4.07921791e-04, 6.55420490e-05,
  1.09590183e-04,-7.81984494e-05,-2.13170596e-04, 1.45551135e-04,
  6.99766541e-02,-5.03982570e-04, 4.24352296e-02,-4.05871914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006347097434225013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37295565e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.37295565e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08194043, -0.06185035,  0.06198458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.98258075e-05, 5.08420308e-05,-1.75322912e-05, 1.50505265e-05,
 -1.20572514e-05,-1.60203785e-05, 7.22486296e-07, 2.92504328e-05,
 -3.60755257e-05,-6.07493544e-06,-1.91711901e-05, 1.17845259e-05,
 -4.64651643e-04,-6.70104102e-05,-2.19512441e-04, 5.59444163e-05,
  3.55287598e-05, 7.34399728e-07,-7.84767367e+00, 6.49246769e-04,
  9.32904186e-03, 1.55023729e-06]


--- Step 246 ---
qpos:
[ 7.12868927e-03, 4.03613430e-03,-3.57784789e-03,-2.56695946e-02,
  6.03490850e-03,-2.90273587e-03,-1.77529567e-02, 1.15635196e-02,
  1.55225493e-02, 2.31920695e-03,-8.91336808e-03, 2.38918843e-02,
  6.03516858e-01,-1.00492001e-02, 3.91038324e-01, 6.31137801e-02,
  9.49562186e-02,-7.00216420e-02, 1.21380176e-01, 9.99995850e-01,
 -3.17015461e-04,-3.61036677e-04, 2.84066188e-03]

qacc:
[ 8.40279214e-01, 1.95377435e+00,-5.37245827e+00, 3.34002621e+00,
 -1.38291110e+00, 2.88200446e-02, 1.42853176e-01,-6.84524682e-01,
 -1.00977623e+01, 1.29331594e+00,-8.08101099e+00, 2.18505416e+01,
 -1.29749014e+00, 2.41563318e+00,-1.07759323e+01, 3.26261274e+01,
  1.18490396e+00,-6.73772814e-01, 2.19159004e-01, 1.16890311e+01,
  1.98333453e+01,-1.76178965e+00]

qfrc_actuator:
[ 7.02428015e-06, 1.04106663e-04,-1.92944043e-04,-2.79672596e-04,
  5.62262514e-05,-3.60154936e-04,-4.03933408e-04, 6.45980811e-05,
  5.15342211e-05,-6.93098460e-05,-2.01410330e-04, 1.87735398e-04,
  6.98479164e-02,-5.08115644e-04, 4.23466235e-02,-3.92852920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006348692733198352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.31155705e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.31155705e-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([ 0.0819398 , -0.06185087,  0.06198458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.08679086e-06, 4.64264141e-05,-2.18358348e-05,-6.32861013e-06,
 -8.12447346e-06, 7.91080232e-06, 1.80430195e-06,-1.03571899e-06,
 -5.90829971e-05, 2.03350410e-06, 8.56731110e-06, 4.14887241e-05,
 -4.64217852e-04,-6.46981363e-05,-1.81242920e-04, 1.05310890e-04,
  2.22926489e-05,-2.56461154e-06,-7.84776899e+00, 6.12448908e-04,
  9.33608698e-03, 3.47043150e-06]


--- Step 247 ---
qpos:
[ 7.12869814e-03, 4.03786306e-03,-3.57913821e-03,-2.56727258e-02,
  6.03628015e-03,-2.90236159e-03,-1.77553634e-02, 1.15652139e-02,
  1.55237806e-02, 2.31902008e-03,-8.91451574e-03, 2.38954702e-02,
  6.04980436e-01,-1.00482224e-02, 3.92283773e-01, 6.31254181e-02,
  9.49679537e-02,-7.00133776e-02, 1.21382627e-01, 9.99995843e-01,
 -3.87362700e-04,-2.58208327e-04, 2.84540740e-03]

qacc:
[ -2.36210517,  0.31305514, -3.72944487, 13.92911397,  2.11153707,
  -0.7403557 ,  6.71907028,-20.13750207,  2.95215838, -2.97541246,
  10.49616268,-14.65027774, -1.02111264,  0.78954626, -3.68747455,
   9.17401557,  1.17152736, -0.66714545,  0.10607283, 11.46973228,
  19.65234394, -1.64302693]

qfrc_actuator:
[-7.00715110e-06, 9.79687354e-05,-1.74864571e-04,-2.47497633e-04,
  6.89580753e-05,-3.15392015e-04,-4.00612970e-04, 2.75597411e-05,
  7.02876927e-05,-1.17324317e-04,-1.75936443e-04, 1.75543480e-04,
  6.97073776e-02,-5.28843656e-04, 4.22699928e-02,-3.90962628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006327227516245704
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.38668841e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.38668841e-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([ 0.08193884, -0.06185102,  0.06198463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38726722e-05, 1.50083832e-05, 2.47672393e-05, 3.32922474e-05,
  1.25024478e-05, 4.95364008e-05, 5.16371965e-06,-3.66568999e-05,
  1.70733576e-05,-4.33454241e-05, 2.83974934e-05,-1.10032932e-05,
 -4.75278764e-04,-8.12871683e-05,-1.47956402e-04, 1.28036403e-06,
  1.56730999e-05,-3.05002626e-06,-7.84779254e+00, 5.82894194e-04,
  9.35596599e-03, 5.13586961e-06]


--- Step 248 ---
qpos:
[ 7.12888377e-03, 4.03951573e-03,-3.57985237e-03,-2.56754530e-02,
  6.03710398e-03,-2.90179346e-03,-1.77573836e-02, 1.15667957e-02,
  1.55259165e-02, 2.31824400e-03,-8.91520909e-03, 2.38985664e-02,
  6.06441446e-01,-1.00474381e-02, 3.93527147e-01, 6.31359182e-02,
  9.49843310e-02,-7.00077586e-02, 1.21385109e-01, 9.99995846e-01,
 -4.35243562e-04,-1.16310752e-04, 2.84705552e-03]

qacc:
[ 1.57559720e+00,-8.82254817e-01, 1.29112077e+00, 4.83674534e+00,
 -4.78520416e+00,-1.04619519e+00, 4.59408936e+00,-7.32221332e+00,
  7.98510996e+00,-3.07224501e+00, 1.18648917e+01,-2.06031297e+01,
 -1.19049396e+00, 1.62340798e+00, 3.81335202e-01,-5.76721434e+00,
  1.16058459e+00,-6.61344191e-01, 7.78967543e-03, 1.12883275e+01,
  1.95031700e+01,-1.54404166e+00]

qfrc_actuator:
[ 2.48484900e-06, 9.35935194e-05,-1.45957709e-04,-2.27313904e-04,
  4.03977277e-05,-3.06704636e-04,-3.79852162e-04, 2.28705506e-05,
  1.16353273e-04,-1.63516802e-04,-1.60603861e-04, 1.49160299e-04,
  6.95705015e-02,-5.41482884e-04, 4.21473176e-02,-3.97417283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006287390755527478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32434471e-13,  6.62172355e-14,  1.00000000e+00,  8.76944455e-27,
        1.00000000e+00, -6.62172355e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32434471e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193761, -0.06185087,  0.06198473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.09730292e-06, 1.05130230e-05, 3.62109382e-05, 2.23380340e-05,
 -2.81845604e-05, 3.58989617e-05, 3.03797078e-05,-3.10108257e-06,
  4.65337654e-05,-6.50151106e-05, 9.50416785e-06,-2.74777618e-05,
 -4.81508240e-04,-7.58332712e-05,-1.92577267e-04,-8.42233340e-05,
  1.51156484e-05,-1.14309827e-06,-7.84774718e+00, 5.60469020e-04,
  9.38853774e-03, 6.54799564e-06]


--- Step 249 ---
qpos:
[ 7.13021636e-03, 4.04131222e-03,-3.58080003e-03,-2.56782341e-02,
  6.03723444e-03,-2.90113311e-03,-1.77593470e-02, 1.15683450e-02,
  1.55278981e-02, 2.31700795e-03,-8.91602393e-03, 2.39016917e-02,
  6.07899884e-01,-1.00464561e-02, 3.94767880e-01, 6.31436569e-02,
  9.49965823e-02,-7.00080625e-02, 1.21387593e-01, 9.99995842e-01,
 -4.33048016e-04,-1.14288392e-05, 2.85095488e-03]

qacc:
[ 1.00862540e+01, 7.12065102e-01,-2.06927128e+00, 1.43951605e+00,
 -6.06749220e+00,-9.17809030e-02, 6.61774976e-01,-1.40478415e+00,
 -1.35431015e+00,-2.05891329e-01,-2.66133117e-01, 1.29711503e+00,
 -1.63148874e+00, 4.05524825e+00, 4.45216022e+00,-2.12134254e+01,
 -1.03152710e+00,-1.48073850e+00, 5.22140174e-04, 2.49855369e+01,
 -1.85795303e+01, 1.11465682e+00]

qfrc_actuator:
[ 6.12576404e-05, 9.03529763e-05,-1.64178883e-04,-2.32107831e-04,
  5.50804484e-06,-3.19588397e-04,-3.84572187e-04, 1.94919162e-05,
  1.07090168e-04,-1.90568342e-04,-1.69152196e-04, 1.50138335e-04,
  6.94465697e-02,-5.31511412e-04, 4.19864568e-02,-4.12293394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006253897733798502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66429662e-14,  2.77382770e-14,  1.00000000e+00,  4.61647206e-28,
        1.00000000e+00, -2.77382770e-14, -1.00000000e+00,  0.00000000e+00,
       -1.66429662e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902541, -0.05177096,  0.06198481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.90284762e-05, 1.10310202e-05,-1.08230654e-05,-2.65254574e-06,
 -3.56834545e-05, 1.33225313e-05, 6.34463531e-06,-8.48541326e-07,
 -7.96554376e-06,-6.25704179e-05,-2.17476843e-05,-2.01919337e-06,
 -4.72421995e-04,-5.38374226e-05,-2.58929993e-04,-1.78504789e-04,
  2.02324290e-05, 2.82275272e-06,-7.84763514e+00, 5.45077592e-04,
  9.43368726e-03, 7.70833969e-06]


--- Step 250 ---
qpos:
[ 7.13189833e-03, 4.04275715e-03,-3.58147286e-03,-2.56806762e-02,
  6.03729042e-03,-2.90045608e-03,-1.77612743e-02, 1.15695082e-02,
  1.55297534e-02, 2.31576138e-03,-8.91742424e-03, 2.39047786e-02,
  6.09355762e-01,-1.00453157e-02, 3.96005727e-01, 6.31459158e-02,
  9.50047547e-02,-7.00142235e-02, 1.21389583e-01, 9.99995844e-01,
 -3.81542227e-04, 5.71224997e-05, 2.85719552e-03]

qacc:
[  3.09040331, -0.54087288, -0.18464655,  5.87625395, -0.65113809,
  -0.87184003,  4.77300973,-11.52729236, -1.1304589 ,  1.54554313,
  -5.36473693,  5.63893689, -1.59991572,  3.86496546, 12.29161648,
 -49.176618  , -1.01971966, -1.46424132, -0.12330773, 24.6032455 ,
 -18.2360088 ,  1.16248276]

qfrc_actuator:
[ 7.75474796e-05, 5.20985004e-05,-1.56839803e-04,-2.16086754e-04,
  2.69070381e-06,-3.27638123e-04,-3.86652923e-04,-8.88115212e-07,
  1.00832287e-04,-1.70523592e-04,-1.91634997e-04, 1.49457592e-04,
  6.93145200e-02,-5.26039986e-04, 4.18134618e-02,-4.40890805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000625800977106794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.71864314e-13,  4.98960911e-14,  1.00000000e+00,  8.57535746e-27,
        1.00000000e+00, -4.98960911e-14, -1.00000000e+00,  0.00000000e+00,
       -1.71864314e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.109025  , -0.05177101,  0.0619848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79665562e-05,-3.44663636e-05, 8.18533233e-06, 1.60689595e-05,
 -3.83235166e-06, 6.57422218e-07, 1.43651724e-06,-1.96051867e-05,
 -6.50919596e-06,-1.94730482e-05,-3.81368205e-05,-4.15562871e-06,
 -4.71451883e-04,-5.59396728e-05,-3.09097440e-04,-3.28810032e-04,
  1.05260555e-05,-6.76763306e-06,-7.84782099e+00, 5.46178663e-04,
  9.46714712e-03, 8.22836849e-06]


--- Step 251 ---
qpos:
[ 7.13376313e-03, 4.04352497e-03,-3.58132075e-03,-2.56825579e-02,
  6.03800187e-03,-2.89998320e-03,-1.77631248e-02, 1.15707896e-02,
  1.55318635e-02, 2.31493144e-03,-8.91909216e-03, 2.39081003e-02,
  6.10809013e-01,-1.00443465e-02, 3.97240071e-01, 6.31479679e-02,
  9.50088893e-02,-7.00261852e-02, 1.21390646e-01, 9.99995850e-01,
 -2.81362451e-04, 8.99139593e-05, 2.86585117e-03]

qacc:
[ 1.64737137e+00,-2.05015819e+00, 3.64277578e+00, 5.23592796e+00,
  5.74195139e+00,-2.52304556e-01,-1.02021144e-02, 2.10392963e+00,
  2.22809083e+00, 1.77779806e+00,-6.53914893e+00, 1.07334836e+01,
 -1.23892756e+00, 1.78163470e+00,-4.53578230e+00, 8.37485050e+00,
 -1.00942452e+00,-1.45020162e+00,-2.31869967e-01, 2.42857375e+01,
 -1.79498618e+01, 1.20205818e+00]

qfrc_actuator:
[ 8.64389639e-05, 1.10261459e-05,-1.16826848e-04,-1.87948021e-04,
  3.65278555e-05,-3.50501419e-04,-3.87152056e-04, 4.40282486e-06,
  1.14163935e-04,-1.04733914e-04,-1.86460640e-04, 1.65590077e-04,
  6.91617136e-02,-5.41061015e-04, 4.16812355e-02,-4.40058193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006238645522569364
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39030457e-13, -5.00509645e-14,  1.00000000e+00, -6.95860847e-27,
        1.00000000e+00,  5.00509645e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39030457e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902509, -0.05177047,  0.06198485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.38531571e-06,-5.80051434e-05, 3.44521316e-05, 2.72615855e-05,
  3.37286531e-05,-2.30449601e-05,-8.52608556e-07, 4.98760958e-06,
  1.31368613e-05, 4.69026614e-05,-3.66301268e-06, 1.38971696e-05,
 -4.91910790e-04,-7.65936377e-05,-3.06273186e-04,-4.88999662e-05,
 -3.96883946e-07,-1.04896489e-05,-7.84788070e+00, 5.62777881e-04,
  9.48867091e-03, 7.52490792e-06]


--- Step 252 ---
qpos:
[ 7.13537489e-03, 4.04398250e-03,-3.58072334e-03,-2.56851446e-02,
  6.03911347e-03,-2.89988538e-03,-1.77648683e-02, 1.15721448e-02,
  1.55337720e-02, 2.31447389e-03,-8.92071317e-03, 2.39112266e-02,
  6.12259596e-01,-1.00438115e-02, 3.98471103e-01, 6.31552285e-02,
  9.50090217e-02,-7.00439008e-02, 1.21390403e-01, 9.99995849e-01,
 -1.33029667e-04, 8.74166055e-05, 2.87698286e-03]

qacc:
[-2.20834073e+00,-3.10278344e+00, 1.34431441e+01,-2.61162845e+01,
  3.51147758e+00,-6.49485228e-01, 1.27342044e+00, 1.20692944e-01,
 -1.78035107e+00,-3.79037990e-02, 1.68074684e+00,-5.41984121e+00,
 -9.39321593e-01, 9.70422962e-02,-2.05972700e+01, 6.49859530e+01,
 -1.00059183e+00,-1.43847942e+00,-3.26580320e-01, 2.40257258e+01,
 -1.77136812e+01, 1.23522800e+00]

qfrc_actuator:
[ 7.31656047e-05, 4.23450047e-06,-9.33748816e-05,-2.23906290e-04,
  5.61522873e-05,-3.82038688e-04,-3.86757425e-04, 6.99391775e-06,
  1.03413252e-04,-8.29307311e-05,-1.82528290e-04, 1.56047302e-04,
  6.90125289e-02,-5.68111089e-04, 4.15896072e-02,-4.11224096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006200542102637735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.95262871e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.95262871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10902557, -0.05176945,  0.06198494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30317986e-05,-3.09727059e-05, 1.66485923e-05,-3.67179988e-05,
  2.05798090e-05,-4.43728684e-05,-4.28581541e-06, 1.67000352e-06,
 -1.03651975e-05, 4.79237740e-05, 1.36738756e-05,-7.39105419e-06,
 -5.05280962e-04,-9.27582290e-05,-2.31952111e-04, 2.47380094e-04,
 -1.27454492e-05,-8.40979772e-06,-7.84782010e+00, 5.94670718e-04,
  9.49843806e-03, 5.62228834e-06]


--- Step 253 ---
qpos:
[ 7.13646991e-03, 4.04449856e-03,-3.58026339e-03,-2.56884943e-02,
  6.04010718e-03,-2.90037125e-03,-1.77661967e-02, 1.15735263e-02,
  1.55351919e-02, 2.31426684e-03,-8.92248063e-03, 2.39138982e-02,
  6.13707561e-01,-1.00435913e-02, 3.99699926e-01, 6.31621227e-02,
  9.50051814e-02,-7.00673322e-02, 1.21388525e-01, 9.99995819e-01,
  6.30375872e-05, 5.00144835e-05, 2.89064178e-03]

qacc:
[ -4.5544631 , -1.10087596,  7.2665024 ,-20.29427406, -1.00859631,
  -1.87437091,  5.45638686, -5.23806953, -4.30732547, -0.18735264,
   3.08289895,-10.91893244, -1.08701673,  0.93867159, -2.14542797,
   2.78436071, -0.99314788, -1.42891611, -0.40885946, 23.81681356,
 -17.52114423,  1.26341301]

qfrc_actuator:
[ 4.69560721e-05, 1.79153107e-05,-9.75624788e-05,-2.61776154e-04,
  4.94895899e-05,-4.18527769e-04,-3.68134819e-04, 7.96224869e-06,
  7.85678875e-05,-8.76418807e-05,-1.97301256e-04, 1.31435790e-04,
  6.88869184e-02,-5.84294722e-04, 4.14691888e-02,-4.14054467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006147785856489563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.02945427e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.02945427e-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([ 0.10902636, -0.05176806,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65911724e-05,-1.80005350e-06,-9.81232726e-06,-3.93315237e-05,
 -6.09013593e-06,-6.20948180e-05, 9.00264271e-06,-1.04904535e-06,
 -2.51258527e-05, 2.46269063e-05,-3.42543320e-06,-2.22300134e-05,
 -4.92926424e-04,-8.48761705e-05,-1.95992189e-04,-4.37551871e-05,
 -2.67204375e-05,-6.52749193e-07,-7.84764364e+00, 6.41689666e-04,
  9.49659609e-03, 2.53985333e-06]


--- Step 254 ---
qpos:
[ 7.13758713e-03, 4.04499636e-03,-3.57959988e-03,-2.56919405e-02,
  6.04135823e-03,-2.90105937e-03,-1.77680249e-02, 1.15756140e-02,
  1.55366480e-02, 2.31423920e-03,-8.92412296e-03, 2.39165900e-02,
  6.15152933e-01,-1.00435448e-02, 4.00926994e-01, 6.31655546e-02,
  9.50017284e-02,-7.00831747e-02, 1.21387848e-01, 9.99995764e-01,
  1.94519652e-04, 1.81419614e-05, 2.90421242e-03]

qacc:
[  0.20217154, -0.79221285,  3.19445828, -5.17098307,  2.24018291,
   2.57768356,-12.56860689, 25.74770294,  0.31813142, -0.07143503,
   0.51199972, -0.4916899 , -1.25432441,  1.862419  ,  7.865976  ,
 -31.27485045,  0.09681387,  1.89719382,  0.30047517,-32.284465  ,
   2.85813262, -0.0458892 ]

qfrc_actuator:
[ 4.88550254e-05, 2.58822528e-05,-8.24239170e-05,-2.64947746e-04,
  6.29178486e-05,-4.22124031e-04,-3.92184226e-04, 4.34800362e-05,
  8.11383646e-05,-7.27834098e-05,-1.87617553e-04, 1.33625712e-04,
  6.87595668e-02,-5.93904042e-04, 4.13741226e-02,-4.31983839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006141935874350579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35570818e-13,  1.80761090e-13,  1.00000000e+00,  2.45059288e-26,
        1.00000000e+00, -1.80761090e-13, -1.00000000e+00,  0.00000000e+00,
       -1.35570818e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483066, -0.09300901,  0.06198508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14366972e-06, 3.22018703e-06, 1.21937631e-05,-4.34780170e-06,
  1.32322798e-05,-3.64768255e-05,-3.57839853e-05, 3.31493979e-05,
  1.86436080e-06, 2.69877056e-05, 1.35992335e-05, 2.69390167e-06,
 -4.84893721e-04,-7.63940565e-05,-1.89901682e-04,-2.07139447e-04,
 -4.25272487e-05, 1.26067376e-05,-7.84735463e+00, 7.03699796e-04,
  9.48326417e-03,-1.70732812e-06]


--- Step 255 ---
qpos:
[ 7.13906332e-03, 4.04522871e-03,-3.57862564e-03,-2.56957190e-02,
  6.04241535e-03,-2.90181212e-03,-1.77699230e-02, 1.15777178e-02,
  1.55384681e-02, 2.31456146e-03,-8.92569746e-03, 2.39189233e-02,
  6.16595683e-01,-1.00432516e-02, 4.02151872e-01, 6.31684179e-02,
  9.49986669e-02,-7.00915491e-02, 1.21387734e-01, 9.99995708e-01,
  2.62607626e-04,-8.50820376e-06, 2.91797338e-03]

qacc:
[  3.17399654, -1.91014411,  7.68930785,-13.71978329, -1.69815939,
   0.14650006, -0.70857033,  1.14052532,  3.19955279, -0.4715702 ,
   3.85556971,-10.41577634, -1.71338621,  4.34578077, -1.49523936,
   0.57652258,  0.09788036,  1.86704332,  0.14062752,-31.68932955,
   2.70324095,  0.094078  ]

qfrc_actuator:
[ 6.72868146e-05,-5.03100458e-06,-7.37283114e-05,-2.83166984e-04,
  5.25673492e-05,-4.06132550e-04,-3.87830117e-04, 4.57793235e-05,
  9.98292340e-05,-4.62122900e-05,-1.81225475e-04, 1.16098116e-04,
  6.86312624e-02,-5.81831419e-04, 4.12889806e-02,-4.33794687e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000620961979166279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78790822e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78790822e-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([ 0.09483169, -0.09300735,  0.06198492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.84634973e-05,-2.68014471e-05, 1.07048978e-05,-1.77393558e-05,
 -9.98513303e-06,-1.03305581e-05,-6.41684767e-06, 1.43523178e-07,
  1.87513585e-05, 4.46068428e-05, 1.37499604e-05,-1.58501508e-05,
 -4.79075107e-04,-5.33066785e-05,-1.96536213e-04,-5.45468442e-05,
 -2.81780347e-05, 9.71847821e-06,-7.84770406e+00, 7.45748128e-04,
  9.47413940e-03,-3.97650202e-06]


--- Step 256 ---
qpos:
[ 7.14074884e-03, 4.04540295e-03,-3.57791235e-03,-2.56993275e-02,
  6.04299516e-03,-2.90241253e-03,-1.77715489e-02, 1.15787443e-02,
  1.55404979e-02, 2.31539396e-03,-8.92723145e-03, 2.39203187e-02,
  6.18035871e-01,-1.00424779e-02, 4.03374466e-01, 6.31729553e-02,
  9.49959994e-02,-7.00925604e-02, 1.21387615e-01, 9.99995665e-01,
  2.68319691e-04,-3.01850763e-05, 2.93214402e-03]

qacc:
[ 1.83546415e+00, 9.99270561e-01,-4.39579498e+00, 7.79900334e+00,
 -4.17158201e+00,-2.76810716e+00, 1.47258811e+01,-3.39370248e+01,
  1.83754148e+00,-1.37349747e+00, 9.82993556e+00,-2.64974427e+01,
 -1.92443651e+00, 5.62125982e+00,-8.39764930e+00, 2.45406018e+01,
  9.85199942e-02, 1.84074203e+00,-1.26336539e-03,-3.11805645e+01,
  2.57769511e+00, 2.04431119e-01]

qfrc_actuator:
[ 7.75400349e-05,-5.76000409e-06,-8.68397139e-05,-2.74635105e-04,
  2.82979282e-05,-3.78445159e-04,-3.66663798e-04,-6.95018012e-06,
  1.10097280e-04,-1.28558285e-05,-1.76801124e-04, 6.93581181e-05,
  6.85131340e-02,-5.57100502e-04, 4.12045695e-02,-4.24310023e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006242339647150874
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44634179e-14,  3.55707343e-13,  1.00000000e+00,  1.58159642e-26,
        1.00000000e+00, -3.55707343e-13, -1.00000000e+00,  0.00000000e+00,
       -4.44634179e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483246, -0.09300672,  0.06198484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.07675639e-05,-1.42744381e-05,-1.79502793e-05, 7.41381285e-06,
 -2.45580387e-05, 2.06327751e-05, 1.82738323e-05,-5.33897887e-05,
  1.08163285e-05, 6.04757464e-05, 1.47942401e-05,-4.46639439e-05,
 -4.61716575e-04,-3.85861836e-05,-1.80774961e-04, 6.63188516e-05,
 -1.45217716e-05, 7.30807535e-06,-7.84791398e+00, 7.67547381e-04,
  9.46654562e-03,-5.11121716e-06]


--- Step 257 ---
qpos:
[ 7.14185401e-03, 4.04588738e-03,-3.57731336e-03,-2.57021730e-02,
  6.04362437e-03,-2.90275454e-03,-1.77732991e-02, 1.15798350e-02,
  1.55419454e-02, 2.31664634e-03,-8.92870341e-03, 2.39214984e-02,
  6.19473555e-01,-1.00410679e-02, 4.04595369e-01, 6.31768270e-02,
  9.49937275e-02,-7.00862994e-02, 1.21386990e-01, 9.99995634e-01,
  2.12517148e-04,-4.70903035e-05, 2.94689728e-03]

qacc:
[ -5.1170493 ,  2.31072938,-10.83916954, 23.95882232,  0.42392254,
   0.8196534 , -2.70005441,  3.8227462 , -5.13021154, -0.05227559,
   1.91938696, -6.07825606, -2.08445866,  6.55855088, -0.45901204,
  -1.9618722 ,  0.09886075,  1.8181107 , -0.12637121,-30.75016779,
   2.47607548,  0.29157626]

qfrc_actuator:
[ 4.73869018e-05, 4.70256700e-05,-7.70826694e-05,-2.32669354e-04,
  3.15433621e-05,-3.61683962e-04,-3.71229544e-04,-2.84677497e-06,
  7.98150693e-05, 6.51891205e-06,-1.73557227e-04, 5.90713906e-05,
  6.83958744e-02,-5.25107077e-04, 4.11260103e-02,-4.27777493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006246274599060464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.44354073e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.44354073e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483302, -0.09300694,  0.06198483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.98524681e-05, 4.14052935e-05, 4.85016397e-06, 4.08832075e-05,
  2.55252007e-06, 2.98157314e-05, 1.24299401e-07, 4.58449737e-06,
 -2.99511934e-05, 5.43299735e-05, 1.60195500e-05,-8.05401525e-06,
 -4.46469487e-04,-2.82927853e-05,-1.54447006e-04,-5.44922282e-05,
 -6.93219481e-07, 5.09468275e-06,-7.84799193e+00, 7.69428941e-04,
  9.46046048e-03,-5.12448629e-06]


--- Step 258 ---
qpos:
[ 7.14224430e-03, 4.04671648e-03,-3.57691122e-03,-2.57048386e-02,
  6.04428740e-03,-2.90296840e-03,-1.77747869e-02, 1.15813013e-02,
  1.55430192e-02, 2.31794260e-03,-8.93028641e-03, 2.39236424e-02,
  6.20908949e-01,-1.00402442e-02, 4.05814450e-01, 6.31776084e-02,
  9.49918515e-02,-7.00728427e-02, 1.21385421e-01, 9.99995606e-01,
  9.59195464e-05,-5.93867920e-05, 2.96236974e-03]

qacc:
[ -6.30486242,  1.38902746, -5.02773598,  8.17529761,  0.30229811,
   0.20908428, -2.08674224,  8.07547436, -3.29183933,  2.35998279,
 -12.3909532 , 29.213576  , -0.6356619 , -0.93637588,  6.63605373,
 -27.13522643,  0.09899804,  1.79891587, -0.23607732,-30.39058955,
   2.39401416,  0.36054013]

qfrc_actuator:
[ 1.14485275e-05, 6.05645547e-05,-8.91520993e-05,-2.24562053e-04,
  3.32093081e-05,-3.51645479e-04,-3.55441813e-04, 1.68930556e-05,
  6.14161875e-05,-1.81144009e-05,-1.88811951e-04, 1.05814737e-04,
  6.82738971e-02,-5.60114696e-04, 4.10137104e-02,-4.44175003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006226831169909158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.91483159e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.91483159e-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([ 0.09483342, -0.09300784,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67752723e-05, 3.94127631e-05,-1.51218934e-06, 1.08491099e-05,
  1.74907845e-06, 2.69648440e-05, 2.21421594e-05, 2.11130865e-05,
 -1.92284626e-05, 8.67563816e-06,-2.33499482e-06, 4.94685606e-05,
 -4.38969445e-04,-9.28060718e-05,-1.91542622e-04,-1.87609643e-04,
  1.39307490e-05, 2.94105603e-06,-7.84794393e+00, 7.51672281e-04,
  9.45586117e-03,-4.02782024e-06]


--- Step 259 ---
qpos:
[ 7.14220056e-03, 4.04788556e-03,-3.57691808e-03,-2.57077157e-02,
  6.04462031e-03,-2.90293353e-03,-1.77763483e-02, 1.15823098e-02,
  1.55438643e-02, 2.31881503e-03,-8.93182176e-03, 2.39270707e-02,
  6.22342147e-01,-1.00404805e-02, 4.07030874e-01, 6.31768068e-02,
  9.49903715e-02,-7.00522544e-02, 1.21382525e-01, 9.99995558e-01,
 -8.08813963e-05,-6.72057006e-05, 2.97866954e-03]

qacc:
[ -3.83941828,  1.16454658, -2.59492439, -0.67532922, -2.895691  ,
  -0.40257686,  3.85542176,-11.85605989, -2.0027928 ,  1.95466802,
 -13.19827566, 35.65510861, -0.04676892, -3.917257  ,  0.84531404,
  -8.68622525,  0.09900269,  1.78289978, -0.33184019,-30.09488093,
   2.32799153,  0.41526628]

qfrc_actuator:
[-9.84168236e-06, 6.81494348e-05,-1.14189126e-04,-2.36492100e-04,
  1.61707325e-05,-3.45613734e-04,-3.63284044e-04,-7.58020353e-06,
  5.01715404e-05,-6.89444733e-05,-1.97264962e-04, 1.67929843e-04,
  6.81598118e-02,-6.16602320e-04, 4.08759129e-02,-4.52084082e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006188706865883353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48487482e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.48487482e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483369, -0.0930093 ,  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:
[-2.23238390e-05, 2.97336635e-05,-1.67149662e-05,-1.00787909e-05,
 -1.69809680e-05, 2.66110924e-05, 1.20225060e-06,-2.21402141e-05,
 -1.17869674e-05,-4.43775092e-05,-5.23641387e-06, 6.33657012e-05,
 -4.34102878e-04,-1.17643944e-04,-2.47610473e-04,-1.14609723e-04,
  2.98008528e-05, 8.31317774e-07,-7.84777470e+00, 7.14510328e-04,
  9.45272578e-03,-1.83120353e-06]


--- Step 260 ---
qpos:
[ 7.14224669e-03, 4.04923580e-03,-3.57719571e-03,-2.57103566e-02,
  6.04509151e-03,-2.90274448e-03,-1.77785070e-02, 1.15830666e-02,
  1.55442226e-02, 2.31957205e-03,-8.93295596e-03, 2.39308072e-02,
  6.23772961e-01,-1.00406808e-02, 4.08244229e-01, 6.31780062e-02,
  9.49937545e-02,-7.00344032e-02, 1.21381341e-01, 9.99995499e-01,
 -2.33550093e-04,-3.43547827e-05, 2.99106273e-03]

qacc:
[  0.77954878,  1.48120425, -5.93003621, 10.31131502,  1.18858226,
   1.35222869, -3.46776026, -0.04111756, -4.26850734, -0.63087489,
   0.74109213,  4.02155603, -1.33414267,  2.72323135,-10.55258039,
  30.3734257 ,  1.21573524, -0.68427261,  0.42821382, 12.12650865,
  20.29903959, -1.95244173]

qfrc_actuator:
[-4.58526613e-06, 7.20287508e-05,-1.28963198e-04,-2.24619712e-04,
  2.37651253e-05,-3.59910505e-04,-4.02825974e-04,-2.23928482e-05,
  2.54712870e-05,-4.62793021e-05,-1.66245952e-04, 1.85304378e-04,
  6.80398841e-02,-6.14259012e-04, 4.07549124e-02,-4.40725118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006187501104347182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34572464e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.34572464e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193332, -0.06185588,  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:
[ 4.63072034e-06, 1.65788308e-05,-1.10462180e-05, 1.23758606e-05,
  7.11942084e-06,-1.07468105e-07,-3.46471228e-05,-1.40598034e-05,
 -2.50511796e-05,-5.39908997e-07, 2.34012072e-05, 1.65192617e-05,
 -4.39732889e-04,-5.99370177e-05,-2.45147043e-04, 7.57059241e-05,
  4.72460371e-05,-1.14449387e-06,-7.84748783e+00, 6.58134283e-04,
  9.45103413e-03, 1.45688279e-06]


--- Step 261 ---
qpos:
[ 7.14235538e-03, 4.05051290e-03,-3.57756315e-03,-2.57124690e-02,
  6.04530516e-03,-2.90266814e-03,-1.77807692e-02, 1.15839862e-02,
  1.55449719e-02, 2.32043832e-03,-8.93374816e-03, 2.39336611e-02,
  6.25201231e-01,-1.00407341e-02, 4.09455350e-01, 6.31800534e-02,
  9.49929603e-02,-7.00226060e-02, 1.21380917e-01, 9.99995427e-01,
 -3.35165910e-04,-3.95695524e-05, 3.00538124e-03]

qacc:
[  0.5493555 ,  1.24193654, -6.79591536, 16.12970062, -2.25502194,
   0.47910336, -2.60391485,  5.66020119,  3.44788714, -2.63519302,
  13.3202684 ,-29.20979222, -1.5613723 ,  3.6103038 , -5.83484144,
  15.66661124, -1.04426882, -1.51352576,  0.18990675, 25.46942863,
 -19.10933446,  0.95734884]

qfrc_actuator:
[-1.50379109e-06, 5.59549182e-05,-1.37554135e-04,-1.98828950e-04,
  1.02976820e-05,-3.68656696e-04,-4.07576549e-04,-1.36795495e-05,
  4.63051080e-05,-3.29137523e-05,-1.47421559e-04, 1.40791683e-04,
  6.78899179e-02,-6.12794535e-04, 4.06707519e-02,-4.35853044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006240823504313625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.77896879e-13, -8.89484396e-14,  1.00000000e+00, -1.58236498e-26,
        1.00000000e+00,  8.89484396e-14, -1.00000000e+00,  0.00000000e+00,
       -1.77896879e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901996, -0.05176934,  0.06198484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.21523368e-06,-8.59288662e-06,-6.10585076e-06, 2.63628227e-05,
 -1.32621013e-05,-1.65458765e-05,-9.50626164e-06, 7.23848799e-06,
  2.01222512e-05, 1.85753078e-05, 2.21642653e-05,-4.34110110e-05,
 -4.66217361e-04,-5.79452206e-05,-1.85216908e-04, 2.19435747e-05,
  3.16423083e-05,-3.07327313e-06,-7.84760151e+00, 6.09766209e-04,
  9.46089928e-03, 3.99715498e-06]


--- Step 262 ---
qpos:
[ 7.14215517e-03, 4.05175917e-03,-3.57829366e-03,-2.57145872e-02,
  6.04535571e-03,-2.90271677e-03,-1.77825392e-02, 1.15853080e-02,
  1.55466550e-02, 2.32113385e-03,-8.93470900e-03, 2.39356862e-02,
  6.26626862e-01,-1.00403582e-02, 4.10664421e-01, 6.31832549e-02,
  9.49880353e-02,-7.00167759e-02, 1.21380663e-01, 9.99995356e-01,
 -3.86642794e-04,-8.20324277e-05, 3.02174250e-03]

qacc:
[ -2.73000692,  0.96753236, -3.47389718,  3.96325538, -1.40940181,
  -0.70912483,  0.59517104,  5.66765931,  8.21550541, -1.47672752,
   8.40986197,-22.32991196, -1.92607122,  5.37859415, -6.48500364,
  18.34812615, -1.03272402, -1.49174871,  0.04235022, 25.01341996,
 -18.69965321,  1.01413701]

qfrc_actuator:
[-1.74885461e-05, 4.58436573e-05,-1.60260460e-04,-2.00579315e-04,
  2.28628816e-06,-3.56114688e-04,-3.73954746e-04, 8.83562765e-06,
  9.37764587e-05,-7.85643803e-05,-1.71520512e-04, 9.57194009e-05,
  6.77486579e-02,-5.94230150e-04, 4.05874273e-02,-4.29512019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006280891727719617
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.18095652e-14, -5.52381270e-15,  1.00000000e+00, -3.96662588e-28,
        1.00000000e+00,  5.52381270e-15, -1.00000000e+00,  0.00000000e+00,
       -7.18095652e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901868, -0.05177011,  0.06198474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59005456e-05,-1.50850650e-05,-2.43272358e-05,-1.81366582e-06,
 -8.39597342e-06, 1.65335566e-06, 2.93078141e-05, 2.16214903e-05,
  4.80529255e-05,-3.25642750e-05,-1.90413153e-05,-4.43614092e-05,
 -4.75931268e-04,-4.44048728e-05,-1.66275932e-04, 4.05373178e-05,
  2.39140325e-05, 1.85491125e-07,-7.84783022e+00, 5.77046525e-04,
  9.45920506e-03, 6.30965605e-06]


--- Step 263 ---
qpos:
[ 7.14176507e-03, 4.05270982e-03,-3.57886892e-03,-2.57174019e-02,
  6.04565454e-03,-2.90276043e-03,-1.77839518e-02, 1.15872265e-02,
  1.55488946e-02, 2.32102683e-03,-8.93510972e-03, 2.39375328e-02,
  6.28050020e-01,-1.00400824e-02, 4.11871065e-01, 6.31846270e-02,
  9.49790199e-02,-7.00168370e-02, 1.21380056e-01, 9.99995290e-01,
 -3.88754869e-04,-1.61065047e-04, 3.04022921e-03]

qacc:
[ -1.66191989, -2.25593869, 10.41482086,-22.48711141,  2.18412313,
   0.23196588, -3.34442202, 13.1053079 ,  4.9284168 , -3.00340728,
   9.90685326,-13.2831006 , -1.27041364,  2.13862243,  1.95223609,
 -12.01275308, -1.02261286, -1.47280785, -0.08799582, 24.62712561,
 -18.35978157,  1.05361821]

qfrc_actuator:
[-2.68139794e-05, 2.15442636e-05,-1.55621576e-04,-2.36284014e-04,
  1.53097176e-05,-3.48495054e-04,-3.53368953e-04, 3.93272466e-05,
  1.21025652e-04,-1.41635798e-04,-1.49989092e-04, 8.61159251e-05,
  6.76286991e-02,-6.01251957e-04, 4.04301074e-02,-4.40106832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006290284390723933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.75778227e-14, -2.75778227e-14,  1.00000000e+00, -7.60536304e-28,
        1.00000000e+00,  2.75778227e-14, -1.00000000e+00,  0.00000000e+00,
       -2.75778227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901807, -0.05177013,  0.06198472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.78403008e-06,-3.78738900e-05,-1.53593912e-06,-3.72232506e-05,
  1.27820571e-05, 1.55408549e-05, 2.53045843e-05, 3.19989520e-05,
  2.86072749e-05,-8.71122680e-05, 1.09228548e-05,-1.25267937e-05,
 -4.59679263e-04,-7.05640414e-05,-2.30434996e-04,-1.25567888e-04,
  1.57940596e-05, 9.09143846e-06,-7.84792681e+00, 5.60097022e-04,
  9.44531467e-03, 7.37020630e-06]


--- Step 264 ---
qpos:
[ 7.14126609e-03, 4.05329851e-03,-3.57907272e-03,-2.57206288e-02,
  6.04610725e-03,-2.90302638e-03,-1.77849476e-02, 1.15891755e-02,
  1.55504091e-02, 2.31988505e-03,-8.93454767e-03, 2.39395973e-02,
  6.29470771e-01,-1.00401912e-02, 4.13075435e-01, 6.31810249e-02,
  9.49747502e-02,-7.00195868e-02, 1.21380682e-01, 9.99995245e-01,
 -3.67154367e-04,-1.99040340e-04, 3.05535915e-03]

qacc:
[ -0.94076044, -2.3639866 ,  9.47248173,-16.92411643,  1.36347559,
  -1.39784534,  4.42524467, -4.39713604, -6.33291452, -3.59734957,
   9.94313257, -6.97048694, -0.94383481,  0.48086982, 11.65687876,
 -45.66794886,  1.18645608, -0.67216079,  0.30817539, 11.91837889,
  20.49317481, -1.67233447]

qfrc_actuator:
[-3.21392657e-05, 6.76172981e-06,-1.34948669e-04,-2.56163067e-04,
  2.28552777e-05,-3.79414050e-04,-3.40666888e-04, 3.87441482e-05,
  8.28875163e-05,-1.96706936e-04,-1.01740766e-04, 9.74749651e-05,
  6.75056236e-02,-6.23267964e-04, 4.02977330e-02,-4.65936741e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006287818806637868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41418184e-14, -8.82836369e-14,  1.00000000e+00, -3.89700027e-27,
        1.00000000e+00,  8.82836369e-14, -1.00000000e+00,  0.00000000e+00,
       -4.41418184e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193396, -0.06185962,  0.06198473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.61664990e-06,-3.78961468e-05, 1.13762403e-05,-2.22728496e-05,
  7.91380392e-06,-1.56124696e-05, 2.01488571e-05, 1.57971606e-06,
 -3.73560922e-05,-1.02043915e-04, 3.11689322e-05, 7.75631978e-06,
 -4.54820675e-04,-8.52662201e-05,-2.50943278e-04,-2.94837144e-04,
  6.90091387e-06, 2.36422472e-05,-7.84789840e+00, 5.58669064e-04,
  9.41943820e-03, 7.20843982e-06]


--- Step 265 ---
qpos:
[ 7.14036190e-03, 4.05383837e-03,-3.57945771e-03,-2.57237257e-02,
  6.04664689e-03,-2.90333472e-03,-1.77857730e-02, 1.15904062e-02,
  1.55514546e-02, 2.31837151e-03,-8.93389742e-03, 2.39414115e-02,
  6.30888946e-01,-1.00395254e-02, 4.14277101e-01, 6.31791956e-02,
  9.49751738e-02,-7.00250067e-02, 1.21382052e-01, 9.99995225e-01,
 -3.22322124e-04,-1.96580922e-04, 3.06729637e-03]

qacc:
[ -3.57166858,  0.71679703, -3.1843672 ,  5.742972  ,  0.7663336 ,
  -2.01203986, 10.12345372,-22.79484343, -4.11863068, -1.24520493,
   4.79788595, -9.01307346, -2.27020406,  7.29066618, -9.30435157,
  26.83370222,  1.17330098, -0.66754835,  0.18595284, 11.6772728 ,
  20.18235709, -1.59128442]

qfrc_actuator:
[-5.28221428e-05, 1.56265541e-05,-1.40438908e-04,-2.48799785e-04,
  2.71092012e-05,-3.79973066e-04,-3.32897358e-04, 2.09118825e-06,
  5.98339285e-05,-1.93166787e-04,-9.13468871e-05, 8.55811645e-05,
  6.73807613e-02,-5.82945414e-04, 4.02283318e-02,-4.54363199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006287956738482842
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82817003e-14,  4.41408502e-14,  1.00000000e+00,  3.89682930e-27,
        1.00000000e+00, -4.41408502e-14, -1.00000000e+00,  0.00000000e+00,
       -8.82817003e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193395, -0.06186019,  0.06198473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08561834e-05,-1.09426806e-05,-1.26834075e-05, 5.70707591e-06,
  4.47368776e-06,-5.04023823e-06, 7.09163347e-06,-3.65958068e-05,
 -2.41547253e-05,-4.67307597e-05,-6.57202140e-06,-1.50388413e-05,
 -4.55161420e-04,-2.34097049e-05,-2.16025309e-04, 6.71816633e-05,
 -3.79419545e-06, 1.00918515e-05,-7.84796931e+00, 5.66247961e-04,
  9.40696142e-03, 6.65402091e-06]


--- Step 266 ---
qpos:
[ 7.13921676e-03, 4.05435672e-03,-3.57996098e-03,-2.57263730e-02,
  6.04688821e-03,-2.90327867e-03,-1.77869670e-02, 1.15911731e-02,
  1.55522147e-02, 2.31721429e-03,-8.93429316e-03, 2.39427083e-02,
  6.32304445e-01,-1.00379547e-02, 4.15475955e-01, 6.31813701e-02,
  9.49802458e-02,-7.00330809e-02, 1.21383738e-01, 9.99995224e-01,
 -2.54648735e-04,-1.54203623e-04, 3.07617074e-03]

qacc:
[ -2.12409698,  1.2322122 , -6.32032389, 14.28592788, -2.62855418,
   0.56204061,  0.66169971, -8.37694163, -2.54993693,  2.33414803,
  -5.44571953, -2.1096323 , -2.45362711,  8.08620799,-16.1935306 ,
  50.71833633,  1.16210563, -0.66354483,  0.07900158, 11.48144088,
  19.92431029, -1.52725979]

qfrc_actuator:
[-6.46270692e-05, 2.07587969e-05,-1.43470339e-04,-2.25468473e-04,
  1.16409114e-05,-3.44654433e-04,-3.45760447e-04,-1.99619164e-05,
  4.58650395e-05,-1.54708958e-04,-1.38681472e-04, 6.01167829e-05,
  6.72336256e-02,-5.41730269e-04, 4.01169481e-02,-4.33250157e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006266198897050546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.55029415e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.55029415e-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([ 0.08193349, -0.06186037,  0.06198478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24015297e-05,-3.37466690e-06,-6.64923515e-06, 2.25427161e-05,
 -1.53410012e-05, 3.24165191e-05,-1.42866102e-05,-2.27363175e-05,
 -1.46743279e-05, 1.03616995e-05,-5.83092512e-05,-2.79879868e-05,
 -4.69300035e-04,-1.86319018e-05,-2.01704492e-04, 1.87237547e-04,
 -8.55868485e-06,-7.31908708e-07,-7.84796773e+00, 5.81068479e-04,
  9.40749441e-03, 5.84690653e-06]


--- Step 267 ---
qpos:
[ 7.13897372e-03, 4.05480323e-03,-3.58020546e-03,-2.57287401e-02,
  6.04694230e-03,-2.90294795e-03,-1.77880240e-02, 1.15913003e-02,
  1.55521113e-02, 2.31624786e-03,-8.93504513e-03, 2.39443534e-02,
  6.33717361e-01,-1.00361656e-02, 4.16672888e-01, 6.31823212e-02,
  9.49899289e-02,-7.00437958e-02, 1.21385368e-01, 9.99995234e-01,
 -1.64447888e-04,-7.23315464e-05, 3.08208483e-03]

qacc:
[ 7.95044522e+00,-2.56815025e-01,-4.29943283e-01, 4.94329669e+00,
 -1.63929202e+00,-1.33353065e+00, 7.98863737e+00,-1.94894158e+01,
 -7.61313172e+00, 1.97982067e+00,-8.13841446e+00, 1.45686481e+01,
 -1.68958226e+00, 4.12527646e+00, 8.77846976e-01,-7.14910848e+00,
  1.15276795e+00,-6.60199294e-01,-1.40614962e-02, 1.13241945e+01,
  1.97130236e+01,-1.47685423e+00]

qfrc_actuator:
[-1.78495039e-05, 2.36437019e-05,-1.27264295e-04,-2.10680500e-04,
  2.44239334e-06,-3.23704311e-04,-3.35026813e-04,-5.09749117e-05,
  1.84556056e-06,-1.31385173e-04,-1.48543696e-04, 8.01351497e-05,
  6.70945307e-02,-5.35925071e-04, 4.00071110e-02,-4.40437443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006227015360245197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.78291358e-13, -8.91456790e-14,  1.00000000e+00, -1.58939042e-26,
        1.00000000e+00,  8.91456790e-14, -1.00000000e+00,  0.00000000e+00,
       -1.78291358e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193268, -0.06186026,  0.06198487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64228875e-05, 5.82068665e-07, 1.54774051e-05, 1.48590157e-05,
 -9.62396383e-06, 3.51570484e-05, 1.48948149e-05,-3.05593950e-05,
 -4.44330639e-05, 1.59150231e-05,-1.58556877e-05, 1.79014693e-05,
 -4.70517811e-04,-5.57891903e-05,-1.80387711e-04,-8.72763540e-05,
 -7.77044688e-06,-9.16791203e-06,-7.84789686e+00, 6.03025388e-04,
  9.42086010e-03, 4.78725331e-06]


--- Step 268 ---
qpos:
[ 7.13929316e-03, 4.05501107e-03,-3.57988225e-03,-2.57309116e-02,
  6.04723067e-03,-2.90268546e-03,-1.77882647e-02, 1.15913968e-02,
  1.55518258e-02, 2.31547785e-03,-8.93540147e-03, 2.39461714e-02,
  6.35127735e-01,-1.00342786e-02, 4.17867620e-01, 6.31827241e-02,
  9.50041926e-02,-7.00571408e-02, 1.21386620e-01, 9.99995238e-01,
 -5.19674449e-05, 4.86954390e-05, 3.08511937e-03]

qacc:
[  4.97325822, -1.50946857,  4.08210881, -1.41142032,  2.07690947,
  -2.43728712,  8.68292706,-10.46278353, -1.59336592, -0.4871023 ,
   1.38881795,  0.82077701, -1.5280186 ,  3.34751061, -1.5758695 ,
   0.83056847,  1.14517129, -0.65752998, -0.09461937, 11.19998002,
  19.54326392, -1.43734756]

qfrc_actuator:
[ 9.77298256e-06, 7.48652219e-06,-9.98455094e-05,-2.01029023e-04,
  1.47666225e-05,-3.29183963e-04,-2.92740855e-04,-5.14971080e-05,
 -6.25402858e-06,-9.93661602e-05,-1.18441240e-04, 9.12791007e-05,
  6.69656740e-02,-5.33288670e-04, 3.99035487e-02,-4.42939186e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000617426840810606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49536265e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.49536265e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08193159, -0.06185992,  0.061985  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.89392290e-05,-1.19897651e-05, 2.99603930e-05, 1.05041023e-05,
  1.20622195e-05, 1.59438287e-05, 5.03336162e-05, 9.06692311e-07,
 -9.36001770e-06, 3.84350134e-05, 3.20744908e-05, 1.16277338e-05,
 -4.66048141e-04,-6.17849273e-05,-1.97377319e-04,-5.35656530e-05,
 -1.67441040e-06,-1.54865105e-05,-7.84775913e+00, 6.32032637e-04,
  9.44691460e-03, 3.47557233e-06]


--- Step 269 ---
qpos:
[ 7.13994151e-03, 4.05514309e-03,-3.57951518e-03,-2.57332802e-02,
  6.04766457e-03,-2.90255514e-03,-1.77882428e-02, 1.15925690e-02,
  1.55514451e-02, 2.31484228e-03,-8.93535826e-03, 2.39481158e-02,
  6.36535557e-01,-1.00323188e-02, 4.19060162e-01, 6.31840700e-02,
  9.50144403e-02,-7.00762805e-02, 1.21386801e-01, 9.99995209e-01,
  1.09215474e-04, 1.34021731e-04, 3.09063496e-03]

qacc:
[  2.89793606, -0.63439026,  2.93648582, -6.34575441,  1.28464686,
   1.30299083, -9.4459482 , 27.74700259, -0.82790076, -0.67714775,
   2.14125475, -0.69402237, -1.49584198,  3.168007  , -6.0589769 ,
  16.54259709, -1.00400748, -1.4486533 , -0.26753595, 24.29599026,
 -17.92545163,  1.24082849]

qfrc_actuator:
[ 2.58812242e-05,-2.14772595e-06,-1.01616773e-04,-2.12239495e-04,
  2.19052425e-05,-3.50288447e-04,-2.85515315e-04, 1.42730480e-06,
 -1.08903148e-05,-9.77172381e-05,-1.00474614e-04, 9.71345339e-05,
  6.68323980e-02,-5.32520311e-04, 3.98198229e-02,-4.37322411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006144854133668526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.35506434e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.35506434e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901853, -0.05176576,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69237651e-05,-9.69840041e-06,-1.97457748e-07,-1.04805071e-05,
  7.48672470e-06,-1.75619569e-06, 1.67496152e-05, 5.53663065e-05,
 -4.89302296e-06, 3.02895941e-05, 3.02681254e-05, 8.83744436e-06,
 -4.68055996e-04,-6.36176043e-05,-1.80545377e-04, 2.75609679e-05,
  9.59303975e-06,-1.99106625e-05,-7.84755630e+00, 6.68021094e-04,
  9.48554293e-03, 1.91261118e-06]


--- Step 270 ---
qpos:
[ 7.14112285e-03, 4.05557847e-03,-3.57961701e-03,-2.57357775e-02,
  6.04818079e-03,-2.90249516e-03,-1.77883982e-02, 1.15947347e-02,
  1.55513568e-02, 2.31410989e-03,-8.93520817e-03, 2.39498207e-02,
  6.37940920e-01,-1.00306638e-02, 4.20251047e-01, 6.31816937e-02,
  9.50251152e-02,-7.00879569e-02, 1.21387573e-01, 9.99995158e-01,
  2.06702405e-04, 2.24081612e-04, 3.09703758e-03]

qacc:
[  4.67160629,  1.43750151, -4.01548013,  2.32905437,  0.71663183,
   2.44565976,-13.05332567, 30.58920917,  2.57874298, -0.92493159,
   4.11501095, -8.35137063, -1.06794511,  1.02268619,  8.79301327,
 -34.31247241,  0.10677373,  1.86580646,  0.14766874,-31.8405849 ,
   2.46526321,  0.43902206]

qfrc_actuator:
[ 5.28421076e-05, 2.75696806e-05,-1.20605312e-04,-2.17900100e-04,
  2.59275378e-05,-3.62923960e-04,-2.99098983e-04, 4.98203004e-05,
  4.29000359e-06,-1.32059587e-04,-1.07704279e-04, 8.20415561e-05,
  6.67072144e-02,-5.50639538e-04, 3.97161227e-02,-4.57141174e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006180099959680191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49112082e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.49112082e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483917, -0.09301151,  0.06198499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74382700e-05, 2.38046167e-05,-2.13804302e-05,-6.28346299e-06,
  4.23259206e-06,-7.79050783e-06,-9.97180345e-06, 4.99716663e-05,
  1.50486965e-05,-1.07579202e-05, 3.06343550e-06,-1.25785173e-05,
 -4.61500057e-04,-8.30799812e-05,-1.84238554e-04,-2.20221228e-04,
 -6.29851584e-06,-2.28252687e-05,-7.84745988e+00, 7.19659998e-04,
  9.51189824e-03,-1.08543042e-06]


--- Step 271 ---
qpos:
[ 7.14158349e-03, 4.05611154e-03,-3.57992207e-03,-2.57379701e-02,
  6.04874114e-03,-2.90233897e-03,-1.77887322e-02, 1.15967518e-02,
  1.55517960e-02, 2.31344364e-03,-8.93542125e-03, 2.39506535e-02,
  6.39343814e-01,-1.00291995e-02, 4.21439576e-01, 6.31782897e-02,
  9.50362198e-02,-7.00922736e-02, 1.21388368e-01, 9.99995102e-01,
  2.41570782e-04, 3.18775979e-04, 3.10433968e-03]

qacc:
[-6.35197015e+00, 1.33744966e+00,-5.84301868e+00, 1.13396241e+01,
  3.78811958e-01, 3.19319245e-01,-3.27778577e-01,-2.02891225e+00,
  4.62821913e+00,-7.02046161e-01, 6.29670357e+00,-2.08419856e+01,
 -1.17496606e+00, 1.60150957e+00,-3.63943023e-01,-3.75896608e+00,
  1.07464160e-01, 1.83994394e+00, 5.87222366e-03,-3.13020489e+01,
  2.41429090e+00, 4.42250812e-01]

qfrc_actuator:
[ 1.49684103e-05, 2.72913145e-05,-1.31676354e-04,-2.02467602e-04,
  2.80850341e-05,-3.52734420e-04,-3.07080677e-04, 4.18884030e-05,
  3.10106387e-05,-1.34561318e-04,-1.29918876e-04, 3.69423000e-05,
  6.65816440e-02,-5.61990267e-04, 3.96111201e-02,-4.61613005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006216951051713493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33934989e-13,  2.67869977e-13,  1.00000000e+00,  3.58771624e-26,
        1.00000000e+00, -2.67869977e-13, -1.00000000e+00,  0.00000000e+00,
       -1.33934989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483946, -0.09301061,  0.0619849 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70857666e-05, 8.34488441e-06,-9.00546193e-06, 1.55932866e-05,
  2.27402163e-06, 5.91097576e-06,-9.09382446e-06,-7.64303531e-06,
  2.71429886e-05,-8.39794178e-06,-2.44923988e-05,-4.57022270e-05,
 -4.59900481e-04,-7.69014780e-05,-2.15885095e-04,-8.12827613e-05,
 -1.51348882e-06,-1.86209395e-05,-7.84771409e+00, 7.50852858e-04,
  9.54103681e-03,-3.08082044e-06]


--- Step 272 ---
qpos:
[ 7.14158719e-03, 4.05635590e-03,-3.58020424e-03,-2.57395809e-02,
  6.04932289e-03,-2.90186611e-03,-1.77895588e-02, 1.15986515e-02,
  1.55525520e-02, 2.31282058e-03,-8.93568670e-03, 2.39516114e-02,
  6.40744316e-01,-1.00281880e-02, 4.22625556e-01, 6.31746657e-02,
  9.50477571e-02,-7.00893199e-02, 1.21388686e-01, 9.99995046e-01,
  2.14731956e-04, 4.18028622e-04, 3.11254121e-03]

qacc:
[-4.01627778e+00, 7.60338071e-01,-5.70098560e+00, 1.59163081e+01,
  1.66351220e-01, 1.55274642e+00,-4.43474927e+00, 2.95971069e+00,
  2.78622948e+00, 4.55819169e-01,-2.08055422e+00, 4.30993365e+00,
 -8.35759892e-01,-2.20985557e-02,-3.09315447e+00, 5.36293405e+00,
  1.08156774e-01, 1.81757324e+00,-1.19293310e-01,-3.08465191e+01,
  2.37501598e+00, 4.39322713e-01]

qfrc_actuator:
[-7.50764340e-06,-8.65279753e-06,-1.38075027e-04,-1.74761366e-04,
  2.91289176e-05,-3.28988267e-04,-3.29381580e-04, 3.64116268e-05,
  4.65508885e-05,-1.18082900e-04,-1.25191869e-04, 4.55781534e-05,
  6.64612567e-02,-5.87024549e-04, 3.94948072e-02,-4.62323008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006224585414324885
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45902398e-14,  1.78360959e-13,  1.00000000e+00,  7.95315793e-27,
        1.00000000e+00, -1.78360959e-13, -1.00000000e+00,  0.00000000e+00,
       -4.45902398e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483965, -0.09301062,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.35276717e-05,-3.24952383e-05,-5.24147495e-06, 2.80615051e-05,
  1.11159877e-06, 2.48402263e-05,-2.24672431e-05,-5.69115792e-06,
  1.63091939e-05, 4.80006735e-06,-1.59805432e-06, 6.53811634e-06,
 -4.52726314e-04,-9.01031763e-05,-2.23931739e-04,-3.94388494e-05,
  4.94699187e-06,-1.45659097e-05,-7.84783459e+00, 7.62066243e-04,
  9.57166095e-03,-3.93954802e-06]


--- Step 273 ---
qpos:
[ 7.14201089e-03, 4.05657741e-03,-3.58067046e-03,-2.57405213e-02,
  6.05025782e-03,-2.90139970e-03,-1.77908398e-02, 1.16008553e-02,
  1.55534884e-02, 2.31257185e-03,-8.93610943e-03, 2.39533196e-02,
  6.42142406e-01,-1.00274477e-02, 4.23808202e-01, 6.31727177e-02,
  9.50597300e-02,-7.00791723e-02, 1.21388088e-01, 9.99994984e-01,
  1.26948110e-04, 5.21782797e-04, 3.12163233e-03]

qacc:
[  3.69206855,  1.85771562, -9.50252361, 21.41133918,  3.07680087,
   1.88050195, -8.01214114, 14.01778671,  1.57572402,  2.47575069,
 -11.28252852, 24.2482986 , -1.02899392,  0.97762783, -9.96812789,
  27.74710409,  0.10888235,  1.79850507, -0.22915007,-30.46553842,
   2.34569855,  0.43158367]

qfrc_actuator:
[ 1.47846745e-05, 5.36147217e-06,-1.41815087e-04,-1.40089715e-04,
  4.72623405e-05,-3.50624990e-04,-3.59888500e-04, 5.01887069e-05,
  5.53824822e-05,-7.24672851e-05,-1.22218067e-04, 8.58065981e-05,
  6.63387354e-02,-6.02178062e-04, 3.93292039e-02,-4.53714540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006208443782826784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94123442e-14,  2.68237033e-13,  1.00000000e+00,  2.39837019e-26,
        1.00000000e+00, -2.68237033e-13, -1.00000000e+00,  0.00000000e+00,
       -8.94123442e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09483976, -0.09301134,  0.06198492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16116247e-05,-4.04805625e-06,-1.01214251e-05, 3.36499575e-05,
  1.81749928e-05,-1.26420198e-05,-2.83409220e-05, 1.39497071e-05,
  9.29435909e-06, 4.82815444e-05, 4.00308565e-06, 4.05054082e-05,
 -4.51484374e-04,-8.03139480e-05,-2.71623619e-04, 5.51934801e-05,
  1.31428935e-05,-1.07004840e-05,-7.84782780e+00, 7.53590344e-04,
  9.60375250e-03,-3.67675476e-06]


--- Step 274 ---
qpos:
[ 7.14269803e-03, 4.05701230e-03,-3.58128479e-03,-2.57414176e-02,
  6.05071334e-03,-2.90134997e-03,-1.77922542e-02, 1.16025476e-02,
  1.55548684e-02, 2.31267077e-03,-8.93622946e-03, 2.39554671e-02,
  6.43538053e-01,-1.00265383e-02, 4.24987697e-01, 6.31734024e-02,
  9.50674601e-02,-7.00696233e-02, 1.21389174e-01, 9.99994922e-01,
  4.40398746e-05, 5.88626807e-04, 3.13177062e-03]

qacc:
[  2.31061553,  0.78233943, -2.57313679,  3.42161962, -4.19273591,
  -1.22244708,  5.73339847,-14.08076542,  3.9075141 ,  0.51006782,
  -3.01981937,  9.89638904, -1.52944857,  3.52357533,-12.57262316,
  37.28096515, -1.06066857, -0.14967034,  0.42123086,  2.37990968,
 -18.46253351,  0.52719547]

qfrc_actuator:
[ 2.77385815e-05, 3.14477676e-05,-1.43762212e-04,-1.37065420e-04,
  2.20512398e-05,-3.99294975e-04,-3.77407591e-04, 2.18857697e-05,
  7.79513406e-05,-4.52230185e-05,-1.02417688e-04, 1.08810269e-04,
  6.62203474e-02,-5.93650971e-04, 3.91980984e-02,-4.39695787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000621373751943044
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.58351063e-14, -4.46680851e-14,  1.00000000e+00,  2.49404728e-27,
        1.00000000e+00,  4.46680851e-14, -1.00000000e+00,  0.00000000e+00,
        5.58351063e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883565, -0.06841037,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35652633e-05, 2.31787781e-05,-2.86195693e-06, 3.15772399e-06,
 -2.46957029e-05,-6.09959539e-05,-2.31349111e-05,-2.95577697e-05,
  2.28470357e-05, 5.68226898e-05, 3.16728553e-05, 2.59970346e-05,
 -4.45194759e-04,-5.59338128e-05,-2.45558991e-04, 1.09127428e-04,
  2.30985539e-05,-6.97090571e-06,-7.84769876e+00, 7.25667698e-04,
  9.63729574e-03,-2.30544408e-06]


--- Step 275 ---
qpos:
[ 7.14284541e-03, 4.05753362e-03,-3.58186560e-03,-2.57426125e-02,
  6.05051836e-03,-2.90169919e-03,-1.77935918e-02, 1.16038714e-02,
  1.55568530e-02, 2.31328442e-03,-8.93616785e-03, 2.39578598e-02,
  6.44931255e-01,-1.00254834e-02, 4.26165133e-01, 6.31748980e-02,
  9.50711013e-02,-7.00660409e-02, 1.21390339e-01, 9.99994865e-01,
  1.14561636e-05, 6.18624254e-04, 3.14446056e-03]

qacc:
[-4.75191546e+00,-5.84959128e-01, 3.52452107e+00,-8.81795158e+00,
 -5.68343051e+00,-1.48865842e+00, 6.11877016e+00,-1.23487860e+01,
  5.31817189e+00, 6.67417500e-01,-2.44665989e+00, 6.04359384e+00,
 -1.52710100e+00, 3.46736028e+00,-5.46512730e+00, 1.47502849e+01,
 -1.02223709e+00,-1.49165356e+00, 1.94811736e-02, 2.51036860e+01,
 -1.85019355e+01, 1.29143437e+00]

qfrc_actuator:
[-4.27257322e-07, 2.90449367e-05,-1.44595889e-04,-1.52671373e-04,
 -1.07226071e-05,-4.10514224e-04,-3.69520709e-04, 4.53388844e-06,
  1.08427132e-04,-1.13719852e-05,-9.06710778e-05, 1.21489975e-04,
  6.60938774e-02,-5.88999913e-04, 3.91250754e-02,-4.35020408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006236621733491654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11260458e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.11260458e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901449, -0.05176777,  0.06198485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77730661e-05, 1.00987123e-05, 3.71331826e-06,-1.46492542e-05,
 -3.34985081e-05,-5.13706002e-05,-8.57143782e-06,-2.13411073e-05,
  3.11429753e-05, 7.32885873e-05, 2.82808187e-05, 1.67112408e-05,
 -4.45435842e-04,-5.74505941e-05,-1.70608099e-04, 2.17887980e-05,
  1.78824184e-05,-6.04006022e-06,-7.84781468e+00, 6.99158912e-04,
  9.65877823e-03,-4.31581667e-07]


--- Step 276 ---
qpos:
[ 7.14230926e-03, 4.05816433e-03,-3.58273799e-03,-2.57439651e-02,
  6.04993165e-03,-2.90219850e-03,-1.77949754e-02, 1.16052981e-02,
  1.55591877e-02, 2.31460376e-03,-8.93631869e-03, 2.39603885e-02,
  6.46321927e-01,-1.00242867e-02, 4.27340784e-01, 6.31781624e-02,
  9.50706966e-02,-7.00683552e-02, 1.21391078e-01, 9.99994820e-01,
  2.84132858e-05, 6.12443053e-04, 3.15976470e-03]

qacc:
[ -6.0279686 ,  0.64672751, -1.41067848, -0.9535523 , -3.42682706,
   0.14848343, -1.2402682 ,  3.193049  ,  3.06090175,  1.80029661,
  -5.64989169,  7.83316403, -1.56776023,  3.5174698 , -7.94982502,
  24.03706645, -1.01146881, -1.47416745, -0.1063027 , 24.71259957,
 -18.1671097 ,  1.32260249]

qfrc_actuator:
[-3.48144838e-05, 2.73428520e-05,-1.62636513e-04,-1.61377885e-04,
 -2.99186267e-05,-3.99114079e-04,-3.64299494e-04, 1.15670277e-05,
  1.25555928e-04, 2.61369722e-05,-1.01509367e-04, 1.27993473e-04,
  6.59519948e-02,-5.86718554e-04, 3.90656141e-02,-4.25222601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006245422195980399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.55518401e-14,  1.11103680e-14,  1.00000000e+00,  6.17201388e-28,
        1.00000000e+00, -1.11103680e-14, -1.00000000e+00,  0.00000000e+00,
       -5.55518401e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901398, -0.05176791,  0.06198483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51728655e-05, 4.06514863e-06,-1.59999673e-05,-8.42695764e-06,
 -2.01697409e-05,-1.99972212e-05,-7.16564377e-06, 4.12216514e-06,
  1.80398097e-05, 8.50392377e-05, 8.34967497e-06, 1.09402526e-05,
 -4.61041157e-04,-6.01527188e-05,-1.36698006e-04, 7.67595388e-05,
  7.73121588e-06,-5.29530187e-06,-7.84796767e+00, 6.88652479e-04,
  9.66813727e-03, 5.25109433e-07]


--- Step 277 ---
qpos:
[ 7.14067488e-03, 4.05898047e-03,-3.58387429e-03,-2.57454230e-02,
  6.04911890e-03,-2.90265906e-03,-1.77961208e-02, 1.16067530e-02,
  1.55617099e-02, 2.31650834e-03,-8.93653479e-03, 2.39626354e-02,
  6.47710149e-01,-1.00230526e-02, 4.28514573e-01, 6.31780020e-02,
  9.50662834e-02,-7.00765063e-02, 1.21390950e-01, 9.99994784e-01,
  9.42573353e-05, 5.70636030e-04, 3.17772821e-03]

qacc:
[ -9.67881135,  0.78487472, -1.9657418 ,  0.39335906, -1.97127133,
  -0.55264436,  1.93282898, -1.86270195,  1.63847602,  0.37266562,
   0.97757216, -6.1742442 , -1.44984382,  2.98631199,  7.60178705,
 -30.5643606 , -1.00215523, -1.45919026, -0.2167604 , 24.38623793,
 -17.89001914,  1.34514424]

qfrc_actuator:
[-9.03275075e-05, 4.37563117e-05,-1.72936982e-04,-1.65966145e-04,
 -4.09665145e-05,-3.74231584e-04,-3.42833140e-04, 1.51544768e-05,
  1.34689373e-04, 4.76911907e-05,-1.07824532e-04, 1.13049933e-04,
  6.58329151e-02,-5.85913448e-04, 3.89238008e-02,-4.44434305e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006230045054102795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.11377909e-13, -2.22755818e-14,  1.00000000e+00, -2.48100772e-27,
        1.00000000e+00,  2.22755818e-14, -1.00000000e+00,  0.00000000e+00,
       -1.11377909e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901398, -0.05176744,  0.06198487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.65104140e-05, 1.50009788e-05,-1.17149803e-05,-5.12665552e-06,
 -1.16309841e-05, 1.24208558e-05, 1.66155670e-05, 2.56469369e-06,
  9.67938148e-06, 7.12643257e-05, 1.26402486e-05,-1.08059675e-05,
 -4.49490515e-04,-6.41349559e-05,-1.98875666e-04,-2.06268662e-04,
 -3.96390129e-06, 1.59307408e-06,-7.84799496e+00, 6.93694648e-04,
  9.66558030e-03, 2.56001521e-07]


--- Step 278 ---
qpos:
[ 7.13873243e-03, 4.06003183e-03,-3.58490528e-03,-2.57469570e-02,
  6.04852470e-03,-2.90311700e-03,-1.77964370e-02, 1.16082021e-02,
  1.55643225e-02, 2.31868534e-03,-8.93668094e-03, 2.39647171e-02,
  6.49095965e-01,-1.00214862e-02, 4.29685866e-01, 6.31729509e-02,
  9.50577137e-02,-7.00871817e-02, 1.21391159e-01, 9.99994750e-01,
  1.80807629e-04, 4.93492981e-04, 3.19747588e-03]

qacc:
[ -2.71261561, -0.13494452,  1.26164124, -2.92779445,  1.93847133,
  -2.32811351,  8.32448926, -9.74518358,  0.79289269, -0.17727191,
   1.8496828 , -5.01974123, -1.76076196,  4.64549535, 11.09826861,
 -44.14382301, -1.03909897, -0.63108472,  0.08414605, 10.29641515,
 -17.70073701,  0.8996456 ]

qfrc_actuator:
[-1.04570003e-04, 7.09193069e-05,-1.60751764e-04,-1.68072749e-04,
 -2.93818861e-05,-3.59141110e-04,-2.94132903e-04, 1.67081215e-05,
  1.39047995e-04, 4.17581216e-05,-1.11488032e-04, 1.03354073e-04,
  6.57222752e-02,-5.68193864e-04, 3.87699280e-02,-4.69951533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006198159113238914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08682846e-06, -5.43414247e-07,  1.00000000e+00, -5.90598069e-13,
        1.00000000e+00,  5.43414247e-07, -1.00000000e+00,  0.00000000e+00,
       -1.08682846e-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([ 0.10889958, -0.06250509,  0.06198494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58426918e-05, 3.28847530e-05, 1.36744102e-05,-1.96271641e-06,
  1.12558962e-05, 2.56008773e-05, 5.34174059e-05, 2.71160393e-06,
  4.66469287e-06, 3.60062557e-05, 1.22176111e-05,-6.42350389e-06,
 -4.33664381e-04,-4.60206824e-05,-2.69214465e-04,-2.92670516e-04,
 -1.73962243e-05, 1.45155617e-05,-7.84790226e+00, 7.14078133e-04,
  9.65128437e-03,-1.21459544e-06]


--- Step 279 ---
qpos:
[ 7.13870377e-03, 4.06109481e-03,-3.58543497e-03,-2.57481582e-02,
  6.04807387e-03,-2.90350831e-03,-1.77964089e-02, 1.16093383e-02,
  1.55666228e-02, 2.32048336e-03,-8.93622692e-03, 2.39660236e-02,
  6.50479338e-01,-1.00196462e-02, 4.30854353e-01, 6.31687195e-02,
  9.50471546e-02,-7.00944551e-02, 1.21392582e-01, 9.99994718e-01,
  2.38483544e-04, 4.01055223e-04, 3.21653928e-03]

qacc:
[ 16.86208078, -0.73349786,  1.17726752,  3.83075377,  1.264161  ,
  -1.5202502 ,  6.86568047,-12.8771351 , -2.72339533, -3.76891938,
  15.99373554,-30.10027217, -1.6696627 ,  4.16743824, -6.59064785,
  17.09310738, -0.49734404,  0.85051087,  0.30359314,-14.46139753,
  -7.60121416, -0.34788286]

qfrc_actuator:
[-5.63788307e-06, 6.89027958e-05,-1.35338793e-04,-1.50924795e-04,
 -2.23245600e-05,-3.67657862e-04,-2.83036380e-04,-6.88538537e-07,
  1.22811252e-04,-1.60938701e-05,-9.59170109e-05, 6.12977999e-05,
  6.55901543e-02,-5.58388089e-04, 3.86888304e-02,-4.63463228e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006170586729213822
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49804481e-14,  7.00826868e-07,  1.00000000e+00,  3.15235066e-20,
        1.00000000e+00, -7.00826868e-07, -1.00000000e+00,  0.00000000e+00,
       -4.49804481e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1020241 , -0.0803901 ,  0.06198501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.84912009e-05, 1.90907758e-05, 3.38269526e-05, 1.89953220e-05,
  7.38556516e-06, 1.69697739e-05, 2.30639552e-05,-1.44003342e-05,
 -1.60847129e-05,-3.55404795e-05, 2.42653162e-05,-4.02243794e-05,
 -4.41678036e-04,-5.06021167e-05,-2.35157717e-04, 1.42851395e-05,
 -2.20793022e-05, 3.06187562e-05,-7.84778314e+00, 7.40903461e-04,
  9.62604887e-03,-3.19101366e-06]


--- Step 280 ---
qpos:
[ 7.13951591e-03, 4.06212809e-03,-3.58584940e-03,-2.57494575e-02,
  6.04771127e-03,-2.90377745e-03,-1.77964935e-02, 1.16099372e-02,
  1.55683660e-02, 2.32179189e-03,-8.93515111e-03, 2.39661389e-02,
  6.51860262e-01,-1.00176394e-02, 4.32020361e-01, 6.31704101e-02,
  9.50369745e-02,-7.00944358e-02, 1.21393567e-01, 9.99994690e-01,
  2.34581835e-04, 3.14158098e-04, 3.23516236e-03]

qacc:
[  7.40539936, -0.57803377,  2.39187688, -4.22221224,  0.76606698,
  -0.63105353,  4.75069745,-13.95813141, -4.87565088, -4.82745359,
  21.31960439,-42.5860904 , -1.51469078,  3.41375232,-21.50539884,
  69.98735484,  0.09473599,  1.82315131, -0.10957169,-30.77965082,
   2.86928226, -0.23316792]

qfrc_actuator:
[ 3.48319501e-05, 4.95080951e-05,-1.37932545e-04,-1.58107884e-04,
 -1.79958627e-05,-3.72651359e-04,-2.94348941e-04,-2.91459153e-05,
  9.45838463e-05,-5.12968858e-05,-6.93634872e-05, 5.01284937e-07,
  6.54612123e-02,-5.53404764e-04, 3.86408642e-02,-4.31045958e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006180574586063803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49077594e-14,  8.98155187e-14,  1.00000000e+00,  4.03341370e-27,
        1.00000000e+00, -8.98155187e-14, -1.00000000e+00,  0.00000000e+00,
       -4.49077594e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484589, -0.09301446,  0.06198499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32690578e-05,-9.14362049e-07, 6.16473296e-06,-4.82814676e-06,
  4.54528903e-06, 8.65667702e-06,-5.46317616e-06,-2.72143915e-05,
 -2.86896659e-05,-5.18605813e-05, 2.07828527e-05,-6.22696151e-05,
 -4.44489515e-04,-5.70410454e-05,-1.52432423e-04, 2.95012774e-04,
 -9.62899932e-06, 3.35058770e-05,-7.84780811e+00, 7.59033619e-04,
  9.59710868e-03,-4.29212642e-06]


--- Step 281 ---
qpos:
[ 7.14011769e-03, 4.06324471e-03,-3.58683057e-03,-2.57514896e-02,
  6.04740351e-03,-2.90400842e-03,-1.77966786e-02, 1.16102009e-02,
  1.55697571e-02, 2.32289824e-03,-8.93415991e-03, 2.39658824e-02,
  6.53238744e-01,-1.00155350e-02, 4.33184782e-01, 6.31738939e-02,
  9.50271776e-02,-7.00872045e-02, 1.21393674e-01, 9.99994665e-01,
  1.69835059e-04, 2.32480473e-04, 3.25369221e-03]

qacc:
[ -1.87149572,  0.18904331,  2.57978401,-14.4104604 ,  0.47590152,
  -0.35965891,  2.76936757, -8.43693019, -3.09715698, -0.79030188,
   4.01084486,-10.17449271, -1.47642434,  3.16196549, -7.73368115,
  23.70202004,  0.09579789,  1.80301824, -0.21931931,-30.41391474,
   2.70814631, -0.05679676]

qfrc_actuator:
[ 2.27792418e-05, 3.74757771e-05,-1.74897446e-04,-1.97344398e-04,
 -1.53065363e-05,-3.75613108e-04,-3.01034999e-04,-4.61375025e-05,
  7.72844483e-05,-5.48957861e-05,-7.19873967e-05,-1.75554724e-05,
  6.53342661e-02,-5.51317568e-04, 3.85595905e-02,-4.22670115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006169415567216924
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34966961e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.34966961e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09484687, -0.09301519,  0.06198501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08267640e-05,-1.14942383e-05,-3.65684951e-05,-3.91568644e-05,
  2.82355705e-06,-4.04502836e-07,-6.51015378e-06,-1.73401084e-05,
 -1.81255587e-05,-3.10399093e-05,-1.29564171e-05,-2.07759972e-05,
 -4.44949063e-04,-6.09974997e-05,-1.19375591e-04, 8.01985250e-05,
  8.82696537e-06, 2.59650021e-05,-7.84787698e+00, 7.57924260e-04,
  9.57049601e-03,-3.96114600e-06]


--- Step 282 ---
qpos:
[ 7.14091582e-03, 4.06413689e-03,-3.58760794e-03,-2.57536439e-02,
  6.04713046e-03,-2.90431680e-03,-1.77966224e-02, 1.16102501e-02,
  1.55709299e-02, 2.32375444e-03,-8.93350038e-03, 2.39657801e-02,
  6.54614732e-01,-1.00133443e-02, 4.34347280e-01, 6.31774406e-02,
  9.50177660e-02,-7.00728287e-02, 1.21392521e-01, 9.99994633e-01,
  4.48508432e-05, 1.55761539e-04, 3.27240860e-03]

qacc:
[  1.73858695, -1.12161218,  4.07707975, -6.34283511,  0.31254376,
  -1.21852759,  5.10157178, -9.14363402, -1.92651326,  0.91752279,
  -4.39561403,  7.77116167, -1.50808721,  3.20133943, -3.00702511,
   6.44009655,  0.09634711,  1.78611673, -0.31524917,-30.11051311,
   2.577346  ,  0.08586598]

qfrc_actuator:
[ 3.31857575e-05, 2.97597395e-05,-1.60838615e-04,-2.01881198e-04,
 -1.36027407e-05,-3.77320671e-04,-2.87159671e-04,-5.62368152e-05,
  6.65595789e-05,-7.51289882e-05,-9.16600847e-05,-1.03111643e-05,
  6.51979533e-02,-5.50965541e-04, 3.84423639e-02,-4.23217353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000613887587010184
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.52127982e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.52127982e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948476 , -0.09301648,  0.06198509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00959707e-05,-2.34032549e-05, 5.82952715e-06,-7.05192997e-06,
  1.78530652e-06,-4.01049026e-06, 1.23939242e-05,-1.06791926e-05,
 -1.12447986e-05,-4.12105941e-05,-2.84209669e-05, 5.05838951e-06,
 -4.55164360e-04,-6.32363935e-05,-1.66892712e-04,-1.74230301e-05,
  2.66581978e-05, 1.92307522e-05,-7.84782226e+00, 7.37357611e-04,
  9.54543631e-03,-2.53768486e-06]


--- Step 283 ---
qpos:
[ 7.14183244e-03, 4.06456021e-03,-3.58754217e-03,-2.57558493e-02,
  6.04687995e-03,-2.90459055e-03,-1.77967204e-02, 1.16101907e-02,
  1.55723104e-02, 2.32393371e-03,-8.93319189e-03, 2.39661677e-02,
  6.55988169e-01,-1.00107792e-02, 4.35507223e-01, 6.31832705e-02,
  9.50087405e-02,-7.00513642e-02, 1.21389772e-01, 9.99994570e-01,
 -1.39876265e-04, 8.37891689e-05, 3.29153850e-03]

qacc:
[  1.07771111, -3.08406876, 10.30569315,-12.1799094 ,  0.19171509,
   0.2531488 , -0.37895625, -1.27639095,  1.82760852,  1.09144994,
  -7.26439965, 16.80924882, -1.83820247,  4.79877177,-10.63081641,
  31.7829446 ,  0.09651812,  1.77218072, -0.39875366,-29.86355172,
   2.47103241,  0.20204141]

qfrc_actuator:
[ 3.89926086e-05, 7.15527573e-06,-1.16709380e-04,-2.03668178e-04,
 -1.24920741e-05,-3.78175405e-04,-2.96754371e-04,-6.21873154e-05,
  7.75390824e-05,-1.40719196e-04,-1.21281145e-04, 1.17364775e-05,
  6.50667647e-02,-5.33929770e-04, 3.83249560e-02,-4.11264486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000609304978124503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.11056913e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.11056913e-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([ 0.09484813, -0.0930182 ,  0.0619852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08386862e-06,-3.48067820e-05, 3.97717078e-05,-2.72078857e-06,
  1.16021671e-06,-9.83945288e-07,-9.26308140e-06,-5.90091214e-06,
  1.06499560e-05,-9.43281196e-05,-4.14751652e-05, 1.93941738e-05,
 -4.57689817e-04,-4.82506834e-05,-1.97829245e-04, 9.64831331e-05,
  4.47407301e-05, 1.31262516e-05,-7.84764805e+00, 6.97538424e-04,
  9.52190203e-03,-2.83114526e-08]


--- Step 284 ---
qpos:
[ 7.14212157e-03, 4.06474116e-03,-3.58727182e-03,-2.57580438e-02,
  6.04698949e-03,-2.90455582e-03,-1.77976245e-02, 1.16100708e-02,
  1.55738117e-02, 2.32338581e-03,-8.93321966e-03, 2.39671680e-02,
  6.57359157e-01,-1.00080160e-02, 4.36665103e-01, 6.31864715e-02,
  9.49955765e-02,-7.00359377e-02, 1.21387623e-01, 9.99994476e-01,
 -2.73720568e-04,-2.62223543e-05, 3.31246412e-03]

qacc:
[ -5.51289205, -0.85910342,  2.57049245, -2.5495963 ,  3.12017722,
   2.52818923, -8.17836837,  8.20369977,  1.06544854,  1.23822026,
  -8.40040698, 20.08293439, -1.63049442,  3.85532775,  4.9086438 ,
 -21.55987   , -1.03464056, -1.50949166,  0.14990181, 25.37858411,
 -19.10333896,  0.89737866]

qfrc_actuator:
[ 6.53371118e-06,-6.29541211e-06,-1.08516666e-04,-2.03827570e-04,
  6.01364021e-06,-3.60846899e-04,-3.37884648e-04,-6.56688019e-05,
  8.34500463e-05,-1.79738866e-04,-1.38966545e-04, 4.22687339e-05,
  6.49493973e-02,-5.24959017e-04, 3.81969139e-02,-4.25766119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00061555873944108
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.80360208e-13, -1.80360208e-13,  1.00000000e+00, -3.25298047e-26,
        1.00000000e+00,  1.80360208e-13, -1.00000000e+00,  0.00000000e+00,
       -1.80360208e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10901123, -0.05176489,  0.06198505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23007267e-05,-2.48284325e-05, 5.80553296e-06,-3.23559297e-07,
  1.85391371e-05, 1.46237795e-05,-4.26743575e-05,-3.95813261e-06,
  6.18244118e-06,-9.95076016e-05,-4.16133000e-05, 2.54301085e-05,
 -4.43576652e-04,-5.57491520e-05,-2.07841870e-04,-1.65187398e-04,
  6.37213621e-05, 7.61952932e-06,-7.84735743e+00, 6.38632538e-04,
  9.49986678e-03, 3.56136911e-06]


--- Step 285 ---
qpos:
[ 7.14236441e-03, 4.06481184e-03,-3.58722261e-03,-2.57602102e-02,
  6.04766497e-03,-2.90440096e-03,-1.77987135e-02, 1.16098912e-02,
  1.55750267e-02, 2.32269503e-03,-8.93318906e-03, 2.39684229e-02,
  6.58727846e-01,-1.00057943e-02, 4.37820483e-01, 6.31882331e-02,
  9.49783088e-02,-7.00264642e-02, 1.21385513e-01, 9.99994359e-01,
 -3.57567790e-04,-1.73484437e-04, 3.33529994e-03]

qacc:
[-4.12490013e-01, 5.31123599e-01,-2.22145742e+00, 3.13868783e+00,
  4.94454316e+00, 5.42728550e-01,-1.46976034e+00, 6.62675840e-01,
 -2.51486478e+00, 1.76990177e-01,-1.97133916e+00, 6.37959198e+00,
 -7.14419840e-01,-4.98918807e-01, 6.57373600e-01,-7.66155986e+00,
 -1.02591089e+00,-1.48827813e+00, 9.55286285e-03, 2.49367283e+01,
 -1.87082455e+01, 9.49378366e-01]

qfrc_actuator:
[ 5.07184559e-06,-1.42927827e-05,-1.21584549e-04,-2.03051921e-04,
  3.46098547e-05,-3.50648773e-04,-3.43964944e-04,-6.76733564e-05,
  6.85709898e-05,-1.31484679e-04,-1.13859662e-04, 5.98202698e-05,
  6.48297534e-02,-5.56305931e-04, 3.80785164e-02,-4.32662140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006195084260562506
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.79210319e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.79210319e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1090098 , -0.05176561,  0.06198495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38856687e-06,-2.07130805e-05,-1.74915783e-05,-8.77958546e-08,
  2.91328573e-05, 9.40774348e-06,-8.44392238e-06,-2.93029682e-06,
 -1.47390848e-05,-1.48722921e-05, 3.12297465e-07, 1.23413295e-05,
 -4.37023685e-04,-9.47656705e-05,-2.32727536e-04,-1.05189163e-04,
  5.84841841e-05, 2.24187687e-05,-7.84750924e+00, 5.95049334e-04,
  9.46455916e-03, 6.12521626e-06]


--- Step 286 ---
qpos:
[ 7.14293266e-03, 4.06459337e-03,-3.58727808e-03,-2.57619898e-02,
  6.04867828e-03,-2.90439812e-03,-1.77995083e-02, 1.16100358e-02,
  1.55763984e-02, 2.32244830e-03,-8.93318324e-03, 2.39698064e-02,
  6.60094210e-01,-1.00042343e-02, 4.38973355e-01, 6.31903841e-02,
  9.49658897e-02,-7.00197138e-02, 1.21385404e-01, 9.99994248e-01,
 -4.17014465e-04,-2.79097569e-04, 3.35440648e-03]

qacc:
[ 2.86624449, 0.70149058,-4.69407808,11.76926297, 2.96833447,-0.36098473,
 -0.38326052, 5.64729521, 1.37074975, 0.91812362,-2.96951941, 4.91222613,
 -0.57975502,-1.19620119,-4.87660897,11.6809136 , 1.21212995,-0.68074875,
  0.50050841,12.26933862,20.78433389,-1.85931111]

qfrc_actuator:
[ 2.18779899e-05,-3.68059538e-05,-1.29312287e-04,-1.83984206e-04,
  5.11578314e-05,-3.62416550e-04,-3.29313967e-04,-5.10158227e-05,
  7.70819680e-05,-6.66648647e-05,-9.88427908e-05, 6.96965078e-05,
  6.47034927e-02,-5.93430536e-04, 3.79819966e-02,-4.29682791e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006231340520316125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90838032e-14,  1.55896656e-13,  1.00000000e+00,  1.38878670e-26,
        1.00000000e+00, -1.55896656e-13, -1.00000000e+00,  0.00000000e+00,
       -8.90838032e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819289 , -0.06187267,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67319316e-05,-3.77122057e-05,-1.41597108e-05, 1.75785897e-05,
  1.73840320e-05,-8.35894915e-06, 1.54627544e-05, 1.67126947e-05,
  8.08460765e-06, 5.71170810e-05, 1.24170375e-05, 9.48940824e-06,
 -4.44340048e-04,-1.02557150e-04,-2.13966453e-04,-5.90584167e-06,
  5.30495020e-05, 4.26938218e-05,-7.84753131e+00, 5.67190665e-04,
  9.41706812e-03, 7.44485392e-06]


--- Step 287 ---
qpos:
[ 7.14266300e-03, 4.06408524e-03,-3.58743840e-03,-2.57631814e-02,
  6.04919252e-03,-2.90454242e-03,-1.78001329e-02, 1.16110775e-02,
  1.55782066e-02, 2.32222759e-03,-8.93308311e-03, 2.39706517e-02,
  6.61458306e-01,-1.00031392e-02, 4.40123769e-01, 6.31980468e-02,
  9.49582501e-02,-7.00156611e-02, 1.21386720e-01, 9.99994160e-01,
 -4.52682410e-04,-3.43771819e-04, 3.37003308e-03]

qacc:
[ -7.37375643,  1.13546132, -7.05473973, 17.56901031, -4.3588235 ,
   1.18477587, -8.27990481, 23.62759303,  3.8432479 , -1.3445196 ,
   7.10289855,-16.57193278, -0.72119211, -0.31735794,-20.25295876,
  65.61201177,  1.19487992, -0.67442758,  0.35598261, 11.95747818,
  20.43017032, -1.73478097]

qfrc_actuator:
[-2.17187585e-05,-5.00529760e-05,-1.33863930e-04,-1.54311216e-04,
  2.49733310e-05,-3.69387146e-04,-3.20381929e-04,-5.76842420e-06,
  9.92984740e-05,-9.89512406e-05,-1.07572763e-04, 3.94864741e-05,
  6.45999758e-02,-6.15932210e-04, 3.79253231e-02,-3.99600379e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006269963926299749
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.42675204e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.42675204e-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([ 0.08192941, -0.06187383,  0.06198477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.31337653e-05,-3.64907583e-05,-1.34705231e-05, 2.79143857e-05,
 -2.56920850e-05,-7.71994154e-06, 9.69692601e-06, 4.57503171e-05,
  2.24647328e-05, 2.63838782e-06, 4.92695555e-06,-2.71506162e-05,
 -4.27695134e-04,-8.96904279e-05,-1.54934103e-04, 2.72958607e-04,
  2.97630190e-05, 2.67539396e-05,-7.84776014e+00, 5.49140546e-04,
  9.38277197e-03, 7.99911840e-06]


--- Step 288 ---
qpos:
[ 7.14221792e-03, 4.06351893e-03,-3.58773884e-03,-2.57643810e-02,
  6.04904410e-03,-2.90467229e-03,-1.78009274e-02, 1.16119656e-02,
  1.55802672e-02, 2.32203213e-03,-8.93360854e-03, 2.39711800e-02,
  6.62820251e-01,-1.00026621e-02, 4.41271788e-01, 6.32112554e-02,
  9.49553302e-02,-7.00142831e-02, 1.21388949e-01, 9.99994104e-01,
 -4.65085833e-04,-3.68109931e-04, 3.38237964e-03]

qacc:
[-1.54759383e+00, 3.01423935e-01,-1.14696153e+00, 1.26898881e+00,
 -5.80457291e+00, 1.88828644e-01, 2.27345228e-02,-2.44239478e+00,
  2.20060059e+00, 1.12462406e+00,-2.62989573e+00,-1.86931413e+00,
 -4.86272007e-01,-1.29020377e+00,-2.02667541e+01, 6.57864046e+01,
  1.17994062e+00,-6.68674324e-01, 2.28466128e-01, 1.16996040e+01,
  2.01294978e+01,-1.63493466e+00]

qfrc_actuator:
[-2.95135679e-05,-3.98715029e-05,-1.36467885e-04,-1.54136176e-04,
 -8.39626268e-06,-3.73423496e-04,-3.32627656e-04,-1.50801807e-05,
  1.11643203e-04,-1.18250393e-04,-1.48412648e-04, 2.13451702e-05,
  6.44995323e-02,-6.47344936e-04, 3.78180820e-02,-3.71536564e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006279658470315641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41991802e-14, -2.20995901e-14,  1.00000000e+00, -9.76783764e-28,
        1.00000000e+00,  2.20995901e-14, -1.00000000e+00,  0.00000000e+00,
       -4.41991802e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192938, -0.06187449,  0.06198475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03122500e-06,-1.18021497e-05,-1.08215558e-05,-1.30393473e-06,
 -3.41085929e-05,-4.38874037e-06,-1.10548036e-05,-8.41610805e-06,
  1.29843917e-05,-1.79510318e-05,-4.06270105e-05,-1.83883522e-05,
 -4.10762402e-04,-9.55467907e-05,-1.48998569e-04, 2.75509976e-04,
  1.33733428e-05, 1.42191607e-05,-7.84791080e+00, 5.38467780e-04,
  9.36168052e-03, 8.30355804e-06]


--- Step 289 ---
qpos:
[ 7.14237240e-03, 4.06289387e-03,-3.58779562e-03,-2.57659414e-02,
  6.04884168e-03,-2.90490644e-03,-1.78020907e-02, 1.16127650e-02,
  1.55824599e-02, 2.32185609e-03,-8.93466665e-03, 2.39718270e-02,
  6.64179989e-01,-1.00025243e-02, 4.42418400e-01, 6.32194390e-02,
  9.49570791e-02,-7.00155594e-02, 1.21391645e-01, 9.99994083e-01,
 -4.54647437e-04,-3.52618068e-04, 3.39160660e-03]

qacc:
[  5.28621954, -1.51219644,  6.77969298,-13.33973695, -0.48242569,
   0.71076124, -2.35862633,  1.48941274,  1.14547712,  1.75661531,
  -6.73121373,  9.62727445, -0.93066666,  0.69172294, 13.0919852 ,
 -48.8228415 ,  1.1671986 , -0.66358298,  0.11670434, 11.4876363 ,
  19.87697281, -1.5547869 ]

qfrc_actuator:
[ 1.59809571e-06,-3.35011973e-05,-1.20073370e-04,-1.71299150e-04,
 -1.02084178e-05,-3.93554644e-04,-3.57307959e-04,-2.09302555e-05,
  1.18074373e-04,-1.12014225e-04,-1.72331070e-04, 2.81919763e-05,
  6.43850265e-02,-6.66012641e-04, 3.76805833e-02,-3.99940952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006265792755717481
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32890969e-13,  2.21484948e-14,  1.00000000e+00,  2.94333492e-27,
        1.00000000e+00, -2.21484948e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32890969e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192891, -0.06187476,  0.06198478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.08538705e-05,-2.49536880e-06, 1.25927191e-05,-1.80630190e-05,
 -2.78735464e-06,-2.52291623e-05,-2.72296164e-05,-6.58298663e-06,
  6.79515800e-06,-1.29591721e-05,-3.32579778e-05, 4.31420164e-06,
 -4.13630949e-04,-8.09911465e-05,-1.76537033e-04,-2.88344621e-04,
  3.20323597e-06, 4.59627161e-06,-7.84798774e+00, 5.35039907e-04,
  9.35357963e-03, 8.35764926e-06]


--- Step 290 ---
qpos:
[ 7.14255349e-03, 4.06227539e-03,-3.58768702e-03,-2.57676986e-02,
  6.04930867e-03,-2.90527963e-03,-1.78038554e-02, 1.16142000e-02,
  1.55847128e-02, 2.32129608e-03,-8.93503174e-03, 2.39725173e-02,
  6.65537366e-01,-1.00022035e-02, 4.43562803e-01, 6.32241922e-02,
  9.49634541e-02,-7.00194725e-02, 1.21394418e-01, 9.99994094e-01,
 -4.21711863e-04,-2.97715574e-04, 3.39784295e-03]

qacc:
[ 2.39208396e-01,-8.59283487e-01, 3.90370163e+00,-7.57128588e+00,
  5.84188643e+00, 2.79313746e+00,-1.29299780e+01, 2.50174298e+01,
  5.58913911e-01,-2.35627341e+00, 7.48019655e+00,-7.55310922e+00,
 -1.58096917e+00, 3.68629779e+00, 7.11221540e+00,-2.95844748e+01,
  1.15651622e+00,-6.59200100e-01, 1.93273058e-02, 1.13148349e+01,
  1.96677331e+01,-1.49036242e+00]

qfrc_actuator:
[ 2.09093060e-06,-2.93937288e-05,-1.10360152e-04,-1.80756317e-04,
  2.43229270e-05,-4.05477108e-04,-3.89182236e-04, 1.07983774e-05,
  1.20976732e-04,-1.25966381e-04,-1.32681382e-04, 3.19700246e-05,
  6.42568401e-02,-6.59312188e-04, 3.75675336e-02,-4.17009437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006233048802344876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.4529694e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.4529694e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819281 , -0.06187472,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37084880e-06, 4.57658130e-06, 1.01338215e-05,-9.47643373e-06,
  3.44442802e-05,-3.19174716e-05,-4.06527988e-05, 2.95786084e-05,
  3.09054614e-06,-2.78574157e-05, 3.30405882e-05, 2.15733665e-06,
 -4.27678487e-04,-5.50605696e-05,-2.28985937e-04,-2.10294253e-04,
 -1.23840610e-06,-2.49327452e-06,-7.84799441e+00, 5.38745582e-04,
  9.35829156e-03, 8.16138541e-06]


--- Step 291 ---
qpos:
[ 7.14273939e-03, 4.06174919e-03,-3.58779518e-03,-2.57691945e-02,
  6.05053067e-03,-2.90573095e-03,-1.78057510e-02, 1.16156179e-02,
  1.55869829e-02, 2.32063925e-03,-8.93503102e-03, 2.39735779e-02,
  6.66892250e-01,-1.00013843e-02, 4.44704685e-01, 6.32287653e-02,
  9.49744201e-02,-7.00260078e-02, 1.21396931e-01, 9.99994128e-01,
 -3.66556888e-04,-2.03743739e-04, 3.40119252e-03]

qacc:
[ 0.03407137, 1.26583934,-5.43591674,10.22755647, 6.60420731, 0.21446101,
 -0.86501813, 0.86132101, 0.16391085,-0.38827893,-0.36549193, 6.26218859,
 -1.97493856, 5.45312352,-3.143339  , 5.66201774, 1.14774606,-0.65554014,
 -0.0650573 ,11.17558565,19.49741807,-1.43849005]

qfrc_actuator:
[ 2.29823181e-06,-2.66858135e-05,-1.22427511e-04,-1.67857064e-04,
  6.22059175e-05,-3.94645255e-04,-3.89487381e-04, 1.11275834e-05,
  1.21780792e-04,-1.16130665e-04,-1.09161342e-04, 5.16873691e-05,
  6.41205386e-02,-6.37777458e-04, 3.74746019e-02,-4.16583246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006185482387983249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.97442556e-14, -2.24360639e-14,  1.00000000e+00, -2.01350785e-27,
        1.00000000e+00,  2.24360639e-14, -1.00000000e+00,  0.00000000e+00,
       -8.97442556e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192701, -0.06187442,  0.06198498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50009086e-07, 6.97933010e-06,-1.01922968e-05, 1.32662217e-05,
  3.88563164e-05,-1.41026029e-05,-1.08615434e-05,-1.86944636e-06,
  8.78712797e-07, 1.20634976e-06, 2.19214524e-05, 1.97096060e-05,
 -4.42164131e-04,-4.04433030e-05,-2.21203318e-04,-3.70124501e-05,
 -2.94332008e-07,-7.34605038e-06,-7.84793350e+00, 5.49492249e-04,
  9.37567037e-03, 7.71512567e-06]


--- Step 292 ---
qpos:
[ 7.14292655e-03, 4.06110732e-03,-3.58797775e-03,-2.57701616e-02,
  6.05185259e-03,-2.90626970e-03,-1.78073840e-02, 1.16170021e-02,
  1.55892449e-02, 2.32008115e-03,-8.93509356e-03, 2.39748709e-02,
  6.68244637e-01,-9.99993576e-03, 4.45844786e-01, 6.32324948e-02,
  9.49899490e-02,-7.00351534e-02, 1.21398893e-01, 9.99994170e-01,
 -2.89402747e-04,-7.09735714e-05, 3.40173908e-03]

qacc:
[ 1.09288747e-02, 1.14404995e+00,-6.52740832e+00, 1.58689983e+01,
  8.84067586e-01,-9.20447036e-01, 3.25425145e+00,-4.19199545e+00,
 -7.50141424e-02, 7.85776842e-01,-3.59315893e+00, 7.64255772e+00,
 -2.13671423e+00, 6.21543866e+00,-4.77922133e-02,-3.57671117e+00,
  1.14074003e+00,-6.52596246e-01,-1.37806397e-01, 1.10652150e+01,
  1.93621558e+01,-1.39663837e+00]

qfrc_actuator:
[ 2.34536451e-06,-4.26585765e-05,-1.29494614e-04,-1.41923253e-04,
  6.62412709e-05,-3.87918738e-04,-3.71081054e-04, 1.07681366e-05,
  1.21344938e-04,-1.09908406e-04,-1.13021720e-04, 6.28713348e-05,
  6.39954423e-02,-6.07730635e-04, 3.74151518e-02,-4.20050172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006126583451370182
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53035135e-14, -4.53035135e-14,  1.00000000e+00, -2.05240834e-27,
        1.00000000e+00,  4.53035135e-14, -1.00000000e+00,  0.00000000e+00,
       -4.53035135e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192571, -0.06187394,  0.06198512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85971248e-08,-1.35838727e-05,-6.41130346e-06, 2.61431052e-05,
  5.14105375e-06,-3.43412463e-06, 1.41135301e-05,-1.37552999e-06,
 -4.14038595e-07, 1.22985955e-05,-2.21519441e-07, 1.23772595e-05,
 -4.38978503e-04,-3.30819613e-05,-1.64423544e-04,-6.51790029e-05,
  5.81286280e-06,-1.02011493e-05,-7.84780705e+00, 5.67204039e-04,
  9.40559808e-03, 7.01948331e-06]


--- Step 293 ---
qpos:
[ 7.14276803e-03, 4.06017388e-03,-3.58814654e-03,-2.57707935e-02,
  6.05286787e-03,-2.90658342e-03,-1.78092032e-02, 1.16183616e-02,
  1.55914842e-02, 2.31935894e-03,-8.93537218e-03, 2.39766781e-02,
  6.69594508e-01,-9.99775088e-03, 4.46982802e-01, 6.32360963e-02,
  9.50014540e-02,-7.00500884e-02, 1.21399851e-01, 9.99994190e-01,
 -1.63459768e-04, 2.59763223e-05, 3.40469795e-03]

qacc:
[ -3.03713326,  0.27252498, -2.93264635,  8.90899616, -2.6931409 ,
   0.77198974, -2.20816205,  1.90439241, -0.20236069,  1.44625488,
  -7.6423095 , 17.00923201, -2.25900581,  6.78434476, -2.65177889,
   4.89170252, -1.00599395, -1.44732471, -0.25085336, 24.33343326,
 -17.99336603,  1.19926916]

qfrc_actuator:
[-1.54545984e-05,-6.96687220e-05,-1.33617202e-04,-1.26293350e-04,
  5.03211317e-05,-3.65862233e-04,-3.77294282e-04, 1.00190788e-05,
  1.20183517e-04,-1.41516314e-04,-1.33027605e-04, 8.66777559e-05,
  6.38665076e-02,-5.72906934e-04, 3.73172311e-02,-4.20453629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006075470514096959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19922211e-13, -6.28163965e-14,  1.00000000e+00, -7.53308119e-27,
        1.00000000e+00,  6.28163965e-14, -1.00000000e+00,  0.00000000e+00,
       -1.19922211e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900811, -0.05176149,  0.06198524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.78014614e-05,-3.47839601e-05,-6.80178836e-06, 1.53394749e-05,
 -1.57749724e-05, 2.30298171e-05,-5.20936474e-06,-4.33022250e-07,
 -1.17096898e-06,-2.42207168e-05,-1.70577454e-05, 2.45656427e-05,
 -4.39360575e-04,-2.74987278e-05,-1.83059287e-04,-2.95412006e-05,
  1.69597039e-05,-1.12585992e-05,-7.84761651e+00, 5.91819899e-04,
  9.44798132e-03, 6.07524441e-06]


--- Step 294 ---
qpos:
[ 7.14205249e-03, 4.05898920e-03,-3.58832179e-03,-2.57719271e-02,
  6.05333954e-03,-2.90666599e-03,-1.78110918e-02, 1.16193472e-02,
  1.55936927e-02, 2.31791136e-03,-8.93562443e-03, 2.39791586e-02,
  6.70941896e-01,-9.99510142e-03, 4.48118228e-01, 6.32386908e-02,
  9.50089696e-02,-7.00707732e-02, 1.21399455e-01, 9.99994182e-01,
  1.07595316e-05, 8.75973977e-05, 3.41015621e-03]

qacc:
[ -4.89940359, -1.337795  ,  6.4176138 ,-14.91149999, -4.76321748,
  -0.26115699,  2.9695891 , -9.51894815, -0.25838163,  0.35400308,
  -5.49481142, 17.63688989, -1.94381922,  5.26349589, -0.75320056,
  -2.85499276, -0.99734293, -1.43747974, -0.33882732, 24.07784411,
 -17.74669356,  1.24747832]

qfrc_actuator:
[-4.36164014e-05,-8.53264880e-05,-1.36031504e-04,-1.52369100e-04,
  2.27942985e-05,-3.52637862e-04,-3.80182823e-04,-8.71201904e-06,
  1.18604462e-04,-2.13351610e-04,-1.44790045e-04, 1.17682740e-04,
  6.37353615e-02,-5.53328484e-04, 3.71696906e-02,-4.26157874e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006047091950726613
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37697140e-13, -9.17980935e-14,  1.00000000e+00, -1.26403350e-26,
        1.00000000e+00,  9.17980935e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37697140e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900838, -0.05176078,  0.06198531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86766448e-05,-3.58253067e-05,-9.89043661e-06,-2.74971639e-05,
 -2.79692520e-05, 2.50321921e-05, 1.23419513e-06,-1.79305917e-05,
 -1.62332353e-06,-8.78183941e-05,-1.80065890e-05, 2.98535733e-05,
 -4.41035103e-04,-4.25254627e-05,-2.36143298e-04,-8.26925971e-05,
  3.87661559e-06,-1.73930700e-05,-7.84758949e+00, 6.32359095e-04,
  9.47832815e-03, 3.88194578e-06]


--- Step 295 ---
qpos:
[ 7.14134962e-03, 4.05789550e-03,-3.58869117e-03,-2.57733954e-02,
  6.05347753e-03,-2.90664029e-03,-1.78126833e-02, 1.16200909e-02,
  1.55951746e-02, 2.31623608e-03,-8.93615570e-03, 2.39812583e-02,
  6.72286904e-01,-9.99282518e-03, 4.49251501e-01, 6.32378209e-02,
  9.50169008e-02,-7.00839964e-02, 1.21399616e-01, 9.99994145e-01,
  1.21263597e-04, 1.53972638e-04, 3.41644215e-03]

qacc:
[ 1.03694684e-01,-2.64169932e-02, 1.67817941e+00,-7.21936594e+00,
 -2.91278863e+00,-1.17857826e+00, 5.44124987e+00,-1.01927153e+01,
 -6.39809396e+00,-2.92529036e-01, 2.23588641e+00,-8.23626991e+00,
 -9.82903823e-01, 6.56706451e-01, 7.28643407e+00,-3.01011859e+01,
  1.03906603e-01, 1.86542975e+00, 1.39555389e-01,-3.18493620e+01,
  2.48571373e+00, 4.11067797e-01]

qfrc_actuator:
[-4.21404207e-05,-5.85912719e-05,-1.37406110e-04,-1.67260067e-04,
  6.41568251e-06,-3.44808900e-04,-3.63366263e-04,-2.01205285e-05,
  8.12869370e-05,-2.02180630e-04,-1.51762431e-04, 9.93843756e-05,
  6.36029762e-02,-5.78425205e-04, 3.70617341e-02,-4.43825896e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006008298024034187
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.38586213e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.38586213e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485363, -0.09302258,  0.0619854 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.54712064e-07, 3.52142264e-06,-1.09229244e-05,-1.72956917e-05,
 -1.71682541e-05, 2.13266541e-05, 2.15405663e-05,-1.06387830e-05,
 -3.73991649e-05,-4.03215343e-05,-2.62807864e-05,-2.21050567e-05,
 -4.45667216e-04,-8.86523889e-05,-2.24369931e-04,-2.11532301e-04,
 -1.09405488e-05,-1.79194160e-05,-7.84744548e+00, 6.88059554e-04,
  9.49703544e-03, 5.04839146e-07]


--- Step 296 ---
qpos:
[ 7.14135947e-03, 4.05710893e-03,-3.58922243e-03,-2.57750615e-02,
  6.05341764e-03,-2.90626020e-03,-1.78138887e-02, 1.16206537e-02,
  1.55958524e-02, 2.31478013e-03,-8.93700554e-03, 2.39827214e-02,
  6.73629599e-01,-9.99116736e-03, 4.50382883e-01, 6.32356513e-02,
  9.50252501e-02,-7.00898569e-02, 1.21399794e-01, 9.99994100e-01,
  1.69103672e-04, 2.24985203e-04, 3.42359549e-03]

qacc:
[ 6.26317272e+00, 4.38778263e-01,-1.62807232e-01,-3.20267713e+00,
 -1.72559122e+00,-9.79614955e-01, 4.94281013e+00,-8.96022868e+00,
 -7.09125177e+00,-1.16483618e-01, 3.54775309e+00,-1.42435401e+01,
 -6.55838843e-01,-8.14113503e-01, 1.13088771e+00,-8.01699979e+00,
  1.04540356e-01, 1.84065479e+00, 4.04928631e-03,-3.13239571e+01,
  2.42574578e+00, 4.28609886e-01]

qfrc_actuator:
[-5.47602715e-06,-2.44146130e-05,-1.37966639e-04,-1.75406569e-04,
 -3.26646300e-06,-3.04681502e-04,-3.35065261e-04,-2.71180281e-05,
  4.09868996e-05,-1.59166055e-04,-1.55565936e-04, 7.00413238e-05,
  6.34859048e-02,-6.11922428e-04, 3.70095363e-02,-4.48858254e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006057436134142558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58206657e-14,  2.74923994e-13,  1.00000000e+00,  1.25972004e-26,
        1.00000000e+00, -2.74923994e-13, -1.00000000e+00,  0.00000000e+00,
       -4.58206657e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.094854  , -0.09302133,  0.06198529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66895091e-05, 3.31988388e-05,-1.75563119e-06,-8.70371768e-06,
 -1.01656201e-05, 5.60566056e-05, 3.50087979e-05,-5.54273733e-06,
 -4.13800960e-05, 1.41443769e-05,-1.61102584e-05,-3.24084670e-05,
 -4.40068233e-04,-1.01268294e-04,-1.78779907e-04,-9.11278003e-05,
 -6.40035520e-06,-1.47795624e-05,-7.84773039e+00, 7.23398314e-04,
  9.51862197e-03,-1.66349380e-06]


--- Step 297 ---
qpos:
[ 7.14180882e-03, 4.05646640e-03,-3.58973870e-03,-2.57764586e-02,
  6.05358697e-03,-2.90559462e-03,-1.78146743e-02, 1.16204436e-02,
  1.55967313e-02, 2.31351925e-03,-8.93769895e-03, 2.39841358e-02,
  6.74969960e-01,-9.98959342e-03, 4.51511528e-01, 6.32362399e-02,
  9.50340200e-02,-7.00884411e-02, 1.21399506e-01, 9.99994055e-01,
  1.55171714e-04, 3.00543414e-04, 3.43163958e-03]

qacc:
[  3.8669678 ,  0.69494252, -3.34754548,  7.88080919,  2.01363611,
  -2.39004846, 12.32662   ,-26.57903805,  1.77183977, -0.28303703,
   1.58284818, -2.81259701, -1.21576295,  1.9636876 ,-12.34469206,
  37.36257072,  0.10512728,  1.81909305, -0.11620421,-30.8781529 ,
   2.37862598,  0.43803517]

qfrc_actuator:
[ 1.60910462e-05,-2.15309026e-05,-1.37993327e-04,-1.61756670e-04,
  8.81955970e-06,-2.98722373e-04,-3.17834211e-04,-6.69383102e-05,
  5.25235839e-05,-1.32906517e-04,-1.39564337e-04, 6.99848173e-05,
  6.33781014e-02,-6.14560218e-04, 3.68949838e-02,-4.33960269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006077402378379532
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56701299e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.56701299e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485425, -0.09302099,  0.06198524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.26244958e-05, 2.07642020e-05, 6.33056206e-06, 1.48463830e-05,
  1.18139748e-05, 4.42948383e-05, 3.29392336e-05,-3.63136409e-05,
  1.03627959e-05, 2.94996181e-05, 1.58436831e-05,-6.34779798e-07,
 -4.28399872e-04,-7.07335682e-05,-2.08534727e-04, 1.20341858e-04,
 -3.26494789e-07,-1.17379201e-05,-7.84788106e+00, 7.38743893e-04,
  9.54169341e-03,-2.69665672e-06]


--- Step 298 ---
qpos:
[ 7.14216875e-03, 4.05575636e-03,-3.59016350e-03,-2.57773137e-02,
  6.05389995e-03,-2.90486774e-03,-1.78151170e-02, 1.16197927e-02,
  1.55980858e-02, 2.31282858e-03,-8.93836345e-03, 2.39851527e-02,
  6.76307956e-01,-9.98801266e-03, 4.52637208e-01, 6.32406182e-02,
  9.50432127e-02,-7.00798228e-02, 1.21398330e-01, 9.99994006e-01,
  8.02160635e-05, 3.80576804e-04, 3.44058494e-03]

qacc:
[ -0.78280508,  0.77275107, -5.16471575, 14.43258027,  1.26653325,
  -1.78649328,  8.34464384,-16.56271196,  4.17622857, -0.15384896,
   3.30657253,-10.63819827, -1.32413792,  2.45024635,-15.79242218,
  48.94302157,  0.10570799,  1.80061058, -0.22226878,-30.50412128,
   2.34235283,  0.44112234]

qfrc_actuator:
[ 1.08352100e-05,-3.73827172e-05,-1.37811828e-04,-1.35416656e-04,
  1.58659124e-05,-3.13337041e-04,-3.07433214e-04,-9.02826977e-05,
  7.67259587e-05,-8.12582302e-05,-1.29779864e-04, 5.16617241e-05,
  6.32546409e-02,-6.16722128e-04, 3.67591399e-02,-4.14558931e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006073438855298541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.13998684e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.13998684e-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([ 0.09485441, -0.09302137,  0.06198525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.60405454e-06,-2.25845198e-06, 5.77865601e-06, 2.77418975e-05,
  7.39951488e-06, 1.53920228e-05, 2.23525552e-05,-2.10129958e-05,
  2.45020469e-05, 7.14472120e-05, 1.78277444e-05,-1.65221040e-05,
 -4.31469443e-04,-6.64580839e-05,-2.17358756e-04, 1.73942261e-04,
  7.41298910e-06,-8.87105988e-06,-7.84790384e+00, 7.34380698e-04,
  9.56623149e-03,-2.60894286e-06]


--- Step 299 ---
qpos:
[ 7.14177340e-03, 4.05472581e-03,-3.59015654e-03,-2.57778371e-02,
  6.05429517e-03,-2.90410615e-03,-1.78157000e-02, 1.16195955e-02,
  1.55997200e-02, 2.31256164e-03,-8.93884733e-03, 2.39856047e-02,
  6.77643604e-01,-9.98673570e-03, 4.53761175e-01, 6.32421737e-02,
  9.50481833e-02,-7.00737743e-02, 1.21398487e-01, 9.99993954e-01,
  2.68149201e-05, 4.23498288e-04, 3.45123821e-03]

qacc:
[ -6.62916618, -0.93450585,  1.34128772,  3.91704323,  0.71491557,
   1.37006517, -6.73670013, 14.79034996,  2.45908138, -1.11252753,
   7.15619307,-17.5246948 , -1.04470918,  1.0069877 ,  6.00173537,
 -24.65511313, -1.0555475 , -0.64243845,  0.33343047, 10.71302062,
 -18.59285333,  0.85954341]

qfrc_actuator:
[-2.79138748e-05,-6.43219175e-05,-1.19835261e-04,-1.19595769e-04,
  1.98823374e-05,-3.22433385e-04,-3.18973953e-04,-6.82592805e-05,
  9.04201997e-05,-6.80877471e-05,-1.23660736e-04, 2.27470306e-05,
  6.31271986e-02,-6.36408304e-04, 3.66585724e-02,-4.29949592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006073389628916118
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.58776923e-07, -7.93883756e-08,  1.00000000e+00, -1.26050420e-14,
        1.00000000e+00,  7.93883756e-08, -1.00000000e+00, -1.57772181e-30,
       -1.58776923e-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([ 0.10889704, -0.06250115,  0.06198525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.88791737e-05,-2.57908403e-05, 1.91964397e-05, 1.64688420e-05,
  4.23317127e-06, 3.21015611e-06,-6.33730624e-06, 2.30480307e-05,
  1.44126003e-05, 5.61421113e-05, 2.25157276e-05,-2.55575578e-05,
 -4.36958544e-04,-8.42467914e-05,-1.79461284e-04,-1.71963189e-04,
  1.68974233e-05,-6.15758988e-06,-7.84780376e+00, 7.10547182e-04,
  9.59222004e-03,-1.41267190e-06]


--- Step 300 ---
qpos:
[ 7.14126156e-03, 4.05360242e-03,-3.58996982e-03,-2.57785238e-02,
  6.05473585e-03,-2.90377129e-03,-1.78159326e-02, 1.16200349e-02,
  1.56015062e-02, 2.31235762e-03,-8.93937210e-03, 2.39861145e-02,
  6.78976871e-01,-9.98565278e-03, 4.54883629e-01, 6.32384724e-02,
  9.50490906e-02,-7.00736457e-02, 1.21398392e-01, 9.99993906e-01,
  2.32981590e-05, 4.29884293e-04, 3.46439604e-03]

qacc:
[ -1.0181224 , -0.95940343,  3.93288534, -6.97491198,  0.41647931,
  -0.23299156, -2.67693551, 13.45132701,  1.33494791,  0.31400418,
  -1.24789622,  2.27381272, -1.21419823,  1.73238477, 13.6400565 ,
 -50.95662702, -1.01579242, -1.47998488, -0.06321122, 24.87846365,
 -18.35367708,  1.26331948]

qfrc_actuator:
[-3.27993771e-05,-6.21282857e-05,-1.09311162e-04,-1.27845547e-04,
  2.20847629e-05,-3.63721909e-04,-3.07828359e-04,-3.74858815e-05,
  9.78152654e-05,-9.58381810e-05,-1.37656702e-04, 2.33089933e-05,
  6.30027767e-02,-6.48548517e-04, 3.65738389e-02,-4.56829480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006103171136328384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.82159528e-14,  3.41079764e-14,  1.00000000e+00, -2.32670811e-27,
        1.00000000e+00, -3.41079764e-14, -1.00000000e+00,  0.00000000e+00,
        6.82159528e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900522, -0.05176197,  0.06198518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.99683461e-06,-7.53233751e-06, 8.14613265e-06,-8.36423732e-06,
  2.32378215e-06,-3.98337148e-05, 1.18237464e-05, 3.11400851e-05,
  7.82304093e-06, 7.22481485e-06,-5.01180416e-07, 3.24996294e-06,
 -4.40367587e-04,-7.89668934e-05,-1.88460383e-04,-3.02134660e-04,
  1.10524971e-05,-5.36988064e-06,-7.84792308e+00, 6.93433578e-04,
  9.60595441e-03,-1.10457324e-07]


--- Step 301 ---
qpos:
[ 7.14103948e-03, 4.05294214e-03,-3.59042729e-03,-2.57800090e-02,
  6.05485454e-03,-2.90369388e-03,-1.78160692e-02, 1.16211811e-02,
  1.56030221e-02, 2.31238335e-03,-8.94010813e-03, 2.39866182e-02,
  6.80307689e-01,-9.98435299e-03, 4.56003470e-01, 6.32365392e-02,
  9.50459716e-02,-7.00793766e-02, 1.21397596e-01, 9.99993862e-01,
  6.89732266e-05, 4.00329345e-04, 3.48011711e-03]

qacc:
[  2.52183834,  0.76346606,  1.52260026,-14.63116141, -2.80989643,
   0.85175802, -6.50602321, 18.76663718, -2.38851042,  0.88594423,
  -2.68388299,  2.7357553 , -1.63145246,  3.75044853, -9.16352044,
  26.51947971, -1.00660147, -1.46487283, -0.17504616, 24.53295663,
 -18.0555486 ,  1.29259765]

qfrc_actuator:
[-1.77034256e-05,-2.48017743e-05,-1.38684506e-04,-1.67928097e-04,
  5.45003708e-06,-3.70620301e-04,-3.01258151e-04,-1.82695299e-06,
  8.36940269e-05,-7.69393250e-05,-1.45819848e-04, 2.34074878e-05,
  6.28802545e-02,-6.38396763e-04, 3.64879980e-02,-4.45864999e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006107220535753882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54471481e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.54471481e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900482, -0.05176199,  0.06198517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49265257e-05, 3.44783760e-05,-3.02019707e-05,-4.02821822e-05,
 -1.65840110e-05,-2.54062973e-05, 8.74407853e-07, 3.49659938e-05,
 -1.38976520e-05, 2.29955431e-05,-6.61113851e-06, 4.54527903e-07,
 -4.40177588e-04,-5.69014508e-05,-2.08408315e-04, 6.78552256e-05,
  9.64222825e-07,-1.35382436e-06,-7.84799909e+00, 6.92066613e-04,
  9.60760273e-03, 1.15954097e-07]


--- Step 302 ---
qpos:
[ 7.14065524e-03, 4.05243158e-03,-3.59088693e-03,-2.57819671e-02,
  6.05477274e-03,-2.90362310e-03,-1.78162246e-02, 1.16227212e-02,
  1.56043569e-02, 2.31290875e-03,-8.94110644e-03, 2.39874327e-02,
  6.81636126e-01,-9.98292096e-03, 4.57120998e-01, 6.32361743e-02,
  9.50388577e-02,-7.00909155e-02, 1.21395707e-01, 9.99993811e-01,
  1.63266042e-04, 3.35322467e-04, 3.49844355e-03]

qacc:
[ -1.43031825, -0.76734489,  5.01973444,-13.30586723, -1.75460296,
   0.857478  , -4.72712313, 11.57173809, -1.61107826,  2.03670613,
  -7.6111135 , 13.03777691, -1.50426559,  3.23312652, -8.12227232,
  23.51121578, -0.99869607, -1.45199367, -0.27339903, 24.24651509,
 -17.81036222,  1.31364573]

qfrc_actuator:
[-2.64835054e-05,-2.01722586e-05,-1.37986375e-04,-1.90904401e-04,
 -4.38507368e-06,-3.56883202e-04,-2.97319039e-04, 1.86857798e-05,
  7.47770399e-05,-3.02428865e-05,-1.50296566e-04, 4.10215022e-05,
  6.27642898e-02,-6.32955742e-04, 3.63909945e-02,-4.37539803e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006090018893021854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.11510329e-14,  4.55755164e-14,  1.00000000e+00,  4.15425540e-27,
        1.00000000e+00, -4.55755164e-14, -1.00000000e+00,  0.00000000e+00,
       -9.11510329e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900489, -0.05176146,  0.06198521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.33836344e-06, 1.59852958e-05, 2.72240702e-06,-2.33238954e-05,
 -1.03192674e-05, 1.19933457e-06, 7.95863899e-09, 2.01331256e-05,
 -9.30412110e-06, 5.82160505e-05,-5.15941492e-07, 1.83808991e-05,
 -4.30151368e-04,-6.00862275e-05,-1.84658799e-04, 6.01977121e-05,
 -1.06914377e-05, 8.67117717e-06,-7.84795259e+00, 7.06137805e-04,
  9.59741286e-03,-8.70173854e-07]


--- Step 303 ---
qpos:
[ 7.14085903e-03, 4.05187654e-03,-3.59123902e-03,-2.57845133e-02,
  6.05491837e-03,-2.90353356e-03,-1.78160332e-02, 1.16237753e-02,
  1.56055744e-02, 2.31374359e-03,-8.94211986e-03, 2.39888041e-02,
  6.82962304e-01,-9.98174710e-03, 4.58236283e-01, 6.32335117e-02,
  9.50321166e-02,-7.00950157e-02, 1.21394167e-01, 9.99993761e-01,
  1.94591579e-04, 2.76026218e-04, 3.51622894e-03]

qacc:
[  5.18009289, -1.58052246,  8.00841949,-18.2898791 ,  2.00040778,
  -1.94766528,  9.0262451 ,-17.99918038, -1.03707436,  1.59964976,
  -7.45794094, 16.88820925, -1.04042033,  1.13707949,  3.63416044,
 -17.5084531 ,  0.09317347,  1.85967257,  0.08733415,-31.47336484,
   2.96539592, -0.28155251]

qfrc_actuator:
[ 4.00470288e-06,-3.50327850e-05,-1.37382348e-04,-2.21375760e-04,
  7.61949873e-06,-3.48665268e-04,-2.77129552e-04,-5.36413424e-06,
  6.90016582e-05,-2.04876144e-05,-1.52425902e-04, 6.88301728e-05,
  6.26523415e-02,-6.48095912e-04, 3.62500799e-02,-4.50376820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000611499312182906
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53893816e-14,  1.81557526e-13,  1.00000000e+00,  8.24078384e-27,
        1.00000000e+00, -1.81557526e-13, -1.00000000e+00,  0.00000000e+00,
       -4.53893816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485825, -0.09302176,  0.06198515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02602965e-05,-6.33154183e-06, 3.45049569e-06,-3.01399098e-05,
  1.17093347e-05, 9.74513752e-06, 2.11328711e-05,-2.36092358e-05,
 -6.01933618e-06, 4.29829992e-05, 1.04739301e-05, 3.06432316e-05,
 -4.19430129e-04,-7.96156500e-05,-2.19781374e-04,-1.49097777e-04,
 -2.41133593e-05, 2.45728581e-05,-7.84778841e+00, 7.35464871e-04,
  9.57554073e-03,-3.04785623e-06]


--- Step 304 ---
qpos:
[ 7.14280638e-03, 4.05153288e-03,-3.59224798e-03,-2.57873841e-02,
  6.05486159e-03,-2.90316134e-03,-1.78160118e-02, 1.16248800e-02,
  1.56063680e-02, 2.31515264e-03,-8.94322210e-03, 2.39897782e-02,
  6.84286134e-01,-9.98038555e-03, 4.59349013e-01, 6.32280020e-02,
  9.50257545e-02,-7.00917753e-02, 1.21392446e-01, 9.99993718e-01,
  1.63870140e-04, 2.22091999e-04, 3.53383690e-03]

qacc:
[ 15.32317794,  1.41717151, -3.33007499, -1.33548125, -1.78130864,
   0.95568874, -3.07334164,  4.0065032 , -3.74322224,  0.19664434,
   2.09008173, -9.26019996, -1.59149193,  3.63655238,  4.84451141,
 -22.38533151,  0.09476932,  1.83514062, -0.04536578,-31.01384302,
   2.7900659 , -0.09781129]

qfrc_actuator:
[ 9.28738130e-05,-2.59477716e-05,-1.72448884e-04,-2.38287305e-04,
 -3.12509640e-06,-3.26028950e-04,-2.83053041e-04,-2.17150778e-06,
  4.73671278e-05, 2.03512141e-05,-1.53289071e-04, 4.91274477e-05,
  6.25322264e-02,-6.39742030e-04, 3.61148505e-02,-4.64935723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006145184493914629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.03327659e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.03327659e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09485941, -0.09302127,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.97300719e-05, 5.00633622e-06,-3.69771154e-05,-1.76437889e-05,
 -1.04065327e-05, 3.14353417e-05,-2.13047132e-06, 3.87854542e-06,
 -2.17903601e-05, 6.83322474e-05, 1.03664883e-05,-1.69041157e-05,
 -4.23017879e-04,-5.61418199e-05,-2.52741933e-04,-1.82311854e-04,
 -5.51878737e-06, 1.88305280e-05,-7.84792746e+00, 7.45587388e-04,
  9.55776950e-03,-3.42225225e-06]


--- Step 305 ---
qpos:
[ 7.14545912e-03, 4.05112056e-03,-3.59307857e-03,-2.57897664e-02,
  6.05467701e-03,-2.90316553e-03,-1.78152373e-02, 1.16263804e-02,
  1.56068962e-02, 2.31709587e-03,-8.94429538e-03, 2.39898149e-02,
  6.85607459e-01,-9.97820167e-03, 4.60459301e-01, 6.32239286e-02,
  9.50197756e-02,-7.00812785e-02, 1.21390074e-01, 9.99993676e-01,
  7.18785162e-05, 1.73237876e-04, 3.55155718e-03]

qacc:
[  6.21630767,  0.40453537, -3.65278295, 11.88473549, -1.08815961,
  -1.78424444,  3.97346062,  1.94394818, -2.34451441, -1.30046472,
   9.62764385,-26.30165541, -2.34568071,  7.04984976, -7.89370438,
  22.48186649,  0.09578368,  1.8141046 , -0.16255346,-30.62593698,
   2.64830047,  0.04894204]

qfrc_actuator:
[ 1.26617576e-04,-2.04861154e-05,-1.57185839e-04,-2.11585865e-04,
 -9.42770264e-06,-3.66023556e-04,-2.51008497e-04, 1.70244780e-05,
  3.43233091e-05, 4.39463550e-05,-1.53312777e-04, 1.64925284e-06,
  6.24019747e-02,-5.99881677e-04, 3.60523762e-02,-4.55527209e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006148488928982565
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51421088e-14,  9.02842176e-14,  1.00000000e+00,  4.07561997e-27,
        1.00000000e+00, -9.02842176e-14, -1.00000000e+00,  0.00000000e+00,
       -4.51421088e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486028, -0.09302157,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.62988915e-05,-7.58249920e-08, 1.11495165e-05, 2.52983805e-05,
 -6.58902231e-06,-2.27098479e-05, 3.84026324e-05, 2.05418154e-05,
 -1.36352309e-05, 6.31785065e-05, 1.47791753e-05,-4.45219482e-05,
 -4.32394264e-04,-2.34869685e-05,-1.97317582e-04, 5.16333186e-05,
  1.19975088e-05, 1.37851890e-05,-7.84793688e+00, 7.35875561e-04,
  9.54157213e-03,-2.68512891e-06]


--- Step 306 ---
qpos:
[ 7.14711674e-03, 4.05047617e-03,-3.59336105e-03,-2.57918154e-02,
  6.05476337e-03,-2.90378548e-03,-1.78138484e-02, 1.16274495e-02,
  1.56076094e-02, 2.31879920e-03,-8.94503368e-03, 2.39897068e-02,
  6.86926487e-01,-9.97587628e-03, 4.61567484e-01, 6.32258109e-02,
  9.50141821e-02,-7.00635963e-02, 1.21386641e-01, 9.99993617e-01,
 -8.07368966e-05, 1.29235797e-04, 3.56962153e-03]

qacc:
[ -8.73816392, -1.13541977,  2.22715302,  2.80130394,  2.40047323,
  -3.4220397 , 12.83452427,-20.82091984,  1.64303929, -1.55440682,
   5.68758201, -8.54443015, -1.42688526,  3.03125061,-21.05261199,
  69.21055809,  0.09637086,  1.79633838, -0.26549529,-30.30311593,
   2.53367489,  0.16663492]

qfrc_actuator:
[ 7.43689775e-05,-3.47556419e-05,-1.30050165e-04,-1.94905173e-04,
  4.69388381e-06,-4.25298062e-04,-2.32543375e-04,-7.80078175e-06,
  4.41976272e-05,-1.40048819e-05,-1.52915069e-04,-8.53718723e-06,
  6.22923686e-02,-5.95085039e-04, 3.60176594e-02,-4.23176405e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006129942922228626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.05573705e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.05573705e-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([ 0.09486093, -0.0930225 ,  0.06198511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.12165673e-05,-1.08915996e-05, 2.93839230e-05, 1.75618205e-05,
  1.39230104e-05,-6.31760509e-05, 1.92038242e-05,-2.40744346e-05,
  9.51530937e-06,-2.15374989e-05, 1.37188184e-05,-7.83541053e-06,
 -4.13323792e-04,-5.76299660e-05,-1.19806591e-04, 3.00814111e-04,
  2.94294028e-05, 9.22724281e-06,-7.84782203e+00, 7.06587421e-04,
  9.52692108e-03,-8.45456845e-07]


--- Step 307 ---
qpos:
[ 7.14813549e-03, 4.04992711e-03,-3.59367656e-03,-2.57939955e-02,
  6.05467297e-03,-2.90436202e-03,-1.78130360e-02, 1.16282114e-02,
  1.56087808e-02, 2.31979513e-03,-8.94549498e-03, 2.39898886e-02,
  6.88243392e-01,-9.97414783e-03, 4.62674167e-01, 6.32314954e-02,
  9.50044384e-02,-7.00519724e-02, 1.21383895e-01, 9.99993539e-01,
 -1.82332915e-04, 4.72780819e-05, 3.58964705e-03]

qacc:
[-5.62634858e+00,-4.07479689e-02, 8.99503708e-01,-3.20411012e+00,
 -1.56581196e+00, 1.03836078e+00,-2.31720933e+00,-2.11503226e+00,
  4.05270166e+00,-1.12034748e+00, 1.40062269e+00, 3.70842475e+00,
 -5.33501310e-01,-9.98373406e-01,-1.36855947e+01, 4.46763579e+01,
 -1.03756537e+00,-1.51455711e+00, 1.71984343e-01, 2.54416633e+01,
 -1.90688351e+01, 9.82377694e-01]

qfrc_actuator:
[ 4.29538471e-05,-2.51677171e-05,-1.31737261e-04,-2.02029816e-04,
 -4.78290423e-06,-4.06987433e-04,-2.57893770e-04,-2.28648385e-05,
  6.74785191e-05,-8.48182802e-05,-1.52582121e-04, 3.23361162e-06,
  6.21845698e-02,-6.28727382e-04, 3.59517227e-02,-4.04198547e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006178023546121875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.98526055e-14,  8.98526055e-14,  1.00000000e+00,  8.07349071e-27,
        1.00000000e+00, -8.98526055e-14, -1.00000000e+00,  0.00000000e+00,
       -8.98526055e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10900072, -0.05176283,  0.06198499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.28727586e-05, 1.03264564e-05, 3.05321764e-07,-6.22411366e-06,
 -9.10083282e-06,-1.40734536e-05,-3.68788771e-05,-1.75798107e-05,
  2.35481049e-05,-8.04064941e-05,-2.70797884e-06, 1.11678560e-05,
 -4.02601134e-04,-9.61095690e-05,-9.03922781e-05, 1.90293105e-04,
  4.75000600e-05, 5.09761901e-06,-7.84758708e+00, 6.57936602e-04,
  9.51378916e-03, 2.08887565e-06]


--- Step 308 ---
qpos:
[ 7.14945935e-03, 4.04946211e-03,-3.59403041e-03,-2.57958966e-02,
  6.05481454e-03,-2.90472079e-03,-1.78126759e-02, 1.16287554e-02,
  1.56098772e-02, 2.32019760e-03,-8.94562119e-03, 2.39895014e-02,
  6.89558003e-01,-9.97273267e-03, 4.63779287e-01, 6.32371745e-02,
  9.49905841e-02,-7.00463213e-02, 1.21381262e-01, 9.99993448e-01,
 -2.33798512e-04,-7.18541527e-05, 3.61173557e-03]

qacc:
[  2.6832063 ,  0.78770059, -3.83124913,  8.66211869,  2.01197235,
   1.09873825, -2.58671241, -0.61566677, -0.63970736, -2.89110156,
  11.57493514,-21.52382986, -0.98895993,  0.83677623, -2.27907768,
   4.6442766 , -1.02764671, -1.49318593,  0.02812614, 24.99827735,
 -18.67730252,  1.02931392]

qfrc_actuator:
[ 5.95858461e-05,-1.92525414e-05,-1.32603501e-04,-1.87601245e-04,
  7.42587403e-06,-3.78043847e-04,-2.73083140e-04,-3.20237513e-05,
  6.29509742e-05,-1.09527617e-04,-1.34611388e-04,-2.54557716e-05,
  6.20512934e-02,-6.49246009e-04, 3.58404463e-02,-4.05694199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006219633472257929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92514832e-14, -8.92514832e-14,  1.00000000e+00, -7.96582725e-27,
        1.00000000e+00,  8.92514832e-14, -1.00000000e+00,  0.00000000e+00,
       -8.92514832e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10899937, -0.05176361,  0.06198489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57046930e-05, 1.14999496e-05, 1.10413456e-06, 1.47680720e-05,
  1.19460801e-05, 1.27096691e-05,-2.32517203e-05,-1.13821762e-05,
 -3.88422741e-06,-6.97730929e-05, 1.40808969e-06,-3.20138519e-05,
 -4.26018816e-04,-8.45125381e-05,-1.36580416e-04,-1.73111621e-05,
  4.04442400e-05, 1.81643807e-05,-7.84772102e+00, 6.24743477e-04,
  9.48736240e-03, 4.07358005e-06]


--- Step 309 ---
qpos:
[ 7.15097199e-03, 4.04913249e-03,-3.59471331e-03,-2.57972510e-02,
  6.05510146e-03,-2.90516314e-03,-1.78124007e-02, 1.16288529e-02,
  1.56105659e-02, 2.32036913e-03,-8.94598689e-03, 2.39891118e-02,
  6.90870149e-01,-9.97085286e-03, 4.64882711e-01, 6.32393591e-02,
  9.49751735e-02,-7.00457400e-02, 1.21379743e-01, 9.99993346e-01,
 -2.41789598e-04,-2.05199684e-04, 3.63431289e-03]

qacc:
[  1.64930434,  2.22148784, -9.96788993, 19.84584486,  1.27039221,
  -0.79458207,  4.55386107,-12.07978315, -3.59155764,  0.36629879,
  -1.72678728,  2.22560884, -1.98841912,  5.26738598,  8.07473751,
 -31.82298503, -0.38908588, -1.26747461,  0.278685  , 21.71146184,
  -7.18516866,  0.24119659]

qfrc_actuator:
[ 6.88524375e-05,-1.55678792e-05,-1.50711328e-04,-1.60598441e-04,
  1.45553239e-05,-3.96170114e-04,-2.82069384e-04,-5.53585126e-05,
  4.20882732e-05,-1.06405497e-04,-1.41732154e-04,-2.44204848e-05,
  6.19241254e-02,-6.26430009e-04, 3.57233290e-02,-4.24571049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006229800047588126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.42362736e-07, -2.71181390e-07,  1.00000000e+00,  1.47078681e-13,
        1.00000000e+00,  2.71181390e-07, -1.00000000e+00,  0.00000000e+00,
        5.42362736e-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([ 0.1009236 , -0.05478244,  0.06198487])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.71818722e-06, 1.10022908e-05,-1.50739354e-05, 2.78261497e-05,
  7.47659204e-06,-1.62976925e-05,-9.62096756e-06,-2.38180427e-05,
 -2.09950562e-05,-3.69866275e-05,-2.24687719e-05,-2.52848275e-06,
 -4.34895168e-04,-4.38019829e-05,-1.85478301e-04,-2.08332589e-04,
  3.28782393e-05, 3.68732788e-05,-7.84772516e+00, 6.07307028e-04,
  9.44875290e-03, 4.81196690e-06]


--- Step 310 ---
qpos:
[ 7.15189406e-03, 4.04905492e-03,-3.59565377e-03,-2.57986364e-02,
  6.05512701e-03,-2.90599326e-03,-1.78118384e-02, 1.16290291e-02,
  1.56109994e-02, 2.31982152e-03,-8.94600144e-03, 2.39894500e-02,
  6.92180023e-01,-9.96904496e-03, 4.65983486e-01, 6.32409766e-02,
  9.49645596e-02,-7.00478700e-02, 1.21379887e-01, 9.99993257e-01,
 -2.25654540e-04,-2.97053376e-04, 3.65332512e-03]

qacc:
[-5.2109687 , 0.99938374,-2.93061465, 2.59864363,-2.27150372,-1.1479332 ,
  3.02535773,-1.84647134,-2.22087477,-0.429193  ,-2.91438737,15.47117055,
 -1.24322846, 2.08362487,-2.18021188, 1.98202774, 1.19918258,-0.67781675,
  0.41546626,12.13802521,20.70237319,-1.7800188 ]

qfrc_actuator:
[ 3.81888066e-05, 4.44617987e-06,-1.61105439e-04,-1.61935655e-04,
  8.78386177e-07,-4.24571420e-04,-2.69767638e-04,-5.13778632e-05,
  2.95398343e-05,-1.57720175e-04,-1.27962008e-04, 1.18631937e-05,
  6.18166978e-02,-6.31523749e-04, 3.55974496e-02,-4.26898563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006278209542555369
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42093808e-14,  1.10523452e-13,  1.00000000e+00, -4.88617337e-27,
        1.00000000e+00, -1.10523452e-13, -1.00000000e+00,  0.00000000e+00,
        4.42093808e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192542, -0.06188647,  0.06198475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03823263e-05, 2.42661534e-05,-9.00254054e-06,-8.41139135e-07,
 -1.34676422e-05,-4.05074735e-05, 6.92747062e-06, 2.48564480e-06,
 -1.31567222e-05,-7.67536529e-05, 3.27972154e-06, 3.38742964e-05,
 -4.15720547e-04,-6.99614548e-05,-2.36471872e-04,-5.94146673e-05,
  2.03678403e-05, 4.80494075e-05,-7.84770978e+00, 6.04189087e-04,
  9.40539943e-03, 4.48807458e-06]


--- Step 311 ---
qpos:
[ 7.15175158e-03, 4.04920241e-03,-3.59617448e-03,-2.58000711e-02,
  6.05498836e-03,-2.90693882e-03,-1.78115261e-02, 1.16295991e-02,
  1.56119687e-02, 2.31881472e-03,-8.94591825e-03, 2.39902045e-02,
  6.93487764e-01,-9.96764297e-03, 4.67081551e-01, 6.32442116e-02,
  9.49586808e-02,-7.00526909e-02, 1.21381151e-01, 9.99993191e-01,
 -1.85937809e-04,-3.48117639e-04, 3.66895943e-03]

qacc:
[-9.36148418,-0.95884133, 4.0876567 ,-5.80463973,-1.44254818, 1.35932832,
 -6.72672261,14.02401632, 4.72587181,-0.03230285,-2.53907113, 9.94292007,
 -0.76737736, 0.08747362,-8.87259467,25.24781303, 1.18377388,-0.67272245,
  0.28007402,11.86476585,20.35188579,-1.68789552]

qfrc_actuator:
[-1.57291254e-05, 3.40870438e-05,-1.31305924e-04,-1.62165154e-04,
 -7.18117752e-06,-4.23294860e-04,-2.80536391e-04,-3.13544960e-05,
  5.74956683e-05,-1.70105823e-04,-1.19904794e-04, 3.30614268e-05,
  6.17158601e-02,-6.53012644e-04, 3.54930886e-02,-4.17674165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006298214639425814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40689580e-14, -4.40689580e-14,  1.00000000e+00, -1.94207306e-27,
        1.00000000e+00,  4.40689580e-14, -1.00000000e+00,  0.00000000e+00,
       -4.40689580e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192574, -0.06188734,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.47704981e-05, 4.13183242e-05, 3.36889665e-05, 4.88211671e-07,
 -8.45884809e-06,-1.98191755e-05,-1.81929120e-05, 1.85765105e-05,
  2.75520292e-05,-5.31616265e-05,-6.21449109e-06, 1.86828737e-05,
 -3.99464469e-04,-8.56702680e-05,-2.18335108e-04, 5.86600003e-05,
  3.22070358e-06, 2.98326570e-05,-7.84785895e+00, 6.10254030e-04,
  9.37561885e-03, 3.84828619e-06]


--- Step 312 ---
qpos:
[ 7.15096369e-03, 4.04965641e-03,-3.59634650e-03,-2.58018488e-02,
  6.05475386e-03,-2.90771103e-03,-1.78117531e-02, 1.16300420e-02,
  1.56136097e-02, 2.31812586e-03,-8.94609416e-03, 2.39911310e-02,
  6.94793391e-01,-9.96649580e-03, 4.68177591e-01, 6.32477181e-02,
  9.49574839e-02,-7.00601846e-02, 1.21383059e-01, 9.99993152e-01,
 -1.23084207e-04,-3.58982698e-04, 3.68136291e-03]

qacc:
[ -5.67567683, -1.26518829,  6.56181791,-13.29262455, -0.85874884,
   1.47542369, -4.38919719,  2.92128293,  5.89704159,  1.48704427,
  -5.43874399,  8.61786636, -0.94563605,  0.93456865, -3.79660285,
   8.96361398,  1.17047443, -0.66821953,  0.16109319, 11.64154198,
  20.05732638, -1.61573381]

qfrc_actuator:
[-4.73841544e-05, 5.16775228e-05,-1.13469774e-04,-1.79452135e-04,
 -1.18629326e-05,-4.04328811e-04,-3.04725163e-04,-3.75574380e-05,
  9.13126121e-05,-1.05848445e-04,-1.15162385e-04, 4.52288025e-05,
  6.16137198e-02,-6.66223234e-04, 3.54123912e-02,-4.15916504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006292398848263409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.10274222e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.10274222e-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([ 0.08192555, -0.06188777,  0.06198472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31972138e-05, 4.76597927e-05, 3.05457227e-05,-1.43364665e-05,
 -4.93037672e-06, 4.94796923e-06,-2.98742171e-05,-7.31972346e-06,
  3.45776766e-05, 3.40924920e-05,-6.34888254e-06, 1.00371599e-05,
 -3.91479685e-04,-7.63721765e-05,-1.73500698e-04,-7.16915697e-06,
 -7.56758274e-06, 1.48017275e-05,-7.84793258e+00, 6.23653052e-04,
  9.35897032e-03, 2.95558304e-06]


--- Step 313 ---
qpos:
[ 7.15049221e-03, 4.05016853e-03,-3.59642675e-03,-2.58041149e-02,
  6.05446509e-03,-2.90855393e-03,-1.78119106e-02, 1.16300508e-02,
  1.56152983e-02, 2.31781245e-03,-8.94549249e-03, 2.39924602e-02,
  6.96096792e-01,-9.96543218e-03, 4.69272190e-01, 6.32505971e-02,
  9.49609237e-02,-7.00703359e-02, 1.21385196e-01, 9.99993134e-01,
 -3.74536532e-05,-3.30139102e-04, 3.69065064e-03]

qacc:
[  2.78695213, -1.19075897,  6.40364963,-15.02088755, -0.47168728,
  -1.18000351,  5.90653444,-13.48090259,  0.43674139, -0.84886551,
   2.04490699,  3.40686674, -1.21766199,  2.00942581, -0.21660914,
  -2.29767548,  1.15918494, -0.6643801 ,  0.05717243, 11.46093056,
  19.81246149, -1.55955681]

qfrc_actuator:
[-3.01695065e-05, 2.63610433e-05,-1.20661128e-04,-2.06659981e-04,
 -1.45206701e-05,-4.10496931e-04,-3.01071439e-04,-5.91327309e-05,
  9.27907468e-05,-4.94566050e-05,-5.88332194e-05, 6.98080207e-05,
  6.14895698e-02,-6.74455556e-04, 3.53619052e-02,-4.18568984e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000626575790683967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42972359e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.42972359e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192495, -0.06188785,  0.06198478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.62868792e-05, 7.01011216e-06, 5.92095153e-06,-2.43846649e-05,
 -2.79535947e-06,-9.85740495e-06, 7.53243391e-07,-2.25381004e-05,
  2.47006841e-06, 7.46174645e-05, 6.29450846e-05, 2.60146280e-05,
 -4.06420006e-04,-6.96490520e-05,-1.32698343e-04,-4.98027897e-05,
 -1.24958091e-05, 2.54601015e-06,-7.84793459e+00, 6.44268747e-04,
  9.35525115e-03, 1.80959725e-06]


--- Step 314 ---
qpos:
[ 7.15057564e-03, 4.05041892e-03,-3.59645364e-03,-2.58059536e-02,
  6.05414681e-03,-2.90969776e-03,-1.78116431e-02, 1.16298060e-02,
  1.56173367e-02, 2.31793720e-03,-8.94452267e-03, 2.39944381e-02,
  6.97397757e-01,-9.96372603e-03, 4.70365706e-01, 6.32487552e-02,
  9.49689627e-02,-7.00831321e-02, 1.21387200e-01, 9.99993130e-01,
  7.06664870e-05,-2.61988758e-04, 3.69691196e-03]

qacc:
[ 4.89095522e+00, 3.75368204e-01,-3.65660163e+00, 1.11676042e+01,
 -2.39946400e-01,-2.10626502e+00, 8.00538720e+00,-1.28555027e+01,
  3.08334192e+00, 8.79549980e-01,-5.04521539e+00, 1.53723909e+01,
 -2.19555663e+00, 6.20284630e+00, 1.26871070e+01,-4.66335664e+01,
  1.14978436e+00,-6.61237024e-01,-3.30943366e-02, 1.13167507e+01,
  1.96117979e+01,-1.51618940e+00]

qfrc_actuator:
[-2.08935023e-06,-6.82118955e-06,-1.24998895e-04,-1.86280041e-04,
 -1.59672508e-05,-4.31570868e-04,-2.81105300e-04,-7.18210057e-05,
  1.10726313e-04,-3.34740471e-05,-4.34955620e-05, 1.01534912e-04,
  6.13576260e-02,-6.44265011e-04, 3.52869600e-02,-4.43316406e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006222629498372351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46042555e-14, -8.92085110e-14,  1.00000000e+00, -3.97907922e-27,
        1.00000000e+00,  8.92085110e-14, -1.00000000e+00,  0.00000000e+00,
       -4.46042555e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192403, -0.06188765,  0.06198489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.85448575e-05,-2.90888223e-05,-3.00444282e-06, 2.04136174e-05,
 -1.52897516e-06,-2.73648300e-05, 1.72547632e-05,-1.35209060e-05,
  1.80280509e-05, 7.18337265e-05, 3.93994301e-05, 3.76054583e-05,
 -4.23579692e-04,-3.30705601e-05,-1.45546637e-04,-2.68438089e-04,
 -1.19086619e-05,-7.25433263e-06,-7.84786796e+00, 6.72004140e-04,
  9.36429439e-03, 4.10429706e-07]


--- Step 315 ---
qpos:
[ 7.15099526e-03, 4.05022074e-03,-3.59641266e-03,-2.58075100e-02,
  6.05415853e-03,-2.91108032e-03,-1.78111357e-02, 1.16294160e-02,
  1.56195745e-02, 2.31830589e-03,-8.94374613e-03, 2.39961550e-02,
  6.98696417e-01,-9.96165995e-03, 4.71456949e-01, 6.32430761e-02,
  9.49796339e-02,-7.00936074e-02, 1.21390263e-01, 9.99993114e-01,
  1.59219649e-04,-1.71243403e-04, 3.70370820e-03]

qacc:
[  2.96929792, -0.20723316, -1.32018726,  6.43100186,  2.89922345,
  -1.29006226,  4.74585884, -7.45765894,  1.7444188 ,  0.3218799 ,
   0.41624277, -4.79769798, -1.78542063,  4.5060482 ,  8.25493572,
 -33.69866102,  0.6580636 ,  0.58022903,  0.26458868, -9.74158567,
  11.33361337,  0.26924139]

qfrc_actuator:
[ 1.43924320e-05,-4.44262857e-05,-1.27622825e-04,-1.73572999e-04,
  1.06245101e-06,-4.43577140e-04,-2.69487613e-04,-7.91838613e-05,
  1.20462357e-04,-5.97025641e-05,-7.04070526e-05, 8.38854512e-05,
  6.12477339e-02,-6.27218657e-04, 3.51494270e-02,-4.63133710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006163469961396446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.62904820e-15,  8.04823479e-07,  1.00000000e+00,  4.53039016e-21,
        1.00000000e+00, -8.04823479e-07, -1.00000000e+00,  0.00000000e+00,
       -5.62904820e-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([ 0.0882787 , -0.07717399,  0.06198503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72812151e-05,-5.36127895e-05,-8.29552980e-06, 1.17574236e-05,
  1.69763365e-05,-2.42854944e-05, 7.63402212e-06,-8.19889222e-06,
  1.02719282e-05, 2.36839113e-05,-5.93497865e-06,-1.24831525e-05,
 -4.08348497e-04,-4.59974131e-05,-2.38906176e-04,-2.33088492e-04,
 -6.02641987e-06,-1.48546697e-05,-7.84773495e+00, 7.06780333e-04,
  9.38596435e-03,-1.24149619e-06]


--- Step 316 ---
qpos:
[ 7.15126447e-03, 4.04951348e-03,-3.59608957e-03,-2.58085634e-02,
  6.05471908e-03,-2.91253017e-03,-1.78107939e-02, 1.16282563e-02,
  1.56212218e-02, 2.31918050e-03,-8.94337264e-03, 2.39972836e-02,
  6.99992898e-01,-9.96000860e-03, 4.72544787e-01, 6.32410436e-02,
  9.49907010e-02,-7.00968331e-02, 1.21392799e-01, 9.99993092e-01,
  1.85854906e-04,-7.61579815e-05, 3.71164175e-03]

qacc:
[-1.30598676e+00,-4.22920842e-01,-1.58348880e+00, 1.01994060e+01,
  4.79820028e+00,-1.21963666e+00, 7.45327457e+00,-2.04426864e+01,
 -5.21909939e+00, 5.94287647e-01, 1.35275885e+00,-1.12814090e+01,
 -7.61816453e-01, 1.73924385e-02,-1.60215787e+01, 4.87726688e+01,
  9.89795510e-02, 1.81242061e+00,-1.31660174e-01,-3.09506044e+01,
  2.28477172e+00, 5.73619908e-01]

qfrc_actuator:
[ 6.15931267e-06,-6.66409220e-05,-1.11501663e-04,-1.47742901e-04,
  2.88302196e-05,-4.50084640e-04,-2.80616522e-04,-1.18863674e-04,
  8.97839307e-05,-2.24756181e-05,-8.67485978e-05, 5.50129910e-05,
  6.11298455e-02,-6.53538505e-04, 3.50277451e-02,-4.42611969e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006169993874862445
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49847701e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.49847701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486872, -0.09302324,  0.06198501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.76028398e-06,-5.33896577e-05, 4.43724116e-06, 2.34793952e-05,
  2.82443358e-05,-1.88112514e-05,-1.54779492e-05,-4.06137008e-05,
 -3.03752639e-05, 4.86946407e-05,-1.26275985e-05,-2.83121825e-05,
 -4.07755560e-04,-8.81762758e-05,-2.56934804e-04, 1.61462414e-04,
 -1.23938713e-06,-1.83565036e-05,-7.84773907e+00, 7.35293474e-04,
  9.41495147e-03,-2.73977087e-06]


--- Step 317 ---
qpos:
[ 7.15108780e-03, 4.04875024e-03,-3.59575992e-03,-2.58093387e-02,
  6.05526349e-03,-2.91423757e-03,-1.78105402e-02, 1.16269952e-02,
  1.56224887e-02, 2.32049070e-03,-8.94320031e-03, 2.39977068e-02,
  7.01287167e-01,-9.95893997e-03, 4.73629756e-01, 6.32443314e-02,
  9.50021672e-02,-7.00928819e-02, 1.21394384e-01, 9.99993066e-01,
  1.51389895e-04, 2.32137236e-05, 3.72069409e-03]

qacc:
[ -3.92354399,  0.4880099 , -3.00513083,  7.82729154, -0.13964092,
  -0.30251287,  1.01380506, -2.44056275, -3.36069151, -0.30779473,
   4.92273558,-17.14351119, -0.582773  , -0.86122041,-20.28384621,
  64.83261827,  0.09977324,  1.79419299, -0.23788904,-30.54192515,
   2.25662183,  0.5613231 ]

qfrc_actuator:
[-1.65506345e-05,-4.38760939e-05,-1.02127467e-04,-1.32125348e-04,
  2.71847289e-05,-4.71121454e-04,-2.87331243e-04,-1.23993303e-04,
  7.10723573e-05,-7.92857011e-07,-9.64610941e-05, 1.98383843e-05,
  6.10072311e-02,-6.87494744e-04, 3.49317351e-02,-4.14459043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006156533884271731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50831200e-14, -1.80332480e-13,  1.00000000e+00, -8.12995085e-27,
        1.00000000e+00,  1.80332480e-13, -1.00000000e+00,  0.00000000e+00,
       -4.50831200e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486882, -0.09302372,  0.06198505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29480294e-05,-5.14789934e-06,-2.87377789e-07, 1.39455861e-05,
 -8.42806762e-07,-3.64321036e-05,-1.38978820e-05,-7.25785199e-06,
 -1.95524885e-05, 4.50474665e-05,-2.20312589e-06,-3.40794831e-05,
 -4.18000410e-04,-9.92017070e-05,-1.92627976e-04, 2.58144664e-04,
  5.56118306e-06,-1.47740563e-05,-7.84784157e+00, 7.43917911e-04,
  9.44570050e-03,-3.44822086e-06]


--- Step 318 ---
qpos:
[ 7.15098516e-03, 4.04806156e-03,-3.59539952e-03,-2.58099399e-02,
  6.05578414e-03,-2.91602701e-03,-1.78108090e-02, 1.16270713e-02,
  1.56238669e-02, 2.32140711e-03,-8.94253224e-03, 2.39981093e-02,
  7.02579103e-01,-9.95790699e-03, 4.74712594e-01, 6.32479380e-02,
  9.50140359e-02,-7.00818156e-02, 1.21394646e-01, 9.99993031e-01,
  5.65001062e-05, 1.26833783e-04, 3.73084089e-03]

qacc:
[  0.65137998,  0.36983194, -1.91104939,  4.81815383, -0.22217021,
   4.1034107 ,-20.43520819, 44.47802117,  1.00163983, -1.95057656,
   6.28361127, -7.1403191 , -1.32363051,  2.32322378, -4.08638629,
   9.77108997,  0.10060546,  1.77880136, -0.33070418,-30.20428856,
   2.23665645,  0.54622373]

qfrc_actuator:
[-1.20857778e-05,-2.98783138e-05,-9.66387427e-05,-1.22611537e-04,
  2.59893517e-05,-4.65153419e-04,-3.09161241e-04,-5.54952007e-05,
  7.73194405e-05,-5.95791551e-05,-8.44841868e-05, 1.67402319e-05,
  6.08871882e-02,-6.90193673e-04, 3.48085962e-02,-4.13995391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006124320294293717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06405096e-14,  1.81281019e-13,  1.00000000e+00,  1.64314040e-26,
        1.00000000e+00, -1.81281019e-13, -1.00000000e+00,  0.00000000e+00,
       -9.06405096e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486886, -0.0930248 ,  0.06198512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81296083e-06, 1.16749577e-05, 4.88041397e-06, 9.55867512e-06,
 -1.23130721e-06,-1.75246331e-05,-3.12983525e-05, 6.63209154e-05,
  5.71323101e-06,-3.55642188e-05, 1.98153496e-05,-1.91033903e-06,
 -4.23935693e-04,-7.05391629e-05,-1.82321871e-04,-5.76994165e-06,
  1.45042420e-05,-1.13825286e-05,-7.84781971e+00, 7.33047870e-04,
  9.47787155e-03,-3.04448128e-06]


--- Step 319 ---
qpos:
[ 7.15059151e-03, 4.04771666e-03,-3.59538338e-03,-2.58104314e-02,
  6.05663124e-03,-2.91785637e-03,-1.78113807e-02, 1.16279466e-02,
  1.56253091e-02, 2.32214942e-03,-8.94179282e-03, 2.39991638e-02,
  7.03868725e-01,-9.95658358e-03, 4.75793056e-01, 6.32473454e-02,
  9.50263105e-02,-7.00636850e-02, 1.21393262e-01, 9.99992966e-01,
 -9.82654174e-05, 2.34677864e-04, 3.74205330e-03]

qacc:
[ -2.57836007,  1.64795501, -5.66896473,  7.85127007,  2.84838378,
   2.43278505,-12.13547018, 26.49295539,  0.56825325,  0.91186745,
  -6.34043585, 17.64270608, -1.72318679,  4.15118956,  9.19326167,
 -37.20815836,  0.10149049,  1.76605572, -0.41145451,-29.92984602,
   2.22372165,  0.52894247]

qfrc_actuator:
[-2.71628530e-05,-3.49627377e-06,-1.11260749e-04,-1.16767208e-04,
  4.28307622e-05,-4.60807604e-04,-3.21838323e-04,-1.52291631e-05,
  8.04496342e-05,-5.94759547e-05,-7.78627179e-05, 5.02380179e-05,
  6.07794303e-02,-6.74452202e-04, 3.46425878e-02,-4.36959013e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006077360125617409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37011342e-13, -9.13408949e-14,  1.00000000e+00, -1.25147386e-26,
        1.00000000e+00,  9.13408949e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37011342e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09486885, -0.09302637,  0.06198524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49633694e-05, 3.43516388e-05,-1.12738224e-05, 6.70114366e-06,
  1.67986182e-05,-9.00915581e-06,-1.78332455e-05, 3.97272781e-05,
  3.28304671e-06,-1.58087977e-05, 1.63150679e-06, 3.26177643e-05,
 -4.11692218e-04,-5.08319196e-05,-2.51775779e-04,-2.53881221e-04,
  2.55616222e-05,-8.11901763e-06,-7.84767793e+00, 7.02898312e-04,
  9.51145121e-03,-1.54034556e-06]


--- Step 320 ---
qpos:
[ 7.15002013e-03, 4.04798729e-03,-3.59623647e-03,-2.58111928e-02,
  6.05732864e-03,-2.91975444e-03,-1.78118029e-02, 1.16289244e-02,
  1.56264323e-02, 2.32314774e-03,-8.94112939e-03, 2.39998751e-02,
  7.05156240e-01,-9.95543304e-03, 4.76870121e-01, 6.32460464e-02,
  9.50343997e-02,-7.00516656e-02, 1.21392934e-01, 9.99992882e-01,
 -2.01486228e-04, 3.04353191e-04, 3.75539038e-03]

qacc:
[ -1.60263324,  2.69060461, -7.26744057,  3.52391253, -1.30399654,
  -0.29515392,  0.49229014,  1.08850984, -2.81319635, -0.15054018,
   2.48673986, -8.50571552, -1.0389836 ,  1.36362856, -2.86793642,
   2.7737179 , -1.04636197, -1.52779346,  0.26408436, 25.70051051,
 -19.18078628,  1.06653307]

qfrc_actuator:
[-3.58770302e-05, 3.00172717e-05,-1.55339119e-04,-1.30882536e-04,
  3.46482644e-05,-4.57444421e-04,-3.11281450e-04,-9.65178626e-06,
  6.39598966e-05,-2.41012445e-05,-7.42284163e-05, 3.40183434e-05,
  6.06844515e-02,-6.83463578e-04, 3.44829113e-02,-4.39809949e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006148073481361122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.90040286e-14,  6.77177388e-14,  1.00000000e+00, -5.34997418e-27,
        1.00000000e+00, -6.77177388e-14, -1.00000000e+00,  0.00000000e+00,
        7.90040286e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10899448, -0.05175954,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.12582284e-06, 5.06906524e-05,-3.81339810e-05,-1.29013794e-05,
 -7.70664199e-06,-3.57876319e-06, 7.89953096e-06, 5.35011870e-06,
 -1.64000878e-05, 2.82369833e-05, 1.68000444e-06,-1.62114196e-05,
 -3.87758251e-04,-7.22361711e-05,-3.02628487e-04,-7.49588910e-05,
  3.86979526e-05,-4.83766574e-06,-7.84741953e+00, 6.53643833e-04,
  9.54642856e-03, 1.05432334e-06]


--- Step 321 ---
qpos:
[ 7.15038366e-03, 4.04859249e-03,-3.59731609e-03,-2.58114352e-02,
  6.05723247e-03,-2.92118948e-03,-1.78123383e-02, 1.16299107e-02,
  1.56280394e-02, 2.32424676e-03,-8.94060646e-03, 2.39993749e-02,
  7.06441594e-01,-9.95434133e-03, 4.77943878e-01, 6.32511907e-02,
  9.50383563e-02,-7.00456671e-02, 1.21393048e-01, 9.99992801e-01,
 -2.54124969e-04, 3.36723352e-04, 3.77097889e-03]

qacc:
[  8.21700806,  2.1285037 , -9.16055027, 18.27541891, -6.95574877,
   0.95913527, -2.54431728,  2.50574455,  4.250661  , -1.97676932,
  12.34260162,-33.14549954, -1.11901218,  1.74642777,-24.30398857,
  77.99452575, -1.03313616, -1.50521634,  0.11030342, 25.22046506,
 -18.74765598,  1.12964232]

qfrc_actuator:
[ 1.24875482e-05, 4.96478275e-05,-1.63170736e-04,-1.03379855e-04,
 -5.95564374e-06,-4.01368158e-04,-3.04868235e-04,-6.75799154e-06,
  8.93133487e-05,-3.89346105e-05,-9.00202478e-05,-2.90498937e-05,
  6.05705759e-02,-6.89226886e-04, 3.44070982e-02,-4.04145642e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006208989165285006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94044904e-14, -2.68213471e-13,  1.00000000e+00, -2.39794887e-26,
        1.00000000e+00,  2.68213471e-13, -1.00000000e+00,  0.00000000e+00,
       -8.94044904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10899291, -0.05176081,  0.06198492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.81253233e-05, 3.95483308e-05,-2.49503013e-06, 2.81063300e-05,
 -4.08258768e-05, 5.60050024e-05, 6.85763542e-06, 3.12126881e-06,
  2.49019633e-05, 5.61574492e-07,-1.03322975e-05,-6.21199247e-05,
 -3.93060969e-04,-6.72077805e-05,-2.18580915e-04, 3.14477300e-04,
  2.69329438e-05,-8.66179503e-06,-7.84774637e+00, 6.20763798e-04,
  9.56875249e-03, 3.72737532e-06]


--- Step 322 ---
qpos:
[ 7.15097898e-03, 4.04939006e-03,-3.59815565e-03,-2.58113608e-02,
  6.05665024e-03,-2.92210732e-03,-1.78128603e-02, 1.16309073e-02,
  1.56295931e-02, 2.32521112e-03,-8.94047633e-03, 2.39985169e-02,
  7.07724643e-01,-9.95291374e-03, 4.79016261e-01, 6.32573119e-02,
  9.50382274e-02,-7.00456104e-02, 1.21393056e-01, 9.99992734e-01,
 -2.57000663e-04, 3.32512310e-04, 3.78891331e-03]

qacc:
[  2.0447383 ,  0.23182587, -1.79974574,  6.76011404, -4.26181972,
   0.67547521, -1.44608009,  1.20783799, -0.48050991,  0.18433851,
   0.59657572, -6.06271746, -1.72264853,  4.19898516, -4.94431811,
  14.42430077, -1.02138456, -1.48546518, -0.02618452, 24.81197738,
 -18.38459759,  1.17664934]

qfrc_actuator:
[ 2.30473010e-05, 6.09833454e-05,-1.49549309e-04,-8.70927322e-05,
 -2.98033781e-05,-3.67426198e-04,-3.00738158e-04,-5.42127261e-06,
  8.58396580e-05,-6.60872938e-05,-1.17372848e-04,-4.82111888e-05,
  6.04454429e-02,-6.75333631e-04, 3.43604142e-02,-3.99316794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006236339834605753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.7802478e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.7802478e-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([ 0.10899205, -0.05176125,  0.06198485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19385622e-05, 3.41458110e-05, 2.24585770e-05, 1.84410880e-05,
 -2.49949918e-05, 6.68518865e-05, 1.66732942e-05, 4.03847614e-06,
 -2.75908662e-06,-3.16660493e-05,-3.06758902e-05,-2.07069196e-05,
 -4.06758492e-04,-4.81806228e-05,-1.09899132e-04, 3.80639971e-05,
  1.45401127e-05,-6.66818058e-06,-7.84793707e+00, 6.03777755e-04,
  9.57882674e-03, 5.13275516e-06]


--- Step 323 ---
qpos:
[ 7.15204184e-03, 4.05008889e-03,-3.59862985e-03,-2.58117533e-02,
  6.05613124e-03,-2.92254880e-03,-1.78132987e-02, 1.16315670e-02,
  1.56300583e-02, 2.32614319e-03,-8.94050324e-03, 2.39980971e-02,
  7.09005479e-01,-9.95161268e-03, 4.80087129e-01, 6.32633156e-02,
  9.50340539e-02,-7.00514275e-02, 1.21392479e-01, 9.99992680e-01,
 -2.10803195e-04, 2.92322266e-04, 3.80926298e-03]

qacc:
[  4.12852695, -2.12186363,  9.32780253,-17.89275658,  0.54767225,
  -0.29854995,  3.39864778, -9.71183239, -9.58213978,  1.31702983,
  -6.57551511, 14.39877415, -1.16836938,  1.75898273, -1.86483963,
   3.31103299, -1.01114103, -1.46843821, -0.14651954, 24.46784229,
 -18.08264975,  1.21112339]

qfrc_actuator:
[ 4.67585862e-05, 3.18449300e-05,-1.41184662e-04,-1.13045631e-04,
 -2.58348524e-05,-3.47004213e-04,-2.98059348e-04,-2.27767158e-05,
  2.99081484e-05,-4.71785831e-05,-1.15848147e-04,-2.36448930e-05,
  6.03296236e-02,-6.85522881e-04, 3.42778949e-02,-4.00273476e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006236118248993672
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33523329e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.33523329e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10899177, -0.05176103,  0.06198485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40589221e-05,-4.63295474e-06, 1.88201344e-05,-2.33554501e-05,
  3.27690566e-06, 6.14507181e-05, 1.86964725e-05,-1.38332434e-05,
 -5.60158229e-05,-6.05364084e-06,-9.52043927e-06, 2.17447431e-05,
 -4.04015400e-04,-7.29888456e-05,-1.33704218e-04,-2.28936695e-05,
  1.16472039e-06, 1.20066595e-06,-7.84799953e+00, 6.02421232e-04,
  9.57687605e-03, 5.30254127e-06]


--- Step 324 ---
qpos:
[ 7.15441567e-03, 4.05068188e-03,-3.59924804e-03,-2.58120712e-02,
  6.05600872e-03,-2.92269536e-03,-1.78138906e-02, 1.16320539e-02,
  1.56305394e-02, 2.32706493e-03,-8.94025504e-03, 2.39975958e-02,
  7.10284057e-01,-9.95038090e-03, 4.81155953e-01, 6.32679117e-02,
  9.50258709e-02,-7.00630605e-02, 1.21390894e-01, 9.99992627e-01,
 -1.16106611e-04, 2.16649116e-04, 3.83207761e-03]

qacc:
[ 11.53727833,  0.39395675, -1.96076066,  3.60093001,  3.45939565,
   0.45579474, -0.34189827, -2.60757392,  0.14907599, -0.95081689,
   3.71431815, -5.55786564, -1.26962488,  2.13561862,  1.25007556,
  -8.72012169, -1.00238341, -1.4539844 , -0.25203422, 24.18143842,
 -17.83405629,  1.23582403]

qfrc_actuator:
[ 1.13537585e-04, 1.41416025e-05,-1.53948045e-04,-1.10427479e-04,
 -5.53145149e-06,-3.52612871e-04,-3.14079474e-04,-3.32517367e-05,
  3.23214804e-05,-3.61868168e-05,-9.70757057e-05,-2.67527265e-05,
  6.02088156e-02,-6.92080924e-04, 3.41526333e-02,-4.08181638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006213561391886779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34008054e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.34008054e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10899195, -0.05176027,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.74592534e-05,-1.74208575e-05,-1.22143058e-05, 2.61520559e-06,
  2.04182884e-05, 3.20441845e-05,-1.49426995e-06,-7.46375147e-06,
  8.22101220e-07, 6.52122596e-06, 1.70948149e-05,-3.27215050e-06,
 -4.10825179e-04,-7.10391120e-05,-1.93220401e-04,-9.86457384e-05,
 -1.34761901e-05, 1.49051402e-05,-7.84793998e+00, 6.16472752e-04,
  9.56308904e-03, 4.26284736e-06]


--- Step 325 ---
qpos:
[ 7.15653658e-03, 4.05127969e-03,-3.60006157e-03,-2.58123657e-02,
  6.05647593e-03,-2.92317250e-03,-1.78143702e-02, 1.16324748e-02,
  1.56310454e-02, 2.32796170e-03,-8.94004771e-03, 2.39970847e-02,
  7.11560278e-01,-9.94884729e-03, 4.82222631e-01, 6.32649432e-02,
  9.50137076e-02,-7.00804612e-02, 1.21387932e-01, 9.99992554e-01,
  2.66188772e-05, 1.05895752e-04, 3.85739162e-03]

qacc:
[-2.23266522e+00, 6.05073641e-01,-2.23860639e+00, 2.94246167e+00,
  5.16977622e+00,-8.96008741e-01, 2.82235747e+00,-3.88258495e+00,
  2.17252443e-01, 6.09647811e-02,-2.25328013e-01, 1.43142402e-01,
 -1.81071493e+00, 4.37201834e+00, 1.96898993e+01,-7.34433060e+01,
 -9.95054978e-01,-1.44192776e+00,-3.44131800e-01, 2.39467881e+01,
 -1.76321458e+01, 1.25288207e+00]

qfrc_actuator:
[ 9.86109657e-05, 2.10985473e-05,-1.61272401e-04,-1.08774268e-04,
  2.42143512e-05,-4.09354298e-04,-3.23362781e-04,-3.96278525e-05,
  3.35674525e-05,-4.77068839e-05,-1.03829217e-04,-2.83679210e-05,
  6.00850982e-02,-6.78714272e-04, 3.39858512e-02,-4.48531187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006173214378028674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.4961302e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.4961302e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089925 , -0.05175908,  0.06198501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30175519e-05,-5.19298136e-06,-1.23403592e-05, 5.33133832e-07,
  3.03407097e-05,-3.94326173e-05,-3.10017149e-06,-5.20029565e-06,
  1.27412858e-06,-4.51575293e-06,-3.42619072e-06,-8.09341393e-07,
 -4.18386541e-04,-5.20546722e-05,-2.67829799e-04,-4.34301461e-04,
 -2.96238167e-05, 3.43298455e-05,-7.84776322e+00, 6.45748730e-04,
  9.53762185e-03, 2.03465807e-06]


--- Step 326 ---
qpos:
[ 7.15742779e-03, 4.05183297e-03,-3.60066000e-03,-2.58130058e-02,
  6.05695120e-03,-2.92382974e-03,-1.78146834e-02, 1.16324483e-02,
  1.56315622e-02, 2.32916022e-03,-8.94036284e-03, 2.39968952e-02,
  7.12834141e-01,-9.94680769e-03, 4.83286753e-01, 6.32573817e-02,
  9.50018695e-02,-7.00902945e-02, 1.21385930e-01, 9.99992462e-01,
  1.05426638e-04, 1.40835031e-06, 3.88147000e-03]

qacc:
[-10.81711453, -1.35098142,  6.22307949,-12.54593459,  0.07844949,
  -1.62399377,  7.33433089,-15.21211146,  0.07409923,  2.52082187,
  -9.76719861, 15.94490033, -2.00053442,  5.28364777, 10.1236738 ,
 -40.83214974,  0.08127677,  1.89187847,  0.24003735,-31.94647501,
   3.25622009, -0.62124017]

qfrc_actuator:
[ 3.57004929e-05, 2.50306915e-05,-1.47471766e-04,-1.25431256e-04,
  2.37684661e-05,-4.07504679e-04,-3.11055557e-04,-6.13349077e-05,
  3.40977861e-05,-1.94573854e-05,-1.25692368e-04,-1.13742238e-05,
  5.99703768e-02,-6.53736191e-04, 3.38847779e-02,-4.70393031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000613079196075117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52724147e-14,  1.81089659e-13,  1.00000000e+00,  8.19836614e-27,
        1.00000000e+00, -1.81089659e-13, -1.00000000e+00,  0.00000000e+00,
       -4.52724147e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09487692, -0.09302709,  0.06198511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.32825422e-05,-1.52044127e-06, 1.12283165e-05,-1.72946008e-05,
  4.07534032e-07,-2.10314789e-05, 3.60959393e-06,-2.36052849e-05,
  5.68083021e-07, 2.49501378e-05,-2.32572624e-05, 1.66645980e-05,
 -4.12237599e-04,-4.00818984e-05,-2.71626248e-04,-2.77212166e-04,
 -4.74994340e-05, 5.92971428e-05,-7.84747286e+00, 6.90099085e-04,
  9.50060149e-03,-1.36546292e-06]


--- Step 327 ---
qpos:
[ 7.15755797e-03, 4.05236806e-03,-3.60112048e-03,-2.58134934e-02,
  6.05672772e-03,-2.92443736e-03,-1.78149816e-02, 1.16324878e-02,
  1.56324266e-02, 2.33023392e-03,-8.94050747e-03, 2.39969175e-02,
  7.14105847e-01,-9.94511597e-03, 4.84348564e-01, 6.32499913e-02,
  9.49903670e-02,-7.00926771e-02, 1.21384278e-01, 9.99992364e-01,
  1.21370551e-04,-9.73106845e-05, 3.90486267e-03]

qacc:
[ -6.69426221, -0.08266445, -0.35994204,  2.76404208, -6.11482125,
   0.17150322, -0.77400698,  1.83216391,  3.0668199 , -0.21156383,
  -0.3895247 ,  3.8851159 , -0.88376795,  0.53998998, -3.91596914,
   8.76564214,  0.08391039,  1.8626391 ,  0.0875475 ,-31.42049164,
   3.00612785, -0.34319446]

qfrc_actuator:
[-1.66445528e-06, 2.71953860e-05,-1.39081077e-04,-1.17209366e-04,
 -1.21992640e-05,-3.88271319e-04,-3.03645871e-04,-5.63274819e-05,
  5.19553807e-05,-3.86734101e-05,-1.20618098e-04,-1.29511720e-06,
  5.98611380e-02,-6.75374033e-04, 3.38392215e-02,-4.66954737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006187719350863735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48559058e-14,  8.97118115e-14,  1.00000000e+00,  4.02410457e-27,
        1.00000000e+00, -8.97118115e-14, -1.00000000e+00,  0.00000000e+00,
       -4.48559058e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09487865, -0.09302593,  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:
[-3.91635621e-05, 2.85650259e-06, 8.86475275e-06, 8.21243361e-06,
 -3.59625892e-05, 7.23450426e-06, 2.70483135e-06, 3.77394425e-06,
  1.78861258e-05,-9.39117483e-06, 7.93066407e-06, 1.06664408e-05,
 -4.00540268e-04,-8.49374659e-05,-1.99365707e-04,-1.56990415e-05,
 -2.05046871e-05, 4.83029168e-05,-7.84772342e+00, 7.15493041e-04,
  9.46894613e-03,-2.47059597e-06]


--- Step 328 ---
qpos:
[ 7.15723884e-03, 4.05275538e-03,-3.60140700e-03,-2.58138646e-02,
  6.05607506e-03,-2.92524200e-03,-1.78150895e-02, 1.16326062e-02,
  1.56338434e-02, 2.33117477e-03,-8.94053966e-03, 2.39967203e-02,
  7.15375490e-01,-9.94401445e-03, 4.85408053e-01, 6.32456163e-02,
  9.49792070e-02,-7.00877104e-02, 1.21382436e-01, 9.99992264e-01,
  7.53508098e-05,-1.90664493e-04, 3.92800916e-03]

qacc:
[ -3.94700871, -0.43402354,  0.78634128,  1.04457907, -3.74618173,
  -0.62236818,  1.5206677 , -0.32708587,  4.86629042, -0.9510575 ,
   4.04630291, -7.90811915, -0.52562952, -0.90254951,-12.52333637,
  38.84445727,  0.08560621,  1.83733468, -0.04764275,-30.97112692,
   2.80355727, -0.12038974]

qfrc_actuator:
[-2.36788772e-05, 1.05384538e-05,-1.33945241e-04,-1.12172624e-04,
 -3.32712608e-05,-4.12023292e-04,-2.99089703e-04,-5.33783421e-05,
  7.98682075e-05,-5.05576112e-05,-1.17617991e-04,-1.31362399e-05,
  5.97605815e-02,-7.06577331e-04, 3.37631356e-02,-4.50404303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006212031185276884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46803546e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.46803546e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09487998, -0.0930257 ,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31275648e-05,-1.29039889e-05, 7.10328617e-06, 5.62816032e-06,
 -2.20971964e-05,-1.89731273e-05, 6.52625380e-06, 3.42962627e-06,
  2.84202000e-05,-1.50687697e-05, 2.39537800e-06,-1.17642764e-05,
 -3.89959564e-04,-9.65947002e-05,-1.69937271e-04, 1.38737705e-04,
  3.58160781e-06, 3.90171296e-05,-7.84783787e+00, 7.20748831e-04,
  9.43889353e-03,-2.45863406e-06]


--- Step 329 ---
qpos:
[ 7.15734794e-03, 4.05292314e-03,-3.60129355e-03,-2.58141788e-02,
  6.05586429e-03,-2.92609186e-03,-1.78151824e-02, 1.16327519e-02,
  1.56355839e-02, 2.33218764e-03,-8.94093626e-03, 2.39970804e-02,
  7.16642860e-01,-9.94258038e-03, 4.86465599e-01, 6.32458020e-02,
  9.49683933e-02,-7.00754808e-02, 1.21379927e-01, 9.99992154e-01,
 -3.18731223e-05,-2.78980276e-04, 3.95126238e-03]

qacc:
[ 3.78598877e+00,-1.29831443e+00, 3.95386164e+00,-3.42911020e+00,
  3.86803842e+00,-5.24822011e-02,-2.81249647e-02, 5.25099752e-01,
  2.83551234e+00, 2.25532894e+00,-1.02657631e+01, 2.04498397e+01,
 -1.66022420e+00, 3.95986578e+00,-1.65975458e+01, 5.39851670e+01,
  8.65980164e-02, 1.81573062e+00,-1.66752931e-01,-3.05919537e+01,
  2.63920205e+00, 5.90272357e-02]

qfrc_actuator:
[-9.85024617e-07, 4.78024067e-07,-1.13100877e-04,-1.09071998e-04,
 -9.89062585e-06,-4.08081783e-04,-2.96427135e-04,-5.17036112e-05,
  9.57177733e-05,-4.02321240e-05,-1.33625134e-04, 1.54748724e-05,
  5.96440001e-02,-6.89880539e-04, 3.37060968e-02,-4.26277852e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006209564317531946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46981047e-14,  1.78792419e-13,  1.00000000e+00,  7.99168226e-27,
        1.00000000e+00, -1.78792419e-13, -1.00000000e+00,  0.00000000e+00,
       -4.46981047e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488099, -0.09302623,  0.06198492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.20311055e-05,-1.55850627e-05, 1.92495501e-05, 2.90502740e-06,
  2.27422862e-05,-5.15068296e-06,-3.22373890e-07, 1.15703265e-06,
  1.66550471e-05, 1.87073878e-06,-1.92417144e-05, 2.78167880e-05,
 -4.00121361e-04,-4.82026420e-05,-1.20900128e-04, 2.26715494e-04,
  2.63627463e-05, 3.09217019e-05,-7.84782292e+00, 7.06174533e-04,
  9.41041494e-03,-1.33826972e-06]


--- Step 330 ---
qpos:
[ 7.15841782e-03, 4.05296334e-03,-3.60092429e-03,-2.58148006e-02,
  6.05627981e-03,-2.92669114e-03,-1.78150884e-02, 1.16325207e-02,
  1.56371562e-02, 2.33318067e-03,-8.94177868e-03, 2.39977980e-02,
  7.17907827e-01,-9.94053759e-03, 4.87521418e-01, 6.32492018e-02,
  9.49624523e-02,-7.00659800e-02, 1.21379337e-01, 9.99992058e-01,
 -1.14626527e-04,-3.26358754e-04, 3.97038508e-03]

qacc:
[  8.46743905, -1.53384065,  6.49030102,-12.08884738,  5.48175949,
  -0.97784393,  5.54054754,-12.52906556, -1.49302753,  1.9587753 ,
  -8.52664009, 15.43608902, -2.06076062,  5.54909454,-12.20359263,
  39.09743993,  1.21818021, -0.68219331,  0.47972623, 12.31546902,
  20.4202144 , -2.06803091]

qfrc_actuator:
[ 4.78359700e-05,-5.49360479e-06,-1.00879618e-04,-1.24872796e-04,
  2.17095629e-05,-3.69844532e-04,-2.77048677e-04,-6.85261147e-05,
  8.65845303e-05,-5.22378284e-05,-1.60604773e-04, 3.21631718e-05,
  5.95125714e-02,-6.62882986e-04, 3.36232553e-02,-4.10307794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006260979467736932
  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([ 0.08192183, -0.06189935,  0.06198479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.94397918e-05,-1.05858570e-05, 1.14698276e-05,-1.57465354e-05,
  3.22481086e-05, 3.53795952e-05, 1.83247294e-05,-1.70310071e-05,
 -8.65691417e-06,-1.37636755e-05,-2.80076433e-05, 1.66415039e-05,
 -4.14567664e-04,-3.56663699e-05,-1.16584190e-04, 1.55841342e-04,
  4.90066563e-05, 2.37168982e-05,-7.84768387e+00, 6.72027698e-04,
  9.38347954e-03, 8.82534278e-07]


--- Step 331 ---
qpos:
[ 7.16006488e-03, 4.05269512e-03,-3.60056884e-03,-2.58159097e-02,
  6.05707099e-03,-2.92702168e-03,-1.78144961e-02, 1.16317196e-02,
  1.56382619e-02, 2.33417347e-03,-8.94266593e-03, 2.39983344e-02,
  7.19170484e-01,-9.93845117e-03, 4.88575035e-01, 6.32546075e-02,
  9.49613112e-02,-7.00591817e-02, 1.21380092e-01, 9.99991986e-01,
 -1.73539366e-04,-3.33350321e-04, 3.98570439e-03]

qacc:
[  5.08521419, -1.38267509,  6.3735542 ,-14.52815114,  3.29799176,
  -2.21614831, 10.81316079,-21.66114533, -4.10681293, -0.23998645,
   1.63409139, -4.71293862, -1.39233318,  2.62636604, -9.27761157,
  27.7946581 ,  1.19995202, -0.67562701,  0.33648626, 11.99974466,
  20.14618947, -1.90330538]

qfrc_actuator:
[ 7.61241445e-05,-4.45213857e-05,-1.11600681e-04,-1.51672611e-04,
  4.01276955e-05,-3.46812818e-04,-2.47818788e-04,-9.60535842e-05,
  6.28239132e-05,-4.20739337e-05,-1.58435466e-04, 2.39219685e-05,
  5.93883051e-02,-6.65619435e-04, 3.34930278e-02,-4.01054604e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006293029398746347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82105385e-14, -8.82105385e-14,  1.00000000e+00, -7.78109911e-27,
        1.00000000e+00,  8.82105385e-14, -1.00000000e+00,  0.00000000e+00,
       -8.82105385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192179, -0.06190048,  0.06198471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96884586e-05,-4.32431317e-05,-1.20461659e-05,-2.71647330e-05,
  1.93517859e-05, 4.59034871e-05, 3.82107133e-05,-2.57084884e-05,
 -2.40085022e-05,-2.63081136e-06,-3.54910422e-06,-9.47753927e-06,
 -4.15583665e-04,-6.66970969e-05,-1.70525455e-04, 8.51225255e-05,
  2.84056779e-05, 1.06387393e-05,-7.84785064e+00, 6.46420705e-04,
  9.36771153e-03, 2.00893970e-06]


--- Step 332 ---
qpos:
[ 7.16100368e-03, 4.05219370e-03,-3.60040264e-03,-2.58166375e-02,
  6.05773241e-03,-2.92723985e-03,-1.78140428e-02, 1.16310047e-02,
  1.56397642e-02, 2.33510768e-03,-8.94325641e-03, 2.39990965e-02,
  7.20430916e-01,-9.93670344e-03, 4.89627382e-01, 6.32579624e-02,
  9.49649078e-02,-7.00550619e-02, 1.21381689e-01, 9.99991943e-01,
 -2.09133182e-04,-3.00425975e-04, 3.99748460e-03]

qacc:
[ -6.23618137,  1.01829857, -5.66211156, 12.70220291, -1.14174513,
   0.71659584, -2.70035325,  4.32994778,  3.4999437 , -0.44902081,
   0.52375325,  2.96442266, -0.97705546,  0.79658636,  4.32513556,
 -17.83701979,  1.18442457, -0.66963609,  0.21032169, 11.73837713,
  19.91163654, -1.77001634]

qfrc_actuator:
[ 3.88340262e-05,-4.98930827e-05,-1.18167217e-04,-1.31511195e-04,
  3.28840689e-05,-3.68528077e-04,-2.66321985e-04,-9.41550180e-05,
  8.39104085e-05,-3.63725718e-05,-1.38999452e-04, 3.66240126e-05,
  5.92737402e-02,-6.85874689e-04, 3.34303379e-02,-4.11816632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006297060126454895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.81540753e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.81540753e-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([ 0.08192133, -0.06190111,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.64596973e-05,-3.31910615e-05,-1.79226621e-05, 1.73647907e-05,
 -6.67519226e-06, 1.07582218e-05,-5.20645505e-06, 4.68786909e-06,
  2.04063665e-05, 3.05927496e-06, 1.81271666e-05, 1.22818341e-05,
 -4.11415297e-04,-8.69946580e-05,-1.33170618e-04,-1.25332794e-04,
  1.49533057e-05, 1.18255796e-06,-7.84794189e+00, 6.28208906e-04,
  9.36499475e-03, 2.87915444e-06]


--- Step 333 ---
qpos:
[ 7.16114345e-03, 4.05171896e-03,-3.60076870e-03,-2.58164374e-02,
  6.05795726e-03,-2.92735817e-03,-1.78143590e-02, 1.16307101e-02,
  1.56425423e-02, 2.33606741e-03,-8.94361446e-03, 2.39996528e-02,
  7.21689161e-01,-9.93550125e-03, 4.90678491e-01, 6.32579500e-02,
  9.49731899e-02,-7.00535994e-02, 1.21383686e-01, 9.99991926e-01,
 -2.21837491e-04,-2.27982358e-04, 4.00594001e-03]

qacc:
[ -7.05032368,  3.44794505,-16.12443956, 32.96155398, -3.84584708,
   3.15378237,-12.81594599, 21.23387597, 11.23265526, -1.06173045,
   4.66598223, -8.57882375, -0.74355791, -0.22601348,  8.3368761 ,
 -31.82548437,  1.17139323, -0.66430962,  0.09990094, 11.52315339,
  19.71407806, -1.6617409 ]

qfrc_actuator:
[-1.24324746e-06,-3.50229833e-05,-1.39812704e-04,-8.38467607e-05,
  1.05985520e-05,-3.81537398e-04,-3.13027087e-04,-7.50291002e-05,
  1.48981355e-04,-3.32902861e-05,-1.27279711e-04, 2.60523324e-05,
  5.91597459e-02,-7.16276345e-04, 3.33655596e-02,-4.28936582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006278340378820663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32625378e-13, -4.42084595e-14,  1.00000000e+00, -5.86316367e-27,
        1.00000000e+00,  4.42084595e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32625378e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08192051, -0.06190136,  0.06198475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11228190e-05,-6.64622606e-06,-3.01012352e-05, 4.59650244e-05,
 -2.24724598e-05,-7.86601369e-06,-4.49630148e-05, 1.94993207e-05,
  6.56530364e-05, 9.04706278e-06, 1.50043883e-05,-9.57735313e-06,
 -4.10973015e-04,-9.83153921e-05,-1.44519256e-04,-1.96538877e-04,
  7.93077189e-06,-5.23048170e-06,-7.84796133e+00, 6.17261035e-04,
  9.37514993e-03, 3.49405905e-06]


--- Step 334 ---
qpos:
[ 7.16218134e-03, 4.05129642e-03,-3.60143906e-03,-2.58156872e-02,
  6.05756840e-03,-2.92761534e-03,-1.78148924e-02, 1.16309853e-02,
  1.56453889e-02, 2.33698693e-03,-8.94406192e-03, 2.40001091e-02,
  7.22945200e-01,-9.93494603e-03, 4.91727520e-01, 6.32575678e-02,
  9.49861146e-02,-7.00547756e-02, 1.21385698e-01, 9.99991926e-01,
 -2.12003429e-04,-1.16346967e-04, 4.01124518e-03]

qacc:
[ 7.89552882e+00, 2.03719338e+00,-9.50572901e+00, 1.94869714e+01,
 -5.37438481e+00, 1.60644088e+00,-8.38231510e+00, 1.86751072e+01,
  6.02142195e-01,-1.00789980e-02, 3.78548722e-01,-1.93261953e+00,
 -5.98883201e-01,-8.53537243e-01,-1.95240127e+00, 2.36986032e+00,
  1.16065032e+00,-6.59690781e-01, 3.80433960e-03, 1.13472375e+01,
  1.95509367e+01,-1.57336756e+00]

qfrc_actuator:
[ 4.61444305e-05,-2.59270278e-05,-1.52334213e-04,-5.58848666e-05,
 -2.03533846e-05,-3.89355567e-04,-3.22709331e-04,-4.59352232e-05,
  1.50642037e-04,-4.95927511e-05,-1.37996736e-04, 1.96103755e-05,
  5.90408448e-02,-7.52423525e-04, 3.32729422e-02,-4.30129695e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006241458813121825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44696928e-14,  4.44696928e-14,  1.00000000e+00,  1.97755358e-27,
        1.00000000e+00, -4.44696928e-14, -1.00000000e+00,  0.00000000e+00,
       -4.44696928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191942, -0.06190129,  0.06198484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.62185402e-05, 1.13673680e-06,-1.60002440e-05, 2.75341537e-05,
 -3.15957243e-05,-2.06675802e-05,-1.61643822e-05, 2.75829219e-05,
  3.53166405e-06,-8.55444201e-06,-7.33958748e-06,-5.72624604e-06,
 -4.17322411e-04,-1.05038677e-04,-1.85264944e-04,-4.26382363e-05,
  6.82317938e-06,-9.04502525e-06,-7.84791187e+00, 6.13466285e-04,
  9.39802875e-03, 3.85475807e-06]


--- Step 335 ---
qpos:
[ 7.16412368e-03, 4.05092858e-03,-3.60227512e-03,-2.58146179e-02,
  6.05715640e-03,-2.92823227e-03,-1.78151658e-02, 1.16316022e-02,
  1.56475443e-02, 2.33757124e-03,-8.94421159e-03, 2.40004963e-02,
  7.24198996e-01,-9.93420399e-03, 4.92774724e-01, 6.32543210e-02,
  9.50036473e-02,-7.00585750e-02, 1.21387392e-01, 9.99991929e-01,
 -1.79915095e-04, 3.42167139e-05, 4.01354302e-03]

qacc:
[  7.95548266,  1.17724852, -5.4629678 , 11.23099324, -0.18802666,
  -0.49809578, -0.35582351,  6.11799599, -6.06820595, -1.40573028,
   4.68166545, -6.12903795, -1.57708195,  3.46650023,  5.97931506,
 -24.7788149 ,  1.1519946 , -0.65579173, -0.079391  , 11.20494691,
  19.4196728 , -1.50082726]

qfrc_actuator:
[ 9.13756428e-05,-2.03317686e-05,-1.59396390e-04,-3.97378614e-05,
 -2.06481472e-05,-4.11612923e-04,-3.10422360e-04,-2.89308545e-05,
  1.14953304e-04,-7.74705443e-05,-1.26441693e-04, 1.56225933e-05,
  5.89457090e-02,-7.38440474e-04, 3.31743933e-02,-4.45010199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006190385062627285
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48365899e-14,  8.96731797e-14,  1.00000000e+00,  4.02063958e-27,
        1.00000000e+00, -8.96731797e-14, -1.00000000e+00,  0.00000000e+00,
       -4.48365899e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819181 , -0.06190097,  0.06198496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.65456674e-05, 4.13953395e-06,-7.83716276e-06, 1.61769676e-05,
 -1.20517085e-06,-3.59674544e-05, 6.99128815e-06, 1.60986955e-05,
 -3.55882936e-05,-3.44418161e-05, 8.68206712e-06,-4.72144164e-06,
 -3.98989240e-04,-5.65509303e-05,-1.89890031e-04,-1.75492548e-04,
  1.12768607e-05,-1.06097959e-05,-7.84779574e+00, 6.16732152e-04,
  9.43351030e-03, 3.96250218e-06]


--- Step 336 ---
qpos:
[ 7.16555866e-03, 4.05039526e-03,-3.60279957e-03,-2.58137135e-02,
  6.05743340e-03,-2.92890453e-03,-1.78156792e-02, 1.16324137e-02,
  1.56485654e-02, 2.33777962e-03,-8.94389446e-03, 2.40008264e-02,
  7.25450572e-01,-9.93297548e-03, 4.93819141e-01, 6.32500536e-02,
  9.50171183e-02,-7.00682606e-02, 1.21388650e-01, 9.99991911e-01,
 -9.82543650e-05, 1.48348899e-04, 4.01819027e-03]

qacc:
[ -4.45337913, -1.42088955,  5.45759595, -8.69863693,  6.02275103,
   0.98600502, -4.46377937,  8.27760068, -9.960642  , -1.89989291,
   6.32846569, -7.82442881, -1.86242204,  4.82690975, -0.99561215,
  -2.41391886, -1.01544158, -1.47156271, -0.10890703, 24.71284631,
 -18.31529202,  1.17230649]

qfrc_actuator:
[ 6.39368676e-05,-3.46129210e-05,-1.45447224e-04,-4.84215197e-05,
  1.48589475e-05,-4.06752075e-04,-3.20849485e-04,-1.91800054e-05,
  5.75874276e-05,-9.42298210e-05,-1.01874835e-04, 1.31164961e-05,
  5.88436120e-02,-7.12706915e-04, 3.30297310e-02,-4.50086219e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006180093134653536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.24556289e-13, -2.69467547e-13,  1.00000000e+00, -6.05106324e-26,
        1.00000000e+00,  2.69467547e-13, -1.00000000e+00,  0.00000000e+00,
       -2.24556289e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10898523, -0.05175717,  0.06198499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61139064e-05,-1.28615403e-05, 1.44064384e-05,-8.46453154e-06,
  3.54591585e-05,-1.30942829e-05,-1.64287674e-05, 8.76557998e-06,
 -5.83873528e-05,-3.44541570e-05, 1.83561167e-05,-3.77348222e-06,
 -3.85897517e-04,-3.80473858e-05,-2.53389390e-04,-8.55526670e-05,
  2.10677325e-05,-1.02062891e-05,-7.84761460e+00, 6.26982469e-04,
  9.48149798e-03, 3.81863113e-06]


--- Step 337 ---
qpos:
[ 7.16665411e-03, 4.04968110e-03,-3.60280448e-03,-2.58136233e-02,
  6.05744396e-03,-2.92960030e-03,-1.78163475e-02, 1.16333255e-02,
  1.56478556e-02, 2.33795652e-03,-8.94369080e-03, 2.40011195e-02,
  7.26699892e-01,-9.93166439e-03, 4.94860801e-01, 6.32435011e-02,
  9.50265696e-02,-7.00837785e-02, 1.21389039e-01, 9.99991872e-01,
  3.23416186e-05, 2.26658016e-04, 4.02529823e-03]

qacc:
[ -2.9697518 , -3.3623835 , 15.07865595,-29.85312141, -2.33594283,
   0.6127828 , -2.6464593 ,  4.64186889,-15.23424186,  0.22937007,
  -0.67097418,  0.18157359, -1.45574452,  2.90466957,  2.85167682,
 -15.84246381, -1.00490103, -1.4580541 , -0.2174339 , 24.39527347,
 -18.0098244 ,  1.23225938]

qfrc_actuator:
[ 4.72040170e-05,-4.28690069e-05,-1.19302277e-04,-8.93997460e-05,
  1.33735287e-07,-4.03533462e-04,-3.26756367e-04,-1.37707744e-05,
 -2.98178287e-05,-8.63905443e-05,-1.05294289e-04, 1.15151667e-05,
  5.87107880e-02,-7.15802707e-04, 3.28895077e-02,-4.61776222e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006169763151996355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.79945809e-13, -8.99729047e-14,  1.00000000e+00, -1.61902472e-26,
        1.00000000e+00,  8.99729047e-14, -1.00000000e+00,  0.00000000e+00,
       -1.79945809e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10898509, -0.05175685,  0.06198501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74772032e-05,-1.28253561e-05, 2.49798067e-05,-4.11942619e-05,
 -1.37164037e-05,-7.08040352e-06,-1.03213200e-05, 4.44958017e-06,
 -8.90756284e-05,-7.82683616e-06,-8.40955349e-06,-2.51540587e-06,
 -4.04792952e-04,-6.33830197e-05,-2.64348007e-04,-1.53960234e-04,
  7.17769368e-06,-1.80188054e-05,-7.84768002e+00, 6.53459502e-04,
  9.51746592e-03, 2.65425534e-06]


--- Step 338 ---
qpos:
[ 7.16823009e-03, 4.04908490e-03,-3.60289033e-03,-2.58140216e-02,
  6.05727823e-03,-2.93029114e-03,-1.78170908e-02, 1.16339404e-02,
  1.56464478e-02, 2.33861030e-03,-8.94378363e-03, 2.40013377e-02,
  7.27947000e-01,-9.93066323e-03, 4.95900136e-01, 6.32357441e-02,
  9.50320380e-02,-7.01050835e-02, 1.21388178e-01, 9.99991801e-01,
  2.11351849e-04, 2.69648846e-04, 4.03496182e-03]

qacc:
[  4.22500012, -0.63219865,  4.52368022,-12.90949525, -1.54515935,
  -0.39208723,  2.6665991 , -7.69589121, -6.15961426,  1.31682233,
  -3.4436494 ,  2.24788183, -0.98800121,  0.8776112 ,  0.21515522,
  -5.7175197 , -0.99572367, -1.44678078, -0.31243152, 24.13555457,
 -17.75639612,  1.28393249]

qfrc_actuator:
[ 7.24351157e-05,-2.96758458e-05,-1.21677698e-04,-1.13534275e-04,
 -8.54574751e-06,-4.01309886e-04,-3.29940291e-04,-2.87028930e-05,
 -6.31859236e-05,-2.84809533e-05,-1.07359344e-04, 1.04592398e-05,
  5.85915656e-02,-7.35986786e-04, 3.28106292e-02,-4.66615749e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006139946823933151
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13012280e-14,  1.35614736e-13,  1.00000000e+00,  1.53261305e-27,
        1.00000000e+00, -1.35614736e-13, -1.00000000e+00,  0.00000000e+00,
       -1.13012280e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10898538, -0.05175602,  0.06198509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47331929e-05, 9.43285166e-06,-3.36534336e-06,-2.46198016e-05,
 -9.07360501e-06,-3.65066426e-06,-5.74933861e-06,-1.55045032e-05,
 -3.59002448e-05, 5.16450844e-05,-4.80688931e-06,-1.72920781e-06,
 -4.08229402e-04,-8.56132923e-05,-2.15430310e-04,-9.06195229e-05,
 -8.25923149e-06,-2.01472516e-05,-7.84762374e+00, 6.95302450e-04,
  9.54162710e-03, 2.84065230e-07]


--- Step 339 ---
qpos:
[ 7.16975122e-03, 4.04844968e-03,-3.60295254e-03,-2.58146931e-02,
  6.05735438e-03,-2.93077686e-03,-1.78179167e-02, 1.16333103e-02,
  1.56456853e-02, 2.33952686e-03,-8.94360343e-03, 2.40018740e-02,
  7.29191911e-01,-9.93018685e-03, 4.96937252e-01, 6.32319338e-02,
  9.50379101e-02,-7.01188545e-02, 1.21388292e-01, 9.99991715e-01,
  3.26137563e-04, 3.17762562e-04, 4.04497223e-03]

qacc:
[ -0.4814609 , -0.6792728 ,  3.49898027, -8.23038887,  2.10960933,
  -2.06455694, 13.00538713,-34.56815432,  5.6822714 ,  0.22778582,
  -1.67018186,  6.56481245, -0.67861212, -0.40611602,-15.17766289,
  48.36360697,  0.10090299,  1.88348031,  0.24368095,-32.10170522,
   2.69103304,  0.16423114]

qfrc_actuator:
[ 6.89024383e-05,-3.93448880e-05,-1.23020055e-04,-1.27562541e-04,
  4.17125122e-06,-3.81949720e-04,-3.31508326e-04,-9.09878544e-05,
 -2.89669980e-05,-1.20354770e-05,-9.06307206e-05, 2.75359398e-05,
  5.84752558e-02,-7.66064376e-04, 3.27686179e-02,-4.44283237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006212911757412232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46740219e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.46740219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488399, -0.09302761,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82371117e-06,-6.11642132e-06,-6.53968317e-07,-1.42191043e-05,
  1.24573659e-05, 1.54961296e-05,-3.55104974e-06,-6.29398952e-05,
  3.32192859e-05, 4.42186382e-05, 2.67377113e-05, 1.90894159e-05,
 -4.10857054e-04,-9.80826570e-05,-1.51238147e-04, 1.90408725e-04,
 -2.55035670e-05,-1.66677761e-05,-7.84745041e+00, 7.52340616e-04,
  9.55413582e-03,-3.27208995e-06]


--- Step 340 ---
qpos:
[ 7.17052868e-03, 4.04759113e-03,-3.60294158e-03,-2.58155068e-02,
  6.05723740e-03,-2.93116998e-03,-1.78184874e-02, 1.16322747e-02,
  1.56460285e-02, 2.34078194e-03,-8.94349696e-03, 2.40022795e-02,
  7.30434440e-01,-9.92937013e-03, 4.97972906e-01, 6.32290609e-02,
  9.50441901e-02,-7.01252064e-02, 1.21388762e-01, 9.99991636e-01,
  3.77860199e-04, 3.70804129e-04, 4.05546250e-03]

qacc:
[ -6.54013229, -0.77998374,  2.97371398, -5.40826014, -1.68374914,
  -1.42182157,  6.96469208,-14.46341544,  9.72154258,  0.36525148,
  -0.13381282, -2.22551814, -1.79275339,  4.2249532 , -4.95122709,
  14.26811055,  0.10199615,  1.85480678,  0.08891736,-31.52138867,
   2.5915255 ,  0.22909253]

qfrc_actuator:
[ 3.07020187e-05,-6.26214430e-05,-1.23814764e-04,-1.35547016e-04,
 -6.12675809e-06,-3.70262417e-04,-3.14316491e-04,-1.09607057e-04,
  2.69874859e-05,-2.69247645e-06,-9.85820716e-05, 1.96240417e-05,
  5.83554460e-02,-7.48481355e-04, 3.27008690e-02,-4.39844433e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006264534292201585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.77223553e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.77223553e-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([ 0.09488463, -0.09302634,  0.06198478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.82799331e-05,-2.74213347e-05,-2.62221634e-06,-8.54300877e-06,
 -9.93392564e-06, 1.69553533e-05, 1.77933533e-05,-1.92992256e-05,
  5.69150106e-05, 4.03841520e-05, 5.12034023e-06,-4.72544592e-06,
 -4.17665052e-04,-5.20987675e-05,-1.18108502e-04, 3.49378175e-05,
 -1.58136722e-05,-1.42854229e-05,-7.84774914e+00, 7.89046383e-04,
  9.57017112e-03,-5.46357744e-06]


--- Step 341 ---
qpos:
[ 7.17015229e-03, 4.04664539e-03,-3.60300869e-03,-2.58160714e-02,
  6.05734281e-03,-2.93124775e-03,-1.78192705e-02, 1.16317181e-02,
  1.56473850e-02, 2.34225701e-03,-8.94344709e-03, 2.40029468e-02,
  7.31674713e-01,-9.92806071e-03, 4.99006300e-01, 6.32272002e-02,
  9.50508817e-02,-7.01242386e-02, 1.21389040e-01, 9.99991572e-01,
  3.67507287e-04, 4.28618370e-04, 4.06653096e-03]

qacc:
[-10.15768969,  0.63599688, -3.44961043,  7.90723078,  1.93424103,
   1.99178734, -8.52616073, 16.93017693,  8.91213179,  0.97071591,
  -4.17518015,  8.6689288 , -1.87576146,  4.80283671, -6.3493828 ,
  17.45755952,  0.10288233,  1.82990686, -0.04794886,-31.02794724,
   2.51229672,  0.27665212]

qfrc_actuator:
[-2.75882781e-05,-5.83573226e-05,-1.24339872e-04,-1.22174212e-04,
  5.60973304e-06,-3.45395703e-04,-3.21678963e-04,-8.46159116e-05,
  7.75121377e-05, 2.20818076e-06,-1.03351232e-04, 3.25458166e-05,
  5.82602608e-02,-7.20709803e-04, 3.25697572e-02,-4.35347217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006283438299988231
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32517776e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.32517776e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948851 , -0.09302605,  0.06198474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.93837579e-05,-1.19601950e-05,-6.79472089e-06, 1.19467074e-05,
  1.14586770e-05, 3.72161739e-05,-2.32225285e-06, 2.59627051e-05,
  5.21598877e-05, 2.83122624e-05, 4.02116380e-06, 1.47313670e-05,
 -3.90707466e-04,-3.92241751e-05,-1.86166683e-04, 3.05066553e-05,
 -5.70516415e-06,-1.19727456e-05,-7.84791122e+00, 8.05630713e-04,
  9.58773126e-03,-6.51748014e-06]


--- Step 342 ---
qpos:
[ 7.16976982e-03, 4.04568091e-03,-3.60310458e-03,-2.58168292e-02,
  6.05758797e-03,-2.93103864e-03,-1.78201389e-02, 1.16314599e-02,
  1.56486479e-02, 2.34293527e-03,-8.94243695e-03, 2.40041701e-02,
  7.32912947e-01,-9.92707172e-03, 5.00037323e-01, 6.32275273e-02,
  9.50579878e-02,-7.01160365e-02, 1.21388644e-01, 9.99991520e-01,
  2.95909599e-04, 4.91083050e-04, 4.07824871e-03]

qacc:
[ -0.05419301, -0.34208454,  1.99761734, -5.27704826,  1.21558753,
   1.22924404, -5.09729475, 10.19271936, -0.77946664, -2.59093344,
   5.36523042,  3.30590964, -0.83240827,  0.50598252,-10.08950433,
  30.24308215,  0.10363937,  1.80858304, -0.16824379,-30.61281522,
   2.44984374,  0.3106385 ]

qfrc_actuator:
[-2.62143219e-05,-5.53682382e-05,-1.24581253e-04,-1.31826839e-04,
  1.24760333e-05,-3.30633788e-04,-3.25655761e-04,-6.96858886e-05,
  7.11710240e-05,-8.43366093e-05,-7.06934501e-05, 5.76274404e-05,
  5.81586217e-02,-7.40371520e-04, 3.24699873e-02,-4.23758868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006275576770904401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32683783e-13,  8.84558555e-14,  1.00000000e+00,  1.17366576e-26,
        1.00000000e+00, -8.84558555e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32683783e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09488542, -0.09302656,  0.06198476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.13866019e-07,-4.57406714e-06,-3.11926762e-06,-1.01611228e-05,
  7.20568045e-06, 3.62231229e-05, 4.33349798e-06, 1.69523563e-05,
 -4.84525923e-06,-6.92834449e-05, 3.94910630e-05, 2.67139577e-05,
 -3.76611030e-04,-8.14282101e-05,-1.83040133e-04, 9.32466166e-05,
  5.25508589e-06,-9.84131750e-06,-7.84794374e+00, 8.02409530e-04,
  9.60679566e-03,-6.44852860e-06]


--- Step 343 ---
qpos:
[ 7.16975097e-03, 4.04511772e-03,-3.60366707e-03,-2.58180659e-02,
  6.05791357e-03,-2.93045624e-03,-1.78211103e-02, 1.16317179e-02,
  1.56491357e-02, 2.34294889e-03,-8.94121063e-03, 2.40050296e-02,
  7.34149051e-01,-9.92625299e-03, 5.01067054e-01, 6.32273903e-02,
  9.50655113e-02,-7.01006720e-02, 1.21387155e-01, 9.99991464e-01,
  1.63756989e-04, 5.58103239e-04, 4.09066547e-03]

qacc:
[  3.17896505,  0.84225958, -0.22577445, -7.59325724,  0.6944935 ,
   1.84201828, -8.03480779, 16.86433124, -6.80338885, -2.21830089,
   8.19387133,-14.37104059, -1.0989101 ,  1.48899836, -0.49030619,
  -1.02141028,  0.10432428,  1.79059417, -0.27343821,-30.26808634,
   2.40131783,  0.33396688]

qfrc_actuator:
[-7.48068088e-06,-1.76724901e-05,-1.42423090e-04,-1.54952029e-04,
  1.64138897e-05,-3.04279768e-04,-3.27643237e-04,-4.30509965e-05,
  3.14120922e-05,-1.36056707e-04,-6.98316365e-05, 3.63482806e-05,
  5.80425204e-02,-7.52371884e-04, 3.24263945e-02,-4.25826534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006246139265803363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.88727402e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.88727402e-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([ 0.09488563, -0.09302771,  0.06198483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.87269813e-05, 3.40974372e-05,-1.95077282e-05,-2.36226770e-05,
  4.15548664e-06, 4.82370003e-05, 6.62293614e-06, 2.86686933e-05,
 -3.99200514e-05,-8.11983897e-05,-7.68215024e-06,-2.23679601e-05,
 -3.87646678e-04,-7.52775306e-05,-1.18207287e-04,-3.93661500e-05,
  1.73666151e-05,-7.89442463e-06,-7.84785231e+00, 7.79648270e-04,
  9.62734495e-03,-5.26955362e-06]


--- Step 344 ---
qpos:
[ 7.16926680e-03, 4.04504125e-03,-3.60458167e-03,-2.58188988e-02,
  6.05828390e-03,-2.92946588e-03,-1.78223979e-02, 1.16323034e-02,
  1.56491427e-02, 2.34284583e-03,-8.94018180e-03, 2.40052407e-02,
  7.35382879e-01,-9.92488209e-03, 5.02095218e-01, 6.32247144e-02,
  9.50687967e-02,-7.00859197e-02, 1.21387381e-01, 9.99991405e-01,
  3.64884102e-05, 5.88132991e-04, 4.10409915e-03]

qacc:
[ -4.11531689,  2.46731022, -9.54904961, 16.7136798 ,  0.37480184,
   2.09518339, -8.07263367, 13.94753011, -4.23477484, -0.92893032,
   5.84069996,-16.67763967, -2.00963551,  5.26762663,  5.391742  ,
 -22.13549252, -1.05950954, -0.15305523,  0.42879277,  2.36605361,
 -18.50496525,  0.51285784]

qfrc_actuator:
[-3.19563999e-05, 2.26820934e-05,-1.52623239e-04,-1.32539834e-04,
  1.85981085e-05,-2.88924302e-04,-3.46138011e-04,-2.74830629e-05,
  7.82674057e-06,-1.13437529e-04,-6.99347879e-05, 5.70261665e-06,
  5.79284749e-02,-7.24292181e-04, 3.23259577e-02,-4.39460646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006231870273212536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.56726440e-14,  1.11345288e-14,  1.00000000e+00,  6.19888658e-28,
        1.00000000e+00, -1.11345288e-14, -1.00000000e+00,  0.00000000e+00,
       -5.56726440e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883358, -0.0684008 ,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39275685e-05, 5.44173451e-05,-6.36205243e-06, 2.27419064e-05,
  2.31831606e-06, 4.49168971e-05,-6.71961256e-06, 1.84221471e-05,
 -2.47451326e-05,-2.53620450e-05,-1.86103330e-05,-3.48294180e-05,
 -3.92161860e-04,-3.65582304e-05,-1.64120840e-04,-1.55041925e-04,
  3.08349407e-05,-6.03980639e-06,-7.84764128e+00, 7.37567094e-04,
  9.64936157e-03,-2.99156559e-06]


--- Step 345 ---
qpos:
[ 7.16918335e-03, 4.04517391e-03,-3.60524578e-03,-2.58194634e-02,
  6.05867803e-03,-2.92871565e-03,-1.78233089e-02, 1.16327616e-02,
  1.56495564e-02, 2.34288747e-03,-8.93935983e-03, 2.40053941e-02,
  7.36614367e-01,-9.92278827e-03, 5.03121529e-01, 6.32171210e-02,
  9.50679844e-02,-7.00771854e-02, 1.21387969e-01, 9.99991344e-01,
 -4.00792882e-05, 5.80950564e-04, 4.11992867e-03]

qacc:
[  3.5317561 ,  0.12197725, -1.17671709,  5.27513143,  0.22402539,
  -1.63153952,  5.89411088, -8.52263419,  3.56921805,  0.64377493,
  -1.78666237,  1.02642543, -2.26595049,  6.25581915, 12.1518741 ,
 -46.39555133, -1.02441825, -1.50449771,  0.09039433, 25.27315664,
 -18.70992675,  1.21349625]

qfrc_actuator:
[-1.06637046e-05, 2.88807673e-05,-1.40413589e-04,-1.19001597e-04,
  1.97336634e-05,-3.33609827e-04,-3.38777541e-04,-3.63255904e-05,
  2.94664043e-05,-8.20021579e-05,-7.02897084e-05, 5.37248417e-06,
  5.78051010e-02,-6.90571386e-04, 3.22074632e-02,-4.65134383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006256968071768343
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21797325e-14,  1.10898662e-14,  1.00000000e+00,  2.45970267e-28,
        1.00000000e+00, -1.10898662e-14, -1.00000000e+00,  0.00000000e+00,
       -2.21797325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897996, -0.05175827,  0.0619848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06327576e-05, 3.62968413e-05, 2.34671830e-05, 1.60962925e-05,
  1.21696968e-06,-2.01881450e-05, 1.64499074e-05,-6.79259295e-06,
  2.09307588e-05, 1.18985471e-05,-9.10151265e-06,-2.74028811e-06,
 -3.98852134e-04,-2.83751272e-05,-2.14420492e-04,-2.87377063e-04,
  2.87882919e-05,-3.81282593e-06,-7.84772023e+00, 6.96757204e-04,
  9.65922033e-03,-2.20410738e-07]


--- Step 346 ---
qpos:
[ 7.16970063e-03, 4.04533883e-03,-3.60563063e-03,-2.58201856e-02,
  6.05908273e-03,-2.92821149e-03,-1.78238067e-02, 1.16334545e-02,
  1.56505711e-02, 2.34293524e-03,-8.93912075e-03, 2.40062765e-02,
  7.37843627e-01,-9.92057600e-03, 5.04145482e-01, 6.32058090e-02,
  9.50631172e-02,-7.00743907e-02, 1.21388377e-01, 9.99991291e-01,
 -6.67932971e-05, 5.37279690e-04, 4.13822824e-03]

qacc:
[  5.29619238, -1.07307652,  4.53303303, -7.70623193,  0.10984027,
  -0.99640822,  2.08977792,  1.49328796,  5.27116399,  3.12775935,
 -14.23625761, 27.79960735, -1.51139275,  3.1086369 ,  7.76877861,
 -32.18688766, -1.0137103 , -1.48489665, -0.04492901, 24.85074676,
 -18.3468138 ,  1.24874641]

qfrc_actuator:
[ 1.96574980e-05, 1.46687983e-05,-1.32972447e-04,-1.28566463e-04,
  2.02430702e-05,-3.42824529e-04,-3.16470176e-04,-2.39853811e-05,
  5.97933904e-05,-9.87496744e-05,-1.06212602e-04, 4.06528621e-05,
  5.76868696e-02,-6.89362818e-04, 3.20941936e-02,-4.83490355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006277250874188595
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42161325e-14,  3.31620993e-14,  1.00000000e+00,  1.46629978e-27,
        1.00000000e+00, -3.31620993e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42161325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897915, -0.05175864,  0.06198475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09186316e-05, 1.16328849e-05, 1.83914932e-05,-6.88379197e-06,
  5.36750028e-07,-1.74143220e-05, 1.99296556e-05, 1.19114970e-05,
  3.09272784e-05,-1.20941000e-05,-3.46918058e-05, 3.54189652e-05,
 -3.97293988e-04,-6.12846101e-05,-2.45116610e-04,-2.27583349e-04,
  2.00952632e-05, 1.00155669e-06,-7.84790265e+00, 6.71981372e-04,
  9.65680444e-03, 1.53416814e-06]


--- Step 347 ---
qpos:
[ 7.16954265e-03, 4.04546822e-03,-3.60587480e-03,-2.58206525e-02,
  6.05914544e-03,-2.92780169e-03,-1.78243678e-02, 1.16346487e-02,
  1.56515968e-02, 2.34272271e-03,-8.93919974e-03, 2.40075914e-02,
  7.39070685e-01,-9.91862101e-03, 5.05166644e-01, 6.31965841e-02,
  9.50542324e-02,-7.00774679e-02, 1.21388129e-01, 9.99991245e-01,
 -4.43658754e-05, 4.57718605e-04, 4.15904757e-03]

qacc:
[ -5.93887488,  0.09729752, -1.47086675,  5.66501533, -2.99269449,
   1.08966713, -6.17298559, 15.00950384,  0.09151701,  1.43501411,
  -7.44191715, 15.62642094, -1.00191772,  0.99335992,-10.40347618,
  30.4455138 , -1.00443657, -1.46797215, -0.16400511, 24.49556371,
 -18.04671467,  1.27186248]

qfrc_actuator:
[-1.59750317e-05, 6.05628891e-06,-1.28521383e-04,-1.16169261e-04,
  2.62785613e-06,-3.48407375e-04,-3.20887184e-04, 7.53371467e-07,
  5.94704258e-05,-1.26573600e-04,-1.27512230e-04, 6.10307177e-05,
  5.75664718e-02,-7.07346296e-04, 3.20107999e-02,-4.70749928e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006270694353378015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.21311820e-14, -2.21311820e-14,  1.00000000e+00, -4.89789217e-28,
        1.00000000e+00,  2.21311820e-14, -1.00000000e+00,  0.00000000e+00,
       -2.21311820e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897891, -0.05175833,  0.06198477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.47507712e-05, 1.40565783e-06, 8.88294123e-06, 1.33982189e-05,
 -1.76072563e-05,-1.07078180e-05,-5.14831377e-06, 2.49124741e-05,
  5.51970182e-07,-4.02277455e-05,-2.68508648e-05, 1.93447959e-05,
 -4.03466009e-04,-8.31504474e-05,-2.20729826e-04, 8.32308415e-05,
  1.01849092e-05, 1.18379083e-05,-7.84795696e+00, 6.62848557e-04,
  9.64237342e-03, 2.05261360e-06]


--- Step 348 ---
qpos:
[ 7.16895905e-03, 4.04569562e-03,-3.60612234e-03,-2.58206290e-02,
  6.05934166e-03,-2.92776698e-03,-1.78248171e-02, 1.16358092e-02,
  1.56526110e-02, 2.34214121e-03,-8.93920556e-03, 2.40091274e-02,
  7.40295559e-01,-9.91716764e-03, 5.06185969e-01, 6.31907035e-02,
  9.50413612e-02,-7.00863594e-02, 1.21386808e-01, 9.99991195e-01,
  2.66109467e-05, 3.42756424e-04, 4.18241728e-03]

qacc:
[ -3.74804794,  1.15629866, -5.98737534, 14.38238069,  1.17817221,
  -0.87949703,  2.55547369, -3.03873538, -0.09268462, -0.23681883,
  -0.7963654 ,  4.77716862, -0.71623705, -0.23264219,-12.79389947,
  40.84638842, -0.99658317, -1.45357712, -0.26823091, 24.20028662,
 -17.80140808,  1.28551109]

qfrc_actuator:
[-3.68861953e-05, 1.86109786e-05,-1.25837481e-04,-9.09447776e-05,
  9.99147144e-06,-3.87369652e-04,-3.23274966e-04,-2.93445642e-06,
  5.88597563e-05,-1.43026765e-04,-1.22316939e-04, 7.24720282e-05,
  5.74501780e-02,-7.36516632e-04, 3.19774106e-02,-4.52210317e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006242490623480645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.22311713e-14, -2.22311713e-14,  1.00000000e+00, -4.94224975e-28,
        1.00000000e+00,  2.22311713e-14, -1.00000000e+00,  0.00000000e+00,
       -2.22311713e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897914, -0.0517575 ,  0.06198484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18986392e-05, 1.57367075e-05, 4.53561290e-06, 2.58556342e-05,
  6.85600137e-06,-4.49630666e-05,-4.37177045e-06,-3.84155694e-06,
 -6.09244448e-07,-4.36570748e-05,-5.75072567e-06, 9.16267607e-06,
 -4.06700512e-04,-9.73716072e-05,-1.24589910e-04, 1.61758929e-04,
 -1.19681339e-06, 2.86152051e-05,-7.84788943e+00, 6.69133058e-04,
  9.61611784e-03, 1.36150543e-06]


--- Step 349 ---
qpos:
[ 7.16778404e-03, 4.04610161e-03,-3.60666743e-03,-2.58199481e-02,
  6.06031429e-03,-2.92817524e-03,-1.78249333e-02, 1.16365650e-02,
  1.56532651e-02, 2.34120934e-03,-8.93940804e-03, 2.40104595e-02,
  7.41518243e-01,-9.91605373e-03, 5.07204409e-01, 6.31833163e-02,
  9.50245295e-02,-7.01010170e-02, 1.21384051e-01, 9.99991116e-01,
  1.45652285e-04, 1.92787146e-04, 4.20835298e-03]

qacc:
[ -5.21791096,  2.43192374,-11.07833283, 22.76222114,  6.81180925,
  -2.36196201,  9.25843303,-16.44488199, -3.16968516, -0.32678151,
   1.36443021, -4.3307438 , -0.97450615,  0.79973003,  3.25161523,
 -13.25199788, -0.99010133, -1.44153973, -0.359053  , 23.9584004 ,
 -17.60386921,  1.29174638]

qfrc_actuator:
[-6.66967132e-05, 2.59940251e-05,-1.41878732e-04,-5.83611159e-05,
  4.97563110e-05,-4.10535845e-04,-3.06842307e-04,-2.33436949e-05,
  4.03419639e-05,-1.70197317e-04,-1.36993970e-04, 6.08371519e-05,
  5.73417500e-02,-7.54299222e-04, 3.19261062e-02,-4.60579881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006197136386053292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.23166295e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.23166295e-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([ 0.10897973, -0.05175624,  0.06198495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04287128e-05, 1.82156647e-05,-1.13363112e-05, 3.39188961e-05,
  3.99453639e-05,-4.93731319e-05, 6.47601539e-06,-2.25638984e-05,
 -1.85520333e-05,-5.23584071e-05,-2.40818058e-05,-1.35283252e-05,
 -4.02880566e-04,-8.79472635e-05,-9.41971269e-05,-9.16770927e-05,
 -1.42630580e-05, 5.11838517e-05,-7.84770490e+00, 6.90648034e-04,
  9.57819462e-03,-5.17874146e-07]


--- Step 350 ---
qpos:
[ 7.16660553e-03, 4.04687755e-03,-3.60775391e-03,-2.58192349e-02,
  6.06175583e-03,-2.92874088e-03,-1.78249283e-02, 1.16363574e-02,
  1.56536914e-02, 2.34068073e-03,-8.94036283e-03, 2.40105474e-02,
  7.42738680e-01,-9.91481758e-03, 5.08220834e-01, 6.31744780e-02,
  9.50080209e-02,-7.01081267e-02, 1.21382163e-01, 9.99991019e-01,
  2.01035780e-04, 4.90999895e-05, 4.23297858e-03]

qacc:
[ -0.05433066,  2.06906141, -6.80155483,  7.94722056,  4.10907679,
  -2.53701877, 12.79851559,-29.53658396, -2.03458891,  0.07773194,
   5.75729662,-26.3963547 , -1.50536339,  3.05781357,  1.43358827,
  -9.27899161,  0.08074289,  1.88699756,  0.2173613 ,-31.81529354,
   3.27488721, -0.66160284]

qfrc_actuator:
[-6.60055532e-05, 4.79069404e-05,-1.68859556e-04,-5.72303509e-05,
  7.27603139e-05,-4.06253840e-04,-2.97136145e-04,-7.11540428e-05,
  2.91857752e-05,-1.14906151e-04,-1.63353835e-04, 1.87725705e-07,
  5.72327948e-02,-7.47458025e-04, 3.17947981e-02,-4.68766268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006224227644498065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91856057e-14,  3.56742423e-13,  1.00000000e+00,  3.18162890e-26,
        1.00000000e+00, -3.56742423e-13, -1.00000000e+00,  0.00000000e+00,
       -8.91856057e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489362, -0.09303103,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68521806e-07, 3.11932641e-05,-2.34387184e-05, 2.17936204e-06,
  2.41287077e-05,-2.29280075e-05,-4.72115258e-07,-5.01431928e-05,
 -1.17028975e-05, 2.04865558e-05,-4.05978215e-05,-6.39892949e-05,
 -3.99328170e-04,-6.20237412e-05,-1.91344306e-04,-1.00739193e-04,
 -2.92077972e-05, 7.93372970e-05,-7.84740697e+00, 7.27240889e-04,
  9.52873072e-03,-3.56878179e-06]


--- Step 351 ---
qpos:
[ 7.16647913e-03, 4.04785073e-03,-3.60884102e-03,-2.58185290e-02,
  6.06277226e-03,-2.92916994e-03,-1.78252629e-02, 1.16359177e-02,
  1.56543251e-02, 2.34094978e-03,-8.94165353e-03, 2.40098266e-02,
  7.43956873e-01,-9.91346737e-03, 5.09234504e-01, 6.31693740e-02,
  9.49918437e-02,-7.01078051e-02, 1.21380535e-01, 9.99990917e-01,
  1.93790106e-04,-8.88198615e-05, 4.25686959e-03]

qacc:
[  9.25773902,  0.22931622, -0.43994017,  0.20338605, -3.73306248,
   0.65852153, -1.09342135, -2.49581296,  1.79946992,  0.32492363,
   3.77920346,-17.81757661, -1.41820583,  2.7700077 ,-15.30592491,
  47.71202929,  0.08285829,  1.85782331,  0.06472979,-31.30207762,
   3.01610703, -0.36939024]

qfrc_actuator:
[-1.18594520e-05, 6.05223363e-05,-1.66535979e-04,-5.68565015e-05,
  5.01994946e-05,-3.85611319e-04,-3.09139768e-04,-8.14265903e-05,
  4.02107193e-05,-2.85040622e-05,-1.60583821e-04,-3.54904472e-05,
  5.71182815e-02,-7.43921115e-04, 3.16955081e-02,-4.48383810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006269352470407719
  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([ 0.09489535, -0.09303024,  0.06198477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.41515754e-05, 2.52974593e-05, 5.95838916e-06, 9.40489944e-07,
 -2.18773462e-05, 5.60453626e-06,-1.85267429e-05,-1.22465398e-05,
  1.07012804e-05, 8.67574046e-05,-1.94744702e-07,-3.74466243e-05,
 -3.98675733e-04,-6.25363803e-05,-1.99993002e-04, 1.73122100e-04,
 -2.44660833e-06, 6.49002086e-05,-7.84761587e+00, 7.45192144e-04,
  9.48455431e-03,-4.14375001e-06]


--- Step 352 ---
qpos:
[ 7.16665778e-03, 4.04868538e-03,-3.60918871e-03,-2.58178327e-02,
  6.06351031e-03,-2.92907291e-03,-1.78262449e-02, 1.16353288e-02,
  1.56547412e-02, 2.34154583e-03,-8.94224732e-03, 2.40090165e-02,
  7.45172840e-01,-9.91204521e-03, 5.10246543e-01, 6.31678544e-02,
  9.49760027e-02,-7.01001526e-02, 1.21378626e-01, 9.99990806e-01,
  1.24790964e-04,-2.21391358e-04, 4.28048927e-03]

qacc:
[  2.71103248, -2.27496001,  7.87405136, -9.10191929, -2.46528025,
   2.20133516, -6.20276804,  4.26118068, -1.8989384 , -1.69582726,
   7.05718202, -9.96476826, -1.37671083,  2.5907904 ,-13.19570534,
  42.73876204,  0.08404446,  1.83271284, -0.07010805,-30.86508178,
   2.80556467, -0.13342879]

qfrc_actuator:
[ 2.29488040e-06, 4.98313356e-05,-1.29201359e-04,-5.69101581e-05,
  3.65114985e-05,-3.37630877e-04,-3.33756982e-04,-8.72749365e-05,
  2.86951890e-05,-1.27542939e-05,-1.22698722e-04,-3.83712762e-05,
  5.70058397e-02,-7.42407481e-04, 3.16635002e-02,-4.29073180e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006282877723870622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41765332e-14,  1.76706133e-13,  1.00000000e+00, -7.80626433e-27,
        1.00000000e+00, -1.76706133e-13, -1.00000000e+00,  0.00000000e+00,
        4.41765332e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489668, -0.09303033,  0.06198474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56987736e-05, 4.72132265e-06, 4.33236003e-05, 1.25046493e-06,
 -1.43098288e-05, 4.67758760e-05,-2.61548182e-05,-6.48406701e-06,
 -1.11802592e-05, 6.26327945e-05, 5.45001625e-05, 1.05154417e-07,
 -3.96031374e-04,-6.46454905e-05,-1.04356356e-04, 1.76983204e-04,
  2.15246604e-05, 5.26177148e-05,-7.84768982e+00, 7.43057148e-04,
  9.44199258e-03,-3.60683037e-06]


--- Step 353 ---
qpos:
[ 7.16700510e-03, 4.04946015e-03,-3.60904678e-03,-2.58174805e-02,
  6.06407835e-03,-2.92849541e-03,-1.78275513e-02, 1.16343120e-02,
  1.56553612e-02, 2.34237873e-03,-8.94202024e-03, 2.40081808e-02,
  7.46386579e-01,-9.91027489e-03, 5.11256896e-01, 6.31683623e-02,
  9.49604998e-02,-7.00852545e-02, 1.21375962e-01, 9.99990676e-01,
 -5.22577624e-06,-3.48956447e-04, 4.30421270e-03]

qacc:
[  1.50103917, -2.15988117,  9.02930052,-15.70812997, -1.50638437,
   0.66298174,  0.36939   , -7.61714519,  1.81612907, -2.03754048,
   7.82122501, -9.74466816, -1.70151841,  3.98030356, -8.56974218,
  26.4526082 ,  0.08453313,  1.81138945, -0.18854054,-30.49779073,
   2.63377733,  0.05836565]

qfrc_actuator:
[ 1.05329827e-05, 4.31659844e-05,-1.07105155e-04,-7.49678471e-05,
  2.81705030e-05,-3.09197074e-04,-3.47746056e-04,-1.08211538e-04,
  3.95026681e-05,-3.73904874e-06,-8.23956609e-05,-3.97221294e-05,
  5.69000459e-02,-7.24358712e-04, 3.15706696e-02,-4.19416351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000627060588602471
  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([ 0.09489768, -0.09303115,  0.06198477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.68139913e-06, 4.95362379e-06, 2.84419119e-05,-1.63357824e-05,
 -8.73218482e-06, 4.89148515e-05,-7.76152634e-06,-1.99596775e-05,
  1.05106233e-05, 5.52867853e-05, 5.99599197e-05, 3.22340724e-06,
 -3.87518644e-04,-4.80911313e-05,-1.25775974e-04, 9.17886408e-05,
  4.43113281e-05, 4.19138127e-05,-7.84763534e+00, 7.21140585e-04,
  9.40101332e-03,-1.96603743e-06]


--- Step 354 ---
qpos:
[ 7.16744866e-03, 4.05012267e-03,-3.60885544e-03,-2.58173098e-02,
  6.06454223e-03,-2.92803706e-03,-1.78282630e-02, 1.16337562e-02,
  1.56557610e-02, 2.34328716e-03,-8.94118927e-03, 2.40077168e-02,
  7.47598169e-01,-9.90798961e-03, 5.12264970e-01, 6.31665478e-02,
  9.49499114e-02,-7.00731063e-02, 1.21375581e-01, 9.99990552e-01,
 -1.10546204e-04,-4.35261985e-04, 4.32373326e-03]

qacc:
[  0.85052001, -0.66157757,  2.90415323, -6.03069665, -0.89040783,
  -0.8680071 ,  0.92311372,  6.19001872, -1.91918828, -0.81876537,
   1.50060241,  3.90719397, -1.89156875,  4.85684851,  3.6848714 ,
 -17.6963138 ,  1.22864031, -0.68744431,  0.57059539, 12.4361026 ,
  20.57644596, -2.10563496]

qfrc_actuator:
[ 1.52357120e-05, 2.11401672e-05,-1.11950618e-04,-8.57367460e-05,
  2.30407025e-05,-3.28161335e-04,-3.19917061e-04,-8.46047090e-05,
  2.78641965e-05,-1.65578059e-05,-5.87971722e-05,-2.24303147e-05,
  5.68036468e-02,-6.96693836e-04, 3.13988028e-02,-4.33292113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006314588152595835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.63728132e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.63728132e-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([ 0.08191739, -0.06191568,  0.06198466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.94788888e-06,-1.41094299e-05,-8.96995879e-07,-9.89423252e-06,
 -5.36106872e-06, 5.92386212e-06, 3.62967338e-05, 2.50500253e-05,
 -1.13204066e-05, 3.05963658e-05, 4.25053273e-05, 2.17977013e-05,
 -3.69721637e-04,-3.57575192e-05,-2.23477513e-04,-1.50889241e-04,
  6.70880716e-05, 3.24476874e-05,-7.84745760e+00, 6.79695909e-04,
  9.36158272e-03, 7.71338117e-07]


--- Step 355 ---
qpos:
[ 7.16794523e-03, 4.05060917e-03,-3.60869282e-03,-2.58169098e-02,
  6.06494088e-03,-2.92755883e-03,-1.78286787e-02, 1.16341810e-02,
  1.56556733e-02, 2.34453040e-03,-8.94070146e-03, 2.40078421e-02,
  7.48807781e-01,-9.90571026e-03, 5.13270949e-01, 6.31580702e-02,
  9.49441563e-02,-7.00636772e-02, 1.21376858e-01, 9.99990451e-01,
 -1.91846226e-04,-4.80925696e-04, 4.33938897e-03]

qacc:
[  0.46891432,  0.31863445, -2.44013976,  6.5773323 , -0.56134571,
   1.218539  , -8.44547712, 24.92863834, -4.30576199,  2.62305692,
 -11.18381254, 21.66767751, -1.27491265,  2.35837621, 17.03777337,
 -64.07080835,  1.20829908, -0.67978758,  0.41434372, 12.09711216,
  20.26901202, -1.93543792]

qfrc_actuator:
[ 1.78221837e-05, 7.72701609e-06,-1.14964073e-04,-7.44049759e-05,
  1.98397573e-05,-3.21899112e-04,-3.03291806e-04,-3.49896574e-05,
  3.10063455e-06,-6.90511725e-06,-8.08380740e-05, 5.65988462e-06,
  5.67076320e-02,-6.99070635e-04, 3.12648409e-02,-4.68034595e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006358480689199059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36512698e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.36512698e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191755, -0.06191695,  0.06198456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.72019390e-06,-2.19382894e-05,-6.39138890e-06, 1.05013342e-05,
 -3.35455402e-06, 1.81363835e-05, 2.31914283e-05, 5.16145317e-05,
 -2.50734861e-05, 3.64323181e-05,-9.74955264e-06, 3.12940481e-05,
 -3.55514859e-04,-6.18653538e-05,-2.53608185e-04,-3.84738125e-04,
  4.13142253e-05, 1.81695082e-05,-7.84769656e+00, 6.46967786e-04,
  9.33333828e-03, 2.14141328e-06]


--- Step 356 ---
qpos:
[ 7.16881392e-03, 4.05093121e-03,-3.60856566e-03,-2.58163782e-02,
  6.06495290e-03,-2.92668261e-03,-1.78295635e-02, 1.16348562e-02,
  1.56559797e-02, 2.34593200e-03,-8.94065632e-03, 2.40079881e-02,
  7.50015373e-01,-9.90370746e-03, 5.14274492e-01, 6.31486487e-02,
  9.49431646e-02,-7.00569392e-02, 1.21379240e-01, 9.99990383e-01,
 -2.49688163e-04,-4.86479886e-04, 4.35145294e-03]

qacc:
[ 3.27728333, 0.14648578,-1.40314697, 3.86817074,-3.40457096, 2.35831699,
 -8.69183415,13.4710643 , 3.45029681, 1.48240143,-5.08089264, 6.04253421,
 -0.92317221, 0.85700458,-0.73560947,-2.62936878, 1.19085444,-0.67279337,
  0.27658275,11.81509516,20.00402457,-1.79771911]

qfrc_actuator:
[ 3.68962593e-05,-4.09862082e-07,-1.16819956e-04,-6.79033795e-05,
  4.62429404e-08,-3.00592365e-04,-3.28833284e-04,-2.37315422e-05,
  2.40752906e-05,-1.95643218e-05,-1.11804475e-04, 4.35774338e-06,
  5.65906065e-02,-7.19157528e-04, 3.12016195e-02,-4.70388558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006371135683059803
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71291305e-14,  1.96040544e-13,  1.00000000e+00,  1.70808421e-26,
        1.00000000e+00, -1.96040544e-13, -1.00000000e+00,  0.00000000e+00,
       -8.71291305e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191722, -0.06191769,  0.06198453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91417096e-05,-2.12960985e-05,-6.81996427e-06, 5.54303620e-06,
 -1.98861112e-05, 3.84357710e-05,-1.71539082e-05, 1.38414050e-05,
  2.02785725e-05, 6.98112316e-06,-2.35784339e-05, 5.27706845e-07,
 -3.70986949e-04,-7.96514351e-05,-2.22288422e-04,-7.76468378e-05,
  2.30640089e-05, 7.77144096e-06,-7.84785740e+00, 6.21678877e-04,
  9.31823620e-03, 3.25760136e-06]


--- Step 357 ---
qpos:
[ 7.16990467e-03, 4.05080485e-03,-3.60832792e-03,-2.58157461e-02,
  6.06507263e-03,-2.92572225e-03,-1.78303306e-02, 1.16353158e-02,
  1.56565354e-02, 2.34680737e-03,-8.94037555e-03, 2.40078142e-02,
  7.51220811e-01,-9.90156474e-03, 5.15275552e-01, 6.31422018e-02,
  9.49468772e-02,-7.00528675e-02, 1.21382247e-01, 9.99990352e-01,
 -2.84537773e-04,-4.52376922e-04, 4.36014658e-03]

qacc:
[  1.96598832, -0.69882706,  1.2017299 ,  0.69561743,  0.94472485,
  -0.66324621,  3.43340683, -7.4116144 ,  2.21040334, -2.01696171,
   7.52559467,-13.04307365, -1.40819253,  2.8197704 ,-12.61064975,
  38.86675951,  1.1760917 , -0.66655047,  0.15593505, 11.58152131,
  19.77879051, -1.68586536]

qfrc_actuator:
[ 4.77699658e-05,-4.08273953e-05,-1.17963081e-04,-6.42940721e-05,
  6.14993702e-06,-3.06150232e-04,-3.25770090e-04,-3.51495841e-05,
  3.63011568e-05,-8.10733975e-05,-1.12384134e-04,-1.42469809e-05,
  5.64770270e-02,-7.14092215e-04, 3.11276907e-02,-4.53614812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006358323518831782
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.73046976e-14,  6.54785232e-14,  1.00000000e+00,  5.71658267e-27,
        1.00000000e+00, -6.54785232e-14, -1.00000000e+00,  0.00000000e+00,
       -8.73046976e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819165 , -0.061918  ,  0.06198456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14087178e-05,-5.35078471e-05,-6.19787066e-06, 2.56626631e-06,
  5.54906681e-06, 1.29552749e-05, 9.36736789e-06,-1.00959823e-05,
  1.28098727e-05,-6.24965946e-05,-2.04128731e-06,-1.91154695e-05,
 -3.80698257e-04,-5.87133963e-05,-1.84489026e-04, 1.34763721e-04,
  1.15087611e-05, 6.31501658e-07,-7.84794441e+00, 6.03688776e-04,
  9.31607513e-03, 4.12021919e-06]


--- Step 358 ---
qpos:
[ 7.17077261e-03, 4.05007425e-03,-3.60802202e-03,-2.58147068e-02,
  6.06560953e-03,-2.92498105e-03,-1.78306441e-02, 1.16359963e-02,
  1.56565439e-02, 2.34672330e-03,-8.93957803e-03, 2.40074560e-02,
  7.52424106e-01,-9.89903852e-03, 5.16274668e-01, 6.31380338e-02,
  9.49552450e-02,-7.00514401e-02, 1.21385457e-01, 9.99990355e-01,
 -2.96778482e-04,-3.78994972e-04, 4.36565018e-03]

qacc:
[ -1.94851584, -0.14671099, -2.34445276,  9.71246233,  3.66847885,
  -1.10897726,  2.58899125,  0.68403944, -4.78207006, -3.08224987,
   9.94399178,-13.26939356, -1.68666479,  4.01477824, -9.70894195,
  29.88611021,  1.16378863, -0.66109803,  0.05089537, 11.3892551 ,
  19.59047628, -1.59460939]

qfrc_actuator:
[ 3.59720198e-05,-8.25109581e-05,-1.18810393e-04,-4.46889492e-05,
  2.74522591e-05,-3.27672205e-04,-3.05943350e-04,-2.43022713e-05,
  7.75953705e-06,-1.53518513e-04,-9.52329855e-05,-2.51483229e-05,
  5.63762514e-02,-6.94241445e-04, 3.10527551e-02,-4.41695906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006325077090125197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.19408991e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.19408991e-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([ 0.08191546, -0.06191798,  0.06198464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14924227e-05,-7.27741697e-05,-1.25776523e-05, 1.71471413e-05,
  2.14654251e-05,-1.28002111e-05, 2.33036993e-05, 1.15284185e-05,
 -2.81955911e-05,-1.08662813e-04, 3.31565166e-06,-1.40248537e-05,
 -3.71020660e-04,-4.38070072e-05,-1.45426734e-04, 1.02693508e-04,
  6.04100660e-06,-3.72439757e-06,-7.84796102e+00, 5.92878114e-04,
  9.32668712e-03, 4.72992048e-06]


--- Step 359 ---
qpos:
[ 7.17218217e-03, 4.04914393e-03,-3.60787167e-03,-2.58138225e-02,
  6.06605273e-03,-2.92442830e-03,-1.78306836e-02, 1.16368102e-02,
  1.56562107e-02, 2.34538755e-03,-8.93812497e-03, 2.40073441e-02,
  7.53625414e-01,-9.89631606e-03, 5.17271097e-01, 6.31387350e-02,
  9.49682277e-02,-7.00526386e-02, 1.21388507e-01, 9.99990383e-01,
 -2.86723276e-04,-2.66643671e-04, 4.36811123e-03]

qacc:
[ 4.76612750e+00,-1.57847553e-01, 8.17308205e-01,-3.08579908e+00,
 -8.08028403e-01,-7.38561356e-01, 1.71198526e+00, 2.92997018e-01,
 -2.96509196e+00,-2.97380443e+00, 7.17320340e+00,-3.04857797e+00,
 -1.33969095e+00, 2.80920350e+00,-1.86274358e+01, 5.94861863e+01,
  1.15372762e+00,-6.56442185e-01,-4.00638727e-02, 1.12323412e+01,
  1.94362761e+01,-1.51975523e+00]

qfrc_actuator:
[ 6.41850247e-05,-7.13610531e-05,-1.19482045e-04,-5.13386133e-05,
  2.20159651e-05,-3.40750385e-04,-2.94194045e-04,-1.81986598e-05,
 -9.04056691e-06,-2.31881556e-04,-6.78187185e-05,-1.36827092e-05,
  5.62885606e-02,-6.83571568e-04, 3.09293243e-02,-4.16761940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006275756634639695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76906641e-13,  2.21133301e-14,  1.00000000e+00,  3.91199494e-27,
        1.00000000e+00, -2.21133301e-14, -1.00000000e+00,  0.00000000e+00,
       -1.76906641e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191417, -0.0619177 ,  0.06198476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78627877e-05,-3.13947708e-05,-1.66560364e-05,-9.86811987e-06,
 -4.82890375e-06,-1.49459132e-05, 1.23676678e-05, 6.58256395e-06,
 -1.76381515e-05,-1.39059414e-04, 4.88512506e-06, 6.65111163e-06,
 -3.48739274e-04,-5.02664796e-05,-1.81753949e-04, 2.35558129e-04,
  6.22778205e-06,-5.66380437e-06,-7.84790989e+00, 5.89146417e-04,
  9.34993369e-03, 5.08759599e-06]


--- Step 360 ---
qpos:
[ 7.17460867e-03, 4.04813168e-03,-3.60782030e-03,-2.58130445e-02,
  6.06608257e-03,-2.92398966e-03,-1.78305474e-02, 1.16369976e-02,
  1.56563675e-02, 2.34403724e-03,-8.93713707e-03, 2.40072884e-02,
  7.54824779e-01,-9.89375341e-03, 5.18265068e-01, 6.31398137e-02,
  9.49857932e-02,-7.00564473e-02, 1.21391083e-01, 9.99990423e-01,
 -2.54624597e-04,-1.15569528e-04, 4.36765116e-03]

qacc:
[  8.94978804, -0.06788075,  0.50228435, -2.08762801, -3.6100353 ,
  -1.9233925 ,  9.29689314,-20.35009648,  4.29729821,  1.38820276,
  -5.22942176,  6.97206772, -0.98934742,  1.27596585, -4.7510908 ,
  11.38497779,  1.1457027 , -0.65256769, -0.11842778, 11.10581528,
  19.3135108 , -1.45795908]

qfrc_actuator:
[ 1.15729289e-04,-6.41791511e-05,-1.19851837e-04,-5.55890632e-05,
  8.80496911e-07,-3.48705313e-04,-2.87293119e-04,-5.04473027e-05,
  1.67229781e-05,-1.71098274e-04,-7.00973423e-05,-6.90631166e-06,
  5.61821546e-02,-6.96128995e-04, 3.07769330e-02,-4.16323860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006214114865385062
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.46653727e-14,  2.23326863e-14,  1.00000000e+00,  9.97497757e-28,
        1.00000000e+00, -2.23326863e-14, -1.00000000e+00,  0.00000000e+00,
       -4.46653727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191269, -0.06191721,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.23283548e-05,-1.42013669e-05,-9.24209863e-06,-6.36478497e-06,
 -2.12794212e-05,-1.34991410e-05, 5.55751762e-06,-3.23357359e-05,
  2.52106584e-05,-1.56611003e-05,-3.01722403e-05, 1.11623866e-06,
 -3.53040957e-04,-7.05835454e-05,-2.09997565e-04,-6.06437019e-06,
  1.17758126e-05,-5.47875409e-06,-7.84779305e+00, 5.92410119e-04,
  9.38570250e-03, 5.19429776e-06]


--- Step 361 ---
qpos:
[ 7.17659950e-03, 4.04701131e-03,-3.60806070e-03,-2.58123069e-02,
  6.06620372e-03,-2.92364886e-03,-1.78303318e-02, 1.16368019e-02,
  1.56568309e-02, 2.34345736e-03,-8.93692072e-03, 2.40072325e-02,
  7.56022091e-01,-9.89097442e-03, 5.19257045e-01, 6.31401677e-02,
  9.50079169e-02,-7.00628537e-02, 1.21392916e-01, 9.99990453e-01,
 -2.00682604e-04, 7.40390308e-05, 4.36437063e-03]

qacc:
[ -3.84233067,  0.59700937, -2.15178266,  1.98271276,  0.80291767,
  -1.14138776,  5.49735954,-12.18127347,  2.6610967 ,  3.16900571,
  -9.82984985, 10.50177817, -1.48997748,  3.23720153, -0.72517607,
  -1.67360358,  1.13952315, -0.649446  , -0.18560167, 11.00554072,
  19.21968036, -1.40655459]

qfrc_actuator:
[ 9.18171963e-05,-7.71685769e-05,-1.37787513e-04,-5.83868191e-05,
  6.18792590e-06,-3.53585260e-04,-2.83312368e-04,-6.94956108e-05,
  3.18244185e-05,-8.08215575e-05,-8.93332039e-05,-2.85192364e-06,
  5.60752389e-02,-6.86839995e-04, 3.06924544e-02,-4.19677342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006143359846200735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51797979e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.51797979e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08191107, -0.06191656,  0.06198508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24272033e-05,-2.30672659e-05,-2.22222874e-05,-3.85175464e-06,
  4.69587763e-06,-1.26916569e-05, 7.51803659e-07,-2.00645762e-05,
  1.58101155e-05, 7.53810206e-05,-2.61451145e-05, 2.36087892e-06,
 -3.59956540e-04,-5.12703761e-05,-1.81702081e-04,-6.10209848e-05,
  2.25055432e-05,-3.40906717e-06,-7.84761202e+00, 6.02600759e-04,
  9.43390448e-03, 5.05118310e-06]


--- Step 362 ---
qpos:
[ 7.17759867e-03, 4.04606279e-03,-3.60865993e-03,-2.58116400e-02,
  6.06707730e-03,-2.92351819e-03,-1.78303550e-02, 1.16374522e-02,
  1.56571271e-02, 2.34335576e-03,-8.93691392e-03, 2.40072230e-02,
  7.57217385e-01,-9.88806824e-03, 5.20246706e-01, 6.31437093e-02,
  9.50259810e-02,-7.00751335e-02, 1.21394290e-01, 9.99990448e-01,
 -9.70137737e-05, 2.27385239e-04, 4.36371846e-03]

qacc:
[ -8.7434623 ,  1.10174127, -3.27025732,  2.46069173,  6.58085638,
   2.11789622,-11.54937799, 26.75362126, -1.48638336,  1.31617886,
  -3.96647322,  4.74641332, -1.31395082,  2.59620453,-13.00935184,
  40.6155752 , -1.01487346, -1.46832158, -0.1149321 , 24.78394938,
 -18.23977809,  1.31244939]

qfrc_actuator:
[ 4.14297435e-05,-4.89439546e-05,-1.48277691e-04,-6.03362648e-05,
  4.47744038e-05,-3.74343481e-04,-2.98810506e-04,-2.73585555e-05,
  2.27632751e-05,-6.23910969e-05,-1.00498341e-04,-3.96809808e-07,
  5.59734228e-02,-6.82507996e-04, 3.06168153e-02,-4.02132215e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006143763285115927
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51768311e-14, -9.03536622e-14,  1.00000000e+00, -4.08189213e-27,
        1.00000000e+00,  9.03536622e-14, -1.00000000e+00,  0.00000000e+00,
       -4.51768311e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897249, -0.05175331,  0.06198508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.10277752e-05, 1.05983938e-05,-1.81113281e-05,-3.77900005e-06,
  3.87170170e-05,-2.85726524e-05,-1.87276247e-05, 4.12277282e-05,
 -8.58632790e-06, 5.53101179e-05, 1.27146221e-06, 4.82716962e-06,
 -3.56491991e-04,-5.57390960e-05,-1.67780673e-04, 1.48122614e-04,
  3.83318094e-05, 3.40116236e-07,-7.84736783e+00, 6.19663357e-04,
  9.49447140e-03, 4.65947445e-06]


--- Step 363 ---
qpos:
[ 7.17867609e-03, 4.04502217e-03,-3.60873440e-03,-2.58113750e-02,
  6.06806160e-03,-2.92345381e-03,-1.78306214e-02, 1.16385841e-02,
  1.56569676e-02, 2.34374838e-03,-8.93761616e-03, 2.40072759e-02,
  7.58410738e-01,-9.88600276e-03, 5.21234733e-01, 6.31482199e-02,
  9.50400305e-02,-7.00932372e-02, 1.21394777e-01, 9.99990409e-01,
  5.57211239e-05, 3.45061065e-04, 4.36576778e-03]

qacc:
[  0.70671591, -2.41786501, 10.13278233,-17.84324033,  0.96261079,
   1.58095597, -7.8013724 , 16.57913581, -4.04049313,  2.77129001,
  -9.18317139, 11.01774111, -0.24336963, -1.93050443, -5.34213064,
  15.1711698 , -1.00365125, -1.45597636, -0.22169986, 24.45466304,
 -17.94220292,  1.35465483]

qfrc_actuator:
[ 4.68978649e-05,-4.94855098e-05,-1.18611548e-04,-7.94829141e-05,
  4.93727638e-05,-3.68971965e-04,-3.07956762e-04,-2.84403736e-06,
 -4.44185706e-07,-5.15791459e-05,-1.42579676e-04, 1.05224574e-06,
  5.58534342e-02,-7.34405486e-04, 3.05465808e-02,-3.97263846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006135230167098604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13099162e-14,  6.78594972e-14,  1.00000000e+00, -7.67485226e-28,
        1.00000000e+00, -6.78594972e-14, -1.00000000e+00,  0.00000000e+00,
        1.13099162e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897244, -0.05175318,  0.0619851 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02691561e-06, 1.50135381e-06, 2.95116222e-05,-1.93890555e-05,
  5.69358870e-06,-1.27002150e-05,-1.59325233e-05, 2.34411968e-05,
 -2.34326659e-05, 4.22127908e-05,-3.03308256e-05, 3.95791732e-06,
 -3.72744826e-04,-1.11959135e-04,-1.32349968e-04, 3.48792573e-05,
  2.51008283e-05,-1.43077127e-05,-7.84744270e+00, 6.53537744e-04,
  9.54304784e-03, 3.18250924e-06]


--- Step 364 ---
qpos:
[ 7.17946524e-03, 4.04397548e-03,-3.60845044e-03,-2.58116866e-02,
  6.06874867e-03,-2.92334978e-03,-1.78308040e-02, 1.16403095e-02,
  1.56565311e-02, 2.34485659e-03,-8.93955117e-03, 2.40080448e-02,
  7.59601992e-01,-9.88419218e-03, 5.22221508e-01, 6.31515467e-02,
  9.50501046e-02,-7.01171236e-02, 1.21394004e-01, 9.99990325e-01,
  2.56984284e-04, 4.27560740e-04, 4.37058710e-03]

qacc:
[ -2.52633296, -2.19267741, 10.2421261 ,-20.78282262, -2.59857975,
   1.04456166, -6.14569866, 16.24519149, -2.48890262,  5.87020976,
 -22.57298228, 36.39964814, -1.0200887 ,  1.11195497,  1.74012741,
  -8.74251999, -0.99384088, -1.44569251, -0.31524077, 24.18663678,
 -17.69375365,  1.39443972]

qfrc_actuator:
[ 3.19481901e-05,-4.93389391e-05,-1.01096933e-04,-1.08588373e-04,
  3.39190009e-05,-3.47982413e-04,-2.95439434e-04, 2.88755672e-05,
 -1.40314878e-05,-1.00402901e-05,-2.02627413e-04, 3.73683451e-05,
  5.57439110e-02,-7.48113109e-04, 3.04849366e-02,-4.03457711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006107349049218197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02253932e-13,  9.08923836e-14,  1.00000000e+00, -9.29410356e-27,
        1.00000000e+00, -9.08923836e-14, -1.00000000e+00,  0.00000000e+00,
        1.02253932e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10897279, -0.05175252,  0.06198516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48318449e-05, 6.28718799e-06, 2.07995543e-05,-2.83962911e-05,
 -1.52958602e-05, 1.16014609e-05, 8.74221337e-06, 3.10779555e-05,
 -1.42367086e-05, 5.90340610e-05,-5.49227366e-05, 3.71541543e-05,
 -3.82352986e-04,-8.15560966e-05,-1.22469311e-04,-7.80598084e-05,
  9.86565612e-06,-2.29202855e-05,-7.84739567e+00, 7.02797448e-04,
  9.57983548e-03, 4.97250501e-07]


--- Step 365 ---
qpos:
[ 7.17972410e-03, 4.04316672e-03,-3.60835230e-03,-2.58119929e-02,
  6.06924540e-03,-2.92337188e-03,-1.78310565e-02, 1.16427786e-02,
  1.56559353e-02, 2.34601763e-03,-8.94141510e-03, 2.40092376e-02,
  7.60791099e-01,-9.88221789e-03, 5.23207375e-01, 6.31510290e-02,
  9.50606051e-02,-7.01334616e-02, 1.21394313e-01, 9.99990215e-01,
  3.93824113e-04, 5.14943597e-04, 4.37608680e-03]

qacc:
[ -4.67789957,  0.85425142, -2.59594454,  2.79281485, -1.66522486,
   1.56272323, -8.94886029, 22.02056811, -1.3998898 ,  0.74668885,
  -4.34641562, 11.52644908, -1.5525882 ,  3.26015498, 10.29225135,
 -37.89660308,  0.10657632,  1.88710932,  0.27083958,-32.20082573,
   2.58244416,  0.32583803]

qfrc_actuator:
[ 5.08304917e-06,-3.10760493e-05,-1.08669433e-04,-1.07828357e-04,
  2.45502493e-05,-3.70959340e-04,-3.05658969e-04, 6.46137366e-05,
 -2.18430173e-05,-2.14948805e-05,-2.01637126e-04, 5.84208314e-05,
  5.56407510e-02,-7.39156347e-04, 3.04337970e-02,-4.23213440e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006174977229780471
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49484663e-14,  8.98969327e-14,  1.00000000e+00,  4.04072925e-27,
        1.00000000e+00, -8.98969327e-14, -1.00000000e+00,  0.00000000e+00,
       -4.49484663e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0948986 , -0.09303545,  0.061985  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.72807700e-05, 2.48862782e-05,-4.68536768e-06, 1.19867969e-06,
 -9.80335819e-06,-1.33628948e-05,-5.67317046e-06, 3.71396221e-05,
 -8.19304895e-06, 1.17792044e-05, 7.71337155e-06, 2.24056604e-05,
 -3.77813323e-04,-5.78087480e-05,-1.21165846e-04,-2.18971070e-04,
 -7.53571688e-06,-2.56719217e-05,-7.84723143e+00, 7.67270905e-04,
  9.60498934e-03,-3.37598315e-06]


--- Step 366 ---
qpos:
[ 7.17965892e-03, 4.04255395e-03,-3.60836478e-03,-2.58119423e-02,
  6.06962596e-03,-2.92368643e-03,-1.78312824e-02, 1.16449815e-02,
  1.56555959e-02, 2.34657439e-03,-8.94233228e-03, 2.40100071e-02,
  7.61978129e-01,-9.88014265e-03, 5.24192343e-01, 6.31476938e-02,
  9.50715348e-02,-7.01423678e-02, 1.21395078e-01, 9.99990104e-01,
  4.67436989e-04, 6.07087246e-04, 4.38229927e-03]

qacc:
[ -2.85907047,  1.30886238, -5.78366937, 11.97231144, -1.01082163,
  -1.00682301,  4.15692896, -8.59661148,  2.29558187, -4.32092146,
  16.02767731,-24.4159916 , -1.42691243,  2.84274775,  7.2016032 ,
 -27.07007165,  0.10731466,  1.85796735,  0.11391098,-31.60293337,
   2.51885638,  0.33916629]

qfrc_actuator:
[-1.08214017e-05,-1.99375593e-05,-1.13140697e-04,-8.95004636e-05,
  1.88445154e-05,-4.02413606e-04,-3.11647678e-04, 4.91175171e-05,
 -8.44343044e-06,-8.21216460e-05,-1.64834777e-04, 3.48155468e-05,
  5.55414889e-02,-7.34670234e-04, 3.04102773e-02,-4.36590755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006234584554473954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45187251e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.45187251e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.094899  , -0.09303393,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66679260e-05, 2.41568468e-05, 1.43050308e-07, 1.92581319e-05,
 -5.99180051e-06,-3.85122984e-05,-8.16435413e-06,-1.55468131e-05,
  1.31716866e-05,-5.15139281e-05, 4.09661255e-05,-2.23984212e-05,
 -3.67055068e-04,-5.94932678e-05,-1.09452527e-04,-1.63057526e-04,
 -3.60137787e-06,-2.09971269e-05,-7.84757198e+00, 8.11041347e-04,
  9.63323528e-03,-6.08429983e-06]


--- Step 367 ---
qpos:
[ 7.17940344e-03, 4.04210495e-03,-3.60841938e-03,-2.58116731e-02,
  6.07062507e-03,-2.92459915e-03,-1.78308443e-02, 1.16466318e-02,
  1.56557646e-02, 2.34657279e-03,-8.94272899e-03, 2.40105122e-02,
  7.63162934e-01,-9.87732280e-03, 5.25175173e-01, 6.31442162e-02,
  9.50828966e-02,-7.01439436e-02, 1.21395743e-01, 9.99990005e-01,
  4.78842475e-04, 7.03895937e-04, 4.38924020e-03]

qacc:
[-1.67912011e+00, 7.87650373e-01,-3.40886264e+00, 7.12630425e+00,
  5.44332973e+00,-3.79240805e+00, 1.46904586e+01,-2.48560254e+01,
  4.49765972e+00,-2.74551982e+00, 9.81907695e+00,-1.47971350e+01,
 -2.17176665e+00, 5.84831745e+00,-2.67187695e+00, 4.88021388e+00,
  1.08020929e-01, 1.83256342e+00,-2.51249979e-02,-3.10933897e+01,
  2.46897006e+00, 3.44233128e-01]

qfrc_actuator:
[-2.01435729e-05,-1.31269603e-05,-1.15752095e-04,-7.87380884e-05,
  5.08438111e-05,-4.38737519e-04,-2.79661303e-04, 2.13457539e-05,
  1.73309449e-05,-1.18357845e-04,-1.42954533e-04, 2.05986715e-05,
  5.54286591e-02,-6.97363971e-04, 3.02968458e-02,-4.37213646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006260384426722138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86705152e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.86705152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489927, -0.09303342,  0.0619848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.78600015e-06, 2.11897625e-05, 3.06973674e-06, 1.21787063e-05,
  3.18156444e-05,-6.02052847e-05, 2.24895357e-05,-3.00105873e-05,
  2.61308642e-05,-5.75484784e-05, 1.55117629e-05,-1.54444187e-05,
 -3.73339172e-04,-2.52121813e-05,-1.88063746e-04,-3.09575559e-05,
  1.58734997e-06,-1.64254367e-05,-7.84777420e+00, 8.34639683e-04,
  9.66300277e-03,-7.64742923e-06]


--- Step 368 ---
qpos:
[ 7.17869338e-03, 4.04154643e-03,-3.60865061e-03,-2.58112320e-02,
  6.07199980e-03,-2.92595031e-03,-1.78300174e-02, 1.16472444e-02,
  1.56558960e-02, 2.34610517e-03,-8.94287643e-03, 2.40111956e-02,
  7.64345486e-01,-9.87398026e-03, 5.26155068e-01, 6.31414491e-02,
  9.50946934e-02,-7.01382766e-02, 1.21395818e-01, 9.99989917e-01,
  4.28900662e-04, 8.05296474e-04, 4.39691222e-03]

qacc:
[ -4.00498343,  0.71082871, -3.45436678,  6.77233524,  3.30597068,
  -3.80794028, 17.10869666,-35.36065997, -0.31227175, -0.94494461,
   1.72382823,  1.30539327, -1.92488861,  4.77016961, -6.43020092,
  16.30309229,  0.1087366 ,  1.81072407, -0.14751357,-30.66352541,
   2.43070556,  0.34282301]

qfrc_actuator:
[-4.32731373e-05,-4.44645275e-05,-1.35024444e-04,-7.25194596e-05,
  6.92726167e-05,-4.59807868e-04,-2.61043023e-04,-3.11512344e-05,
  1.46705530e-05,-1.39763901e-04,-1.29979994e-04, 2.97776770e-05,
  5.53024511e-02,-6.76554913e-04, 3.01402626e-02,-4.33889197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006258439637285146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.86980692e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.86980692e-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([ 0.09489944, -0.09303375,  0.0619848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33993115e-05,-1.83191612e-05,-1.40905069e-05, 7.47029341e-06,
  1.93171217e-05,-5.13421458e-05, 7.91531723e-06,-5.48865363e-05,
 -1.93838120e-06,-5.10319938e-05, 2.46593435e-06, 6.94766926e-06,
 -3.85720078e-04,-3.96546414e-05,-2.47932508e-04, 6.87494774e-06,
  8.15976567e-06,-1.20589888e-05,-7.84784550e+00, 8.38390656e-04,
  9.69427228e-03,-8.08190003e-06]


--- Step 369 ---
qpos:
[ 7.17736680e-03, 4.04078390e-03,-3.60958247e-03,-2.58110154e-02,
  6.07254986e-03,-2.92714681e-03,-1.78292204e-02, 1.16468300e-02,
  1.56559943e-02, 2.34560391e-03,-8.94304741e-03, 2.40119466e-02,
  7.65525952e-01,-9.87100632e-03, 5.27132036e-01, 6.31420098e-02,
  9.51069281e-02,-7.01254407e-02, 1.21394874e-01, 9.99989831e-01,
  3.18328248e-04, 9.11234829e-04, 4.40530766e-03]

qacc:
[ -5.44575308,  1.23738818, -3.83726315,  1.20297888, -7.22057731,
  -1.81128833, 11.11563776,-28.98260389, -0.29073015,  0.16085705,
  -0.92205862,  2.15162756, -0.80569923,  0.31427556,-14.34923426,
  43.957616  ,  0.10949015,  1.79222389, -0.25467642,-30.30531023,
   2.40233426,  0.33631673]

qfrc_actuator:
[-7.43467437e-05,-8.07305684e-05,-1.81894654e-04,-8.68204934e-05,
  2.62967371e-05,-4.18388660e-04,-2.50436171e-04,-8.00243815e-05,
  1.30441373e-05,-1.16635609e-04,-1.22285850e-04, 3.49047400e-05,
  5.51896019e-02,-7.01225378e-04, 3.00324981e-02,-4.15849105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006234045016067502
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45225781e-14, -8.90451562e-14,  1.00000000e+00, -3.96451992e-27,
        1.00000000e+00,  8.90451562e-14, -1.00000000e+00,  0.00000000e+00,
       -4.45225781e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09489953, -0.09303475,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.17424025e-05,-4.90843758e-05,-5.21207863e-05,-1.54255457e-05,
 -4.24399342e-05, 1.20367343e-05,-9.18217681e-07,-5.18684572e-05,
 -1.70118503e-06,-4.58514415e-06,-2.29723278e-06, 3.16061524e-06,
 -3.83345540e-04,-8.84976498e-05,-2.19101449e-04, 1.49217058e-04,
  1.61887335e-05,-7.89914803e-06,-7.84779180e+00, 8.22568032e-04,
  9.72702645e-03,-7.40203973e-06]


--- Step 370 ---
qpos:
[ 7.17602293e-03, 4.03976835e-03,-3.61079756e-03,-2.58109937e-02,
  6.07258064e-03,-2.92804202e-03,-1.78287448e-02, 1.16465243e-02,
  1.56571071e-02, 2.34534068e-03,-8.94327689e-03, 2.40127197e-02,
  7.66704387e-01,-9.86864192e-03, 5.28106764e-01, 6.31452593e-02,
  9.51149260e-02,-7.01132240e-02, 1.21395760e-01, 9.99989751e-01,
  2.12832352e-04, 9.80357997e-04, 4.41486659e-03]

qacc:
[ -0.15692895,  0.05612218,  0.13706269, -2.86998133, -4.55915008,
   1.52824736, -5.31507093,  7.47157402,  8.92021084,  0.50632488,
  -1.47265255,  1.80726609, -0.52774273, -0.80659371,-11.41851784,
  35.15225905, -1.05918612, -0.15479502,  0.45758678,  2.45661077,
 -18.41840588,  0.58989734]

qfrc_actuator:
[-7.43377254e-05,-8.43101496e-05,-1.91471022e-04,-9.53531111e-05,
  7.85992026e-07,-3.93151329e-04,-2.62125503e-04,-7.30611310e-05,
  6.53066456e-05,-8.47853243e-05,-1.17586855e-04, 3.76401051e-05,
  5.50848339e-02,-7.34748697e-04, 2.99488039e-02,-4.01696626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006247312139391753
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.55350345e-14,  1.33284083e-13,  1.00000000e+00, -7.40193614e-27,
        1.00000000e+00, -1.33284083e-13, -1.00000000e+00,  0.00000000e+00,
        5.55350345e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883167, -0.06839873,  0.06198483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.03579702e-07,-4.24217361e-05,-2.66447049e-05,-1.27329462e-05,
 -2.67168740e-05, 2.95762705e-05,-1.11038623e-05, 6.44134212e-06,
  5.22109217e-05, 2.89653551e-05, 3.58463082e-06, 2.52080957e-06,
 -3.81199017e-04,-1.01576680e-04,-1.66633698e-04, 1.21811527e-04,
  2.57090305e-05,-3.85699636e-06,-7.84761769e+00, 7.87399758e-04,
  9.76125016e-03,-5.62012230e-06]


--- Step 371 ---
qpos:
[ 7.17468911e-03, 4.03878061e-03,-3.61203312e-03,-2.58107843e-02,
  6.07230523e-03,-2.92883630e-03,-1.78289080e-02, 1.16463523e-02,
  1.56588374e-02, 2.34533929e-03,-8.94350395e-03, 2.40138570e-02,
  7.67880720e-01,-9.86636266e-03, 5.29079660e-01, 6.31494522e-02,
  9.51187341e-02,-7.01016152e-02, 1.21397971e-01, 9.99989688e-01,
  1.12270283e-04, 1.01330309e-03, 4.42553271e-03]

qacc:
[  0.08755482,  0.48034034, -2.44985657,  5.70561446, -2.70091347,
   2.19797475, -8.19954185, 11.45169385,  5.43080567,  1.07846608,
  -4.89930147, 11.02572554, -1.17668631,  1.797643  , -5.52743799,
  15.46093235, -1.04747071, -0.15198922,  0.33116116,  2.38648304,
 -18.09963169,  0.55982612]

qfrc_actuator:
[-7.37843874e-05,-5.03946035e-05,-1.78808244e-04,-8.26117710e-05,
 -1.42211967e-05,-4.13336878e-04,-3.04641776e-04,-6.88260780e-05,
  9.56104440e-05,-6.57126728e-05,-1.14640564e-04, 5.67114113e-05,
  5.49849850e-02,-7.37690093e-04, 2.98636182e-02,-3.97046970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006261089691986937
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43302636e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.43302636e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883126, -0.06839885,  0.06198479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.18932163e-07, 4.19997653e-06, 2.06592365e-07, 9.76039534e-06,
 -1.57600001e-05,-5.64581494e-06,-3.75455336e-05, 5.24622997e-06,
  3.17960837e-05, 3.61509868e-05, 9.46131522e-06, 2.04831041e-05,
 -3.76697777e-04,-7.20040503e-05,-1.49922990e-04, 3.13287025e-05,
  2.09519595e-05,-4.32421599e-06,-7.84774028e+00, 7.53763478e-04,
  9.78356751e-03,-3.26314046e-06]


--- Step 372 ---
qpos:
[ 7.17337226e-03, 4.03788214e-03,-3.61289605e-03,-2.58104603e-02,
  6.07150683e-03,-2.92940537e-03,-1.78296755e-02, 1.16465600e-02,
  1.56602281e-02, 2.34567197e-03,-8.94398460e-03, 2.40148769e-02,
  7.69054917e-01,-9.86379687e-03, 5.30050851e-01, 6.31531409e-02,
  9.51183928e-02,-7.00906040e-02, 1.21401063e-01, 9.99989645e-01,
  1.65182149e-05, 1.01060075e-03, 4.43725615e-03]

qacc:
[  0.15955367, -0.68801204,  2.13994485, -0.8172017 , -4.59909894,
   2.77606171,-11.05472657, 18.41102499, -3.00347542,  0.91465708,
  -2.11509437,  0.233063  , -1.62921792,  3.62475201, -0.9601432 ,
  -0.22060548, -1.03735637, -0.14939362,  0.22021903,  2.32555935,
 -17.83413221,  0.53304322]

qfrc_actuator:
[-7.29248970e-05,-2.96668681e-05,-1.52951432e-04,-7.51633172e-05,
 -4.06842710e-05,-3.89685798e-04,-3.29703047e-04,-4.85438239e-05,
  7.72247382e-05,-5.44256265e-05,-1.30536049e-04, 4.97281379e-05,
  5.48828411e-02,-7.22562930e-04, 2.97775814e-02,-3.99807281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006251425043702075
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.43987977e-14,  3.32990983e-14,  1.00000000e+00, -1.47843993e-27,
        1.00000000e+00, -3.32990983e-14, -1.00000000e+00,  0.00000000e+00,
        4.43987977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883132, -0.06839889,  0.06198482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.79637249e-07, 2.35911016e-05, 2.71142409e-05, 7.83023031e-06,
 -2.69140184e-05, 1.29893805e-05,-3.06587360e-05, 1.88463359e-05,
 -1.74709885e-05, 3.43518158e-05,-6.55325387e-06,-4.71105621e-06,
 -3.71111395e-04,-5.06067642e-05,-1.54544979e-04,-4.59881101e-05,
  1.85986832e-05,-3.08740886e-06,-7.84781682e+00, 7.21563849e-04,
  9.79431752e-03,-1.06488484e-06]


--- Step 373 ---
qpos:
[ 7.17207609e-03, 4.03698815e-03,-3.61341085e-03,-2.58096921e-02,
  6.07143187e-03,-2.92961049e-03,-1.78308378e-02, 1.16466307e-02,
  1.56613879e-02, 2.34623259e-03,-8.94461618e-03, 2.40158122e-02,
  7.70227030e-01,-9.86104403e-03, 5.31020374e-01, 6.31544481e-02,
  9.51140542e-02,-7.00854811e-02, 1.21403638e-01, 9.99989618e-01,
 -2.96842696e-05, 9.71984723e-04, 4.45175221e-03]

qacc:
[  0.1932671 , -0.05258541, -1.67685391,  8.79958651,  6.31187209,
   1.28957585, -3.34383399,  1.36127009, -2.0394623 ,  0.55267875,
  -1.16886878, -0.23138776, -1.5170471 ,  3.190784  ,  4.75726014,
 -20.15576368, -0.99929281, -1.47208503, -0.12900639, 24.69345518,
 -18.06657055,  1.41159493]

qfrc_actuator:
[-7.18926343e-05,-3.46770298e-05,-1.37315754e-04,-5.31399559e-05,
 -2.67105703e-06,-3.57650012e-04,-3.44070191e-04,-5.44379525e-05,
  6.58409114e-05,-4.79869150e-05,-1.39728923e-04, 4.52005683e-05,
  5.47793991e-02,-7.14684856e-04, 2.96857628e-02,-4.12232347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006246169616410252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.66542313e-14,  3.33271156e-14,  1.00000000e+00, -2.22139327e-27,
        1.00000000e+00, -3.33271156e-14, -1.00000000e+00,  0.00000000e+00,
        6.66542313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896734, -0.05175599,  0.06198483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06773185e-06, 1.41637194e-05, 2.41394232e-05, 2.41274067e-05,
  3.72492529e-05, 3.37941994e-05,-1.47924429e-05,-6.02805776e-06,
 -1.18669697e-05, 2.40825156e-05,-3.06561681e-06,-3.37483074e-06,
 -3.65147269e-04,-5.50674081e-05,-1.71237545e-04,-1.47579947e-04,
  1.85687901e-05,-2.70548929e-07,-7.84784969e+00, 6.90769057e-04,
  9.79367172e-03, 9.79414042e-07]


--- Step 374 ---
qpos:
[ 7.17080226e-03, 4.03644853e-03,-3.61437111e-03,-2.58093461e-02,
  6.07146809e-03,-2.92972507e-03,-1.78318088e-02, 1.16466244e-02,
  1.56620576e-02, 2.34646582e-03,-8.94456819e-03, 2.40170453e-02,
  7.71397180e-01,-9.85852153e-03, 5.31987843e-01, 6.31529317e-02,
  9.51057516e-02,-7.00861866e-02, 1.21405270e-01, 9.99989610e-01,
 -2.70198165e-05, 8.97992324e-04, 4.46903273e-03]

qacc:
[  0.17628245,  0.8435119 , -0.54833538, -6.30320365,  0.97728569,
  -0.5751401 ,  2.5462445 , -4.24780724, -4.28639503, -1.71048602,
   4.22781079,  0.06641996, -0.98762744,  1.13835176,  5.50525796,
 -23.63994837, -0.99103951, -1.45707441, -0.23601584, 24.35311876,
 -17.79682574,  1.41539647]

qfrc_actuator:
[-7.07672228e-05,-1.95755898e-05,-1.63442571e-04,-7.60051112e-05,
  1.98015441e-06,-3.56317491e-04,-3.34236039e-04,-5.79205782e-05,
  4.09325051e-05,-7.99899722e-05,-1.09396197e-04, 5.99133793e-05,
  5.46805761e-02,-7.28924012e-04, 2.95745557e-02,-4.26697839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006226583851057788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.57199105e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.57199105e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896738, -0.0517555 ,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16191682e-06, 2.90817794e-05,-1.93779295e-05,-2.09521441e-05,
  5.72808305e-06, 1.69503346e-05, 1.47979085e-05,-2.66242765e-06,
 -2.52355666e-05,-1.93293030e-05, 3.48133516e-05, 1.55718873e-05,
 -3.57221919e-04,-7.66871548e-05,-2.09233636e-04,-1.75702868e-04,
  1.27038506e-05, 7.25882059e-06,-7.84794042e+00, 6.75568189e-04,
  9.78116105e-03, 1.93486462e-06]


--- Step 375 ---
qpos:
[ 7.16989691e-03, 4.03610778e-03,-3.61528309e-03,-2.58099814e-02,
  6.07052544e-03,-2.92984244e-03,-1.78323223e-02, 1.16465699e-02,
  1.56624238e-02, 2.34590777e-03,-8.94355302e-03, 2.40177947e-02,
  7.72565371e-01,-9.85645414e-03, 5.32953680e-01, 6.31498324e-02,
  9.50935124e-02,-7.00926694e-02, 1.21405584e-01, 9.99989612e-01,
  2.39474585e-05, 7.89060620e-04, 4.48909832e-03]

qacc:
[  3.24106962, -1.89907849, 11.27323979,-28.44106797, -8.55124075,
  -1.36417278,  5.09190883, -6.68877098, -2.62648691, -4.73963331,
  17.43299825,-26.77693292, -0.72734235,  0.06194601,  2.3747053 ,
 -11.79882969, -0.98412826, -1.44434985, -0.32934538, 24.07183727,
 -17.57744678,  1.41371423]

qfrc_actuator:
[-5.18432194e-05,-1.05115009e-05,-1.60714647e-04,-1.25114403e-04,
 -4.85682108e-05,-3.55526475e-04,-3.10309318e-04,-5.99614710e-05,
  2.60137173e-05,-1.52346554e-04,-7.38708639e-05, 3.25638653e-05,
  5.45739372e-02,-7.56090934e-04, 2.95316971e-02,-4.33371797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006188509260009467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.24250902e-14,  1.12125451e-14,  1.00000000e+00, -2.51442334e-28,
        1.00000000e+00, -1.12125451e-14, -1.00000000e+00,  0.00000000e+00,
        2.24250902e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896782, -0.05175451,  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:
[ 1.89714368e-05, 2.04613963e-05, 5.64128965e-06,-4.89395779e-05,
 -5.03792818e-05, 1.32295724e-05, 2.91711217e-05,-8.52097026e-07,
 -1.56435122e-05,-7.53255809e-05, 3.63550710e-05,-2.66724114e-05,
 -3.63175509e-04,-9.03635982e-05,-1.59581203e-04,-1.03794451e-04,
  4.88425215e-06, 2.09924748e-05,-7.84791098e+00, 6.75679419e-04,
  9.75695836e-03, 1.69073064e-06]


--- Step 376 ---
qpos:
[ 7.16957061e-03, 4.03566570e-03,-3.61577756e-03,-2.58108418e-02,
  6.06932904e-03,-2.92972040e-03,-1.78325689e-02, 1.16454372e-02,
  1.56626081e-02, 2.34472840e-03,-8.94235376e-03, 2.40178989e-02,
  7.73731446e-01,-9.85433713e-03, 5.33917914e-01, 6.31494521e-02,
  9.50773592e-02,-7.01048873e-02, 1.21404257e-01, 9.99989605e-01,
  1.22758346e-04, 6.45539256e-04, 4.51194082e-03]

qacc:
[  5.11195121, -1.77476793,  7.06309616,-11.52485912, -2.21682237,
  -2.64397954, 14.44707648,-33.72086599, -1.58462952, -2.66096121,
  11.02600764,-22.03579332, -1.31314915,  2.35835073,-10.54270616,
  33.51573293, -0.97850399, -1.43376006, -0.41039546, 23.84282425,
 -17.40200091,  1.40775124]

qfrc_actuator:
[-2.25951285e-05,-2.28086983e-05,-1.40989439e-04,-1.35984567e-04,
 -6.01802188e-05,-3.37250612e-04,-2.96022343e-04,-1.14393125e-04,
  1.70980313e-05,-1.95062511e-04,-7.12946705e-05,-1.60803584e-06,
  5.44626789e-02,-7.55192348e-04, 2.95085805e-02,-4.17629325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006135990014651677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26170313e-14,  1.01776641e-13,  1.00000000e+00,  2.30188547e-27,
        1.00000000e+00, -1.01776641e-13, -1.00000000e+00,  0.00000000e+00,
       -2.26170313e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896857, -0.05175315,  0.0619851 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97980039e-05,-1.75182059e-06, 2.29692845e-05,-1.07482271e-05,
 -1.30478976e-05, 3.16554147e-05, 2.05931286e-05,-5.28682377e-05,
 -9.38735462e-06,-7.84695095e-05,-9.43439162e-06,-3.66630449e-05,
 -3.73845080e-04,-6.47085728e-05,-1.11233556e-04, 1.30248696e-04,
 -4.99063506e-06, 4.07557156e-05,-7.84776591e+00, 6.90927721e-04,
  9.72120919e-03, 2.67028577e-07]


--- Step 377 ---
qpos:
[ 7.16925264e-03, 4.03519560e-03,-3.61633253e-03,-2.58114565e-02,
  6.06834724e-03,-2.92932596e-03,-1.78329797e-02, 1.16443777e-02,
  1.56626832e-02, 2.34393624e-03,-8.94213885e-03, 2.40175441e-02,
  7.74895439e-01,-9.85220038e-03, 5.34880590e-01, 6.31509444e-02,
  9.50570372e-02,-7.01177139e-02, 1.21403225e-01, 9.99989579e-01,
  2.26006392e-04, 4.67738473e-04, 4.53564492e-03]

qacc:
[  0.07197161,  0.63781049, -3.36228884,  7.72440046,  1.86801464,
   0.96542788, -3.2353312 ,  4.57054868, -0.99861781,  2.3197508 ,
  -5.58675259, -1.07450217, -1.27317126,  2.22265841, -7.92354773,
  24.44293096, -1.04218319, -0.1521765 ,  0.07368917,  2.14094596,
 -17.14948305,  0.43437156]

qfrc_actuator:
[-2.30158206e-05,-2.99493868e-05,-1.46959664e-04,-1.24274794e-04,
 -4.87639826e-05,-3.26477551e-04,-3.05264315e-04,-1.10446867e-04,
  1.17840408e-05,-1.31084393e-04,-1.05844382e-04,-2.17657296e-05,
  5.43593853e-02,-7.55529763e-04, 2.94334557e-02,-4.08331777e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006086431133791037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.28011909e-14,  3.42017863e-14,  1.00000000e+00,  7.79841459e-28,
        1.00000000e+00, -3.42017863e-14, -1.00000000e+00,  0.00000000e+00,
       -2.28011909e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883586, -0.06839798,  0.06198522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.26609378e-07,-3.80129858e-06,-3.86316216e-06, 1.22228867e-05,
  1.10558668e-05, 3.04592059e-05,-1.99173432e-06, 4.98972777e-06,
 -5.60865836e-06, 1.66032450e-05,-5.31892485e-05,-2.45602609e-05,
 -3.68707981e-04,-6.55139407e-05,-1.16377416e-04, 8.47331940e-05,
 -1.70285509e-05, 6.63322841e-05,-7.84750861e+00, 7.21170767e-04,
  9.67403017e-03,-2.32056758e-06]


--- Step 378 ---
qpos:
[ 7.16824263e-03, 4.03450821e-03,-3.61687746e-03,-2.58115609e-02,
  6.06785487e-03,-2.92885013e-03,-1.78337343e-02, 1.16441016e-02,
  1.56633839e-02, 2.34330998e-03,-8.94212649e-03, 2.40176141e-02,
  7.76057375e-01,-9.85005594e-03, 5.35841799e-01, 6.31479621e-02,
  9.50370570e-02,-7.01231161e-02, 1.21402415e-01, 9.99989532e-01,
  2.66690611e-04, 2.95980688e-04, 4.55822764e-03]

qacc:
[ -6.08733151,  0.74765695, -5.21111749, 14.15293746,  4.27117415,
   2.67213393,-12.69518204, 26.76360035,  5.49603809,  1.64935719,
  -7.37528333, 14.95061763, -1.3437887 ,  2.43377244, 11.36314251,
 -42.85598385,  0.085431  ,  1.85609401,  0.05583198,-31.26761825,
   3.16322999, -0.57594864]

qfrc_actuator:
[-5.86513043e-05,-5.17815741e-05,-1.50283510e-04,-9.93977733e-05,
 -2.38976401e-05,-3.38087567e-04,-3.28299293e-04,-7.21939049e-05,
  4.41363548e-05,-1.10365608e-04,-1.08316925e-04, 2.06230822e-06,
  5.42556178e-02,-7.56598768e-04, 2.93058765e-02,-4.33104766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006068283181169948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.57387613e-14,  1.82955045e-13,  1.00000000e+00,  8.36813716e-27,
        1.00000000e+00, -1.82955045e-13, -1.00000000e+00,  0.00000000e+00,
       -4.57387613e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490817, -0.09304277,  0.06198526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.56228690e-05,-2.42063311e-05,-4.14822431e-06, 2.48223184e-05,
  2.51927169e-05, 5.22176423e-06,-1.68141746e-05, 3.95882642e-05,
  3.21995749e-05, 1.79891588e-05,-6.43627371e-06, 2.22234835e-05,
 -3.65784682e-04,-6.55643835e-05,-1.76224693e-04,-2.59165801e-04,
 -9.82244766e-06, 8.54393334e-05,-7.84731513e+00, 7.52975830e-04,
  9.61695085e-03,-4.72465646e-06]


--- Step 379 ---
qpos:
[ 7.16646849e-03, 4.03360641e-03,-3.61743721e-03,-2.58113647e-02,
  6.06800932e-03,-2.92822252e-03,-1.78347676e-02, 1.16439276e-02,
  1.56648122e-02, 2.34238806e-03,-8.94195569e-03, 2.40180031e-02,
  7.77217203e-01,-9.84758410e-03, 5.36800840e-01, 6.31427035e-02,
  9.50174234e-02,-7.01211912e-02, 1.21401319e-01, 9.99989472e-01,
  2.45666034e-04, 1.29804057e-04, 4.58021266e-03]

qacc:
[ -6.722883  ,  0.3902808 , -3.04598934,  8.39845135,  5.64868154,
   1.1778113 , -4.3584775 ,  6.47824041,  6.41214931, -0.1893445 ,
  -1.26053604,  6.7697124 , -1.68292001,  3.81991141,  3.70725021,
 -17.54259819,  0.08664017,  1.83176526, -0.07170949,-30.8412656 ,
   2.9311111 , -0.30869357]

qfrc_actuator:
[-9.69660010e-05,-6.44755648e-05,-1.52065871e-04,-8.47360093e-05,
  8.67807815e-06,-3.27540114e-04,-3.41612154e-04,-6.73544725e-05,
  8.06447370e-05,-1.51041274e-04,-1.09683872e-04, 1.60761958e-05,
  5.41516387e-02,-7.40349925e-04, 2.92054563e-02,-4.44030272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006096037868774246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36591551e-13,  1.82122068e-13,  1.00000000e+00,  2.48763358e-26,
        1.00000000e+00, -1.82122068e-13, -1.00000000e+00,  0.00000000e+00,
       -1.36591551e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09490966, -0.09304247,  0.06198519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.93330059e-05,-2.60016655e-05,-6.41701074e-06, 1.39697580e-05,
  3.32963417e-05, 1.16917753e-05,-1.29327405e-05, 5.25199933e-06,
  3.74268466e-05,-3.09573111e-05, 2.33161015e-06, 1.49946092e-05,
 -3.64410399e-04,-4.77427879e-05,-2.13475011e-04,-1.47227135e-04,
  1.35284011e-05, 6.96422712e-05,-7.84749443e+00, 7.66200610e-04,
  9.56363635e-03,-4.97020842e-06]


--- Step 380 ---
qpos:
[ 7.16493859e-03, 4.03248486e-03,-3.61768774e-03,-2.58117067e-02,
  6.06855328e-03,-2.92755573e-03,-1.78356455e-02, 1.16437972e-02,
  1.56670118e-02, 2.34143207e-03,-8.94189861e-03, 2.40188881e-02,
  7.78374996e-01,-9.84491770e-03, 5.37757603e-01, 6.31383824e-02,
  9.49981379e-02,-7.01120226e-02, 1.21399486e-01, 9.99989397e-01,
  1.63655875e-04,-3.11696729e-05, 4.60202553e-03]

qacc:
[  2.16313858, -2.26762103,  9.92202987,-19.54595042,  3.41262732,
  -0.29890409,  0.94506328, -0.45391341,  6.78609141,  1.28057345,
  -6.74826506, 15.56340178, -1.44268441,  2.98071145, -6.15829811,
  16.7336769 ,  0.08705404,  1.81095814, -0.18430232,-30.4805416 ,
   2.74106666, -0.09063541]

qfrc_actuator:
[-8.32814222e-05,-7.16025898e-05,-1.35149860e-04,-1.11703083e-04,
  2.77736420e-05,-3.21553744e-04,-3.31266699e-04,-6.44423576e-05,
  1.19294609e-04,-1.39395247e-04,-1.10667421e-04, 4.18901479e-05,
  5.40529370e-02,-7.31785793e-04, 2.91320989e-02,-4.37811805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006098063596437775
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.10307844e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.10307844e-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([ 0.09491079, -0.09304291,  0.06198519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25614499e-05,-2.23635513e-05, 1.12586592e-05,-2.80256212e-05,
  2.00512433e-05, 1.00794641e-05, 1.13528077e-05, 3.06768648e-06,
  3.96989998e-05,-4.49318342e-06,-6.56433613e-06, 2.48593227e-05,
 -3.55304180e-04,-5.36107374e-05,-1.88576885e-04, 2.62515693e-05,
  3.47562519e-05, 5.60215235e-05,-7.84754348e+00, 7.59630892e-04,
  9.51192009e-03,-4.11741172e-06]


--- Step 381 ---
qpos:
[ 7.16461929e-03, 4.03104884e-03,-3.61770035e-03,-2.58120066e-02,
  6.06932229e-03,-2.92697355e-03,-1.78363105e-02, 1.16433692e-02,
  1.56689678e-02, 2.34057808e-03,-8.94167009e-03, 2.40203828e-02,
  7.79530777e-01,-9.84242126e-03, 5.38712246e-01, 6.31350933e-02,
  9.49792000e-02,-7.00956802e-02, 1.21396520e-01, 9.99989291e-01,
  2.12626832e-05,-1.87251601e-04, 4.62401474e-03]

qacc:
[ 10.66931091, -1.01487641,  2.80122701, -2.18109136,  1.97732337,
  -1.3229035 ,  5.80465134,-11.2261508 , -2.14048845,  0.9153343 ,
  -5.63578408, 15.8336431 , -1.03071817,  1.2962573 , -6.22274532,
  17.26863362,  0.08687204,  1.79342474, -0.28317996,-30.17993513,
   2.58483069,  0.08878141]

qfrc_actuator:
[-2.13473594e-05,-9.30509629e-05,-1.25085575e-04,-1.09670960e-04,
  3.87796924e-05,-3.36004788e-04,-3.24801447e-04,-8.04217730e-05,
  1.05636511e-04,-1.14252155e-04,-9.34595145e-05, 7.44796054e-05,
  5.39414939e-02,-7.45583244e-04, 2.90431125e-02,-4.32188871e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006079197370518624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56566450e-14,  2.73939870e-13,  1.00000000e+00,  1.25071754e-26,
        1.00000000e+00, -2.73939870e-13, -1.00000000e+00,  0.00000000e+00,
       -4.56566450e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491165, -0.09304392,  0.06198523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.22876182e-05,-3.27750960e-05, 5.88018014e-06, 9.21868110e-07,
  1.15818578e-05,-6.34491836e-06, 1.00538117e-05,-1.50950078e-05,
 -1.25353573e-05, 2.23926449e-05, 1.63405896e-05, 3.26523787e-05,
 -3.62478571e-04,-7.51767474e-05,-1.73835605e-04, 3.30762756e-05,
  5.52429843e-05, 4.40453223e-05,-7.84746767e+00, 7.33521705e-04,
  9.46177043e-03,-2.17247809e-06]


--- Step 382 ---
qpos:
[ 7.16538975e-03, 4.02957077e-03,-3.61799143e-03,-2.58119336e-02,
  6.06952751e-03,-2.92632228e-03,-1.78369246e-02, 1.16423996e-02,
  1.56704000e-02, 2.34018099e-03,-8.94163711e-03, 2.40215449e-02,
  7.80684534e-01,-9.84035566e-03, 5.39664955e-01, 6.31321109e-02,
  9.49651713e-02,-7.00820785e-02, 1.21395698e-01, 9.99989176e-01,
 -9.65437055e-05,-3.02131735e-04, 4.64186167e-03]

qacc:
[  9.58471114,  1.47207046, -6.93101324, 13.88384274, -4.93341084,
  -1.15618817,  6.55945192,-16.08719706, -4.62341155,  0.47436576,
   0.605411  , -6.40510532, -0.76861483,  0.16817423, -3.77247002,
   9.06761265,  1.22732095, -0.68517104,  0.53580653, 12.38814117,
  20.54378697, -2.07384113]

qfrc_actuator:
[ 3.29670663e-05,-8.74042702e-05,-1.36937345e-04,-9.06043858e-05,
  9.43541731e-06,-3.27104887e-04,-3.20784085e-04,-1.07412362e-04,
  7.90528443e-05,-8.11332747e-05,-1.01081673e-04, 5.75642057e-05,
  5.38278026e-02,-7.72510941e-04, 2.89554679e-02,-4.30520723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006062170840260006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.15697573e-14, -9.15697573e-14,  1.00000000e+00, -8.38502044e-27,
        1.00000000e+00,  9.15697573e-14, -1.00000000e+00,  0.00000000e+00,
       -9.15697573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190725, -0.06192887,  0.06198527])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.60764122e-05,-1.13514220e-05,-1.78496954e-05, 1.78858847e-05,
 -2.90153662e-05, 6.77330071e-06, 3.42440475e-06,-2.72076737e-05,
 -2.69361792e-05, 5.04424043e-05, 1.52358427e-07,-1.47559416e-05,
 -3.73076797e-04,-9.16320603e-05,-1.65678461e-04,-4.36511321e-06,
  7.60116920e-05, 3.34013975e-05,-7.84727119e+00, 6.88083442e-04,
  9.41315518e-03, 8.59050047e-07]


--- Step 383 ---
qpos:
[ 7.16611582e-03, 4.02803944e-03,-3.61812064e-03,-2.58123527e-02,
  6.06868961e-03,-2.92545691e-03,-1.78375866e-02, 1.16414473e-02,
  1.56718475e-02, 2.34011829e-03,-8.94192381e-03, 2.40221745e-02,
  7.81836399e-01,-9.83896829e-03, 5.40615678e-01, 6.31293188e-02,
  9.49559748e-02,-7.00711892e-02, 1.21396443e-01, 9.99989072e-01,
 -1.90411257e-04,-3.76394481e-04, 4.65589321e-03]

qacc:
[ -0.38490267, -1.53561749,  7.44618419,-16.1703433 , -9.13306889,
   0.47007454, -1.30825328,  1.49519021,  0.11781684,  0.23912715,
   2.03629192,-10.98581104, -0.41782123, -1.08988724, -3.506151  ,
   8.00259334,  1.2080462 , -0.67812113,  0.39199643, 12.0629837 ,
  20.25310019, -1.90935003]

qfrc_actuator:
[ 2.90884228e-05,-8.33997971e-05,-1.26012262e-04,-1.14922627e-04,
 -4.34202229e-05,-3.04314274e-04,-3.18158552e-04,-1.05141152e-04,
  8.05966625e-05,-7.91298822e-05,-1.23303477e-04, 2.93971566e-05,
  5.37394651e-02,-8.06987936e-04, 2.88633623e-02,-4.29418946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006120085053526042
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.07032349e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.07032349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190765, -0.06193025,  0.06198513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.28499600e-06,-5.19010302e-06, 7.01854538e-06,-2.50722143e-05,
 -5.36812673e-05, 2.60952683e-05, 3.50777235e-06, 2.15371319e-06,
  7.95769605e-07, 2.96167617e-05,-1.22897967e-05,-2.62876579e-05,
 -3.57656381e-04,-1.02585642e-04,-1.71177065e-04,-1.12109344e-05,
  4.78197368e-05, 1.97050727e-05,-7.84755772e+00, 6.51343238e-04,
  9.37582670e-03, 2.34748624e-06]


--- Step 384 ---
qpos:
[ 7.16713520e-03, 4.02665956e-03,-3.61821980e-03,-2.58130773e-02,
  6.06791422e-03,-2.92437438e-03,-1.78382324e-02, 1.16405243e-02,
  1.56733019e-02, 2.34038760e-03,-8.94249357e-03, 2.40224599e-02,
  7.82986255e-01,-9.83736911e-03, 5.41564360e-01, 6.31266467e-02,
  9.49515439e-02,-7.00629864e-02, 1.21398245e-01, 9.99988994e-01,
 -2.60880715e-04,-4.10547197e-04, 4.66637339e-03]

qacc:
[ 2.57997015,-0.51822245, 3.41627383,-8.8475703 , 0.54395362, 0.30124384,
 -0.78345493, 1.10784968, 0.04669232, 0.52102578, 0.23255542,-5.98337667,
 -1.46344012, 3.06582875,-3.33986558, 7.38264533, 1.19139075,-0.6715888 ,
  0.26432418,11.79162666,20.00066926,-1.77631296]

qfrc_actuator:
[ 4.42500669e-05,-6.25999933e-05,-1.19502650e-04,-1.29050679e-04,
 -3.86673029e-05,-2.91114511e-04,-3.16289768e-04,-1.03407951e-04,
  8.09348457e-05,-6.03507741e-05,-1.36330070e-04, 1.25645074e-05,
  5.36504234e-02,-7.92316869e-04, 2.87686544e-02,-4.28657612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000614764476765256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.51483075e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.51483075e-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([ 0.08190757, -0.06193111,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51007573e-05, 1.83283495e-05, 5.45435220e-06,-1.45911192e-05,
  3.22809134e-06, 2.85686512e-05, 7.76733138e-06, 3.01859065e-06,
  3.72355791e-07, 3.16849006e-05,-9.32803878e-06,-1.65006637e-05,
 -3.49540164e-04,-5.20080472e-05,-1.76763748e-04,-1.56355504e-05,
  2.72030629e-05, 9.87099584e-06,-7.84776578e+00, 6.22018641e-04,
  9.35162805e-03, 3.58407388e-06]


--- Step 385 ---
qpos:
[ 7.16901833e-03, 4.02552048e-03,-3.61859707e-03,-2.58136107e-02,
  6.06789130e-03,-2.92326482e-03,-1.78387642e-02, 1.16396471e-02,
  1.56744040e-02, 2.34105643e-03,-8.94274624e-03, 2.40228356e-02,
  7.84134028e-01,-9.83523803e-03, 5.42510959e-01, 6.31240489e-02,
  9.49518218e-02,-7.00574463e-02, 1.21400655e-01, 9.99988949e-01,
 -3.08401489e-04,-4.05024272e-04, 4.67351611e-03]

qacc:
[ 7.59040674, 1.47496284,-5.62751596, 9.2263986 , 6.58752226,-0.20131073,
  0.55419075, 0.0597401 ,-3.09748988,-0.16612068, 0.98736561,-0.23564875,
 -1.85917457, 4.5867066 ,-3.25362089, 7.01653868, 1.17718923,-0.66568751,
  0.15180363,11.56610602,19.78450045,-1.66832   ]

qfrc_actuator:
[ 8.82685851e-05,-4.96590237e-05,-1.33327880e-04,-1.19301645e-04,
 -3.76507512e-08,-3.01510598e-04,-3.14919832e-04,-1.02016456e-04,
  6.27991577e-05,-1.38849744e-05,-1.08243021e-04, 2.03099819e-05,
  5.35450605e-02,-7.66528361e-04, 2.86724614e-02,-4.28101126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006150217228412524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.02588464e-14, -4.51294232e-14,  1.00000000e+00, -4.07332968e-27,
        1.00000000e+00,  4.51294232e-14, -1.00000000e+00,  0.00000000e+00,
       -9.02588464e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190711, -0.06193156,  0.06198506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44588026e-05, 2.37466202e-05,-9.85546705e-06, 1.04425018e-05,
  3.87314109e-05, 7.28449150e-06, 8.32891480e-06, 2.94414817e-06,
 -1.81126552e-05, 6.15512473e-05, 3.29164745e-05, 8.45971799e-06,
 -3.52001553e-04,-3.48536853e-05,-1.81107054e-04,-1.85992365e-05,
  1.33265300e-05, 3.29246493e-06,-7.84789957e+00, 5.99975919e-04,
  9.34036681e-03, 4.56892453e-06]


--- Step 386 ---
qpos:
[ 7.17106979e-03, 4.02433657e-03,-3.61874486e-03,-2.58140215e-02,
  6.06764184e-03,-2.92219382e-03,-1.78392434e-02, 1.16391519e-02,
  1.56749353e-02, 2.34202972e-03,-8.94262306e-03, 2.40233084e-02,
  7.85279814e-01,-9.83337300e-03, 5.43455759e-01, 6.31224139e-02,
  9.49567606e-02,-7.00545481e-02, 1.21403278e-01, 9.99988940e-01,
 -3.33344945e-04,-3.60191681e-04, 4.67749545e-03]

qacc:
[ 1.48974273,-0.45125401, 1.00091046, 0.7912154 ,-1.97975569, 0.59164439,
 -3.78953897,10.33709072,-5.01597629,-0.43831743, 1.7535537 ,-0.91578799,
 -0.9200711 , 0.85540182,-5.54320628,15.57283163, 1.16526105,-0.66047751,
  0.05326563,11.37975635,19.60235321,-1.58026734]

qfrc_actuator:
[ 9.56555566e-05,-5.93359305e-05,-1.23552605e-04,-1.13353651e-04,
 -1.28074256e-05,-3.08208285e-04,-3.13953501e-04,-8.31055109e-05,
  3.39357003e-05,-4.26536739e-06,-9.14799746e-05, 2.47527710e-05,
  5.34299838e-02,-7.87732090e-04, 2.86127354e-02,-4.22341995e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006132513184961691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52597080e-14, -4.52597080e-14,  1.00000000e+00, -2.04844117e-27,
        1.00000000e+00,  4.52597080e-14, -1.00000000e+00,  0.00000000e+00,
       -4.52597080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190633, -0.06193168,  0.06198511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.66202598e-06, 2.07006350e-06, 1.38426486e-05, 6.82957935e-06,
 -1.16611144e-05,-7.96339074e-07, 3.59246848e-06, 1.95676696e-05,
 -2.93563075e-05, 5.11764303e-05, 3.38205762e-05, 8.38332032e-06,
 -3.60573236e-04,-8.07180301e-05,-1.46790132e-04, 3.27468175e-05,
  5.57030993e-06,-4.91328375e-07,-7.84796244e+00, 5.85100839e-04,
  9.34188146e-03, 5.30247210e-06]


--- Step 387 ---
qpos:
[ 7.17284924e-03, 4.02320523e-03,-3.61849820e-03,-2.58147272e-02,
  6.06655172e-03,-2.92110095e-03,-1.78394616e-02, 1.16392100e-02,
  1.56754617e-02, 2.34307641e-03,-8.94272724e-03, 2.40242485e-02,
  7.86423494e-01,-9.83138775e-03, 5.44399106e-01, 6.31203992e-02,
  9.49663212e-02,-7.00542738e-02, 1.21405771e-01, 9.99988961e-01,
 -3.36015516e-04,-2.76351662e-04, 4.67845373e-03]

qacc:
[ -2.38291288, -1.63589268,  7.18227356,-12.95363258, -7.34805294,
   0.45354501, -3.88723668, 13.00645706, -0.05115302,  1.69455871,
  -7.8741192 , 16.2707661 , -1.4423717 ,  2.79755235, -0.96849622,
   0.33959031,  1.15542316, -0.6559827 , -0.03253389, 11.2270085 ,
  19.45191693, -1.5080901 ]

qfrc_actuator:
[ 8.14135315e-05,-4.68889723e-05,-1.00013386e-04,-1.27446720e-04,
 -5.57388495e-05,-2.94879537e-04,-2.95461060e-04,-5.40373608e-05,
  3.45001990e-05,-3.45708601e-05,-1.17202189e-04, 4.49236808e-05,
  5.33197968e-02,-7.83288084e-04, 2.85483098e-02,-4.24204670e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006098637819892117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36533320e-13, -6.82666600e-14,  1.00000000e+00, -9.32067372e-27,
        1.00000000e+00,  6.82666600e-14, -1.00000000e+00,  0.00000000e+00,
       -1.36533320e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190531, -0.06193153,  0.06198519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39921526e-05, 1.67980780e-05, 2.59218141e-05,-1.33894503e-05,
 -4.32658254e-05, 1.44276672e-05, 1.94422874e-05, 2.95394528e-05,
 -2.50078092e-07, 5.61177765e-06,-1.07073377e-05, 2.36952540e-05,
 -3.68889814e-04,-6.09975492e-05,-1.31480008e-04,-3.65442228e-05,
  3.48514073e-06,-1.83586490e-06,-7.84795708e+00, 5.77296769e-04,
  9.35603796e-03, 5.78538541e-06]


--- Step 388 ---
qpos:
[ 7.17444414e-03, 4.02243686e-03,-3.61835989e-03,-2.58159469e-02,
  6.06495543e-03,-2.91996506e-03,-1.78396872e-02, 1.16389411e-02,
  1.56759911e-02, 2.34362960e-03,-8.94311786e-03, 2.40255019e-02,
  7.87565000e-01,-9.82870307e-03, 5.45340165e-01, 6.31153447e-02,
  9.49804718e-02,-7.00566083e-02, 1.21407836e-01, 9.99989003e-01,
 -3.16659979e-04,-1.53747305e-04, 4.67650805e-03]

qacc:
[ -1.63450762, -0.27265185,  3.83859953,-12.82235176, -4.43051903,
  -0.58738303,  3.5729996 , -9.27062546,  0.02581619,  0.79322632,
  -5.09746432, 11.34055369, -2.14798102,  5.55947116,  5.85195471,
 -25.26634291,  1.14749795, -0.65220253, -0.10684364, 11.10321347,
  19.33092177, -1.44854941]

qfrc_actuator:
[ 7.23197364e-05,-2.12471795e-05,-1.03977824e-04,-1.53195968e-04,
 -8.05572651e-05,-3.05085188e-04,-3.02187441e-04,-7.24570638e-05,
  3.46312659e-05,-1.06474768e-04,-1.50210068e-04, 5.63698161e-05,
  5.32179516e-02,-7.45982636e-04, 2.83852341e-02,-4.41196283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006052144165565737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17214622e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.17214622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190408, -0.06193118,  0.0619853 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.48235923e-06, 3.98448960e-05, 2.24483379e-06,-2.43901703e-05,
 -2.60515211e-05, 3.09141371e-06,-3.37715615e-07,-1.65540447e-05,
  1.28760202e-07,-6.99992786e-05,-3.23602067e-05, 1.17731937e-05,
 -3.62977708e-04,-2.77490000e-05,-2.32019924e-04,-1.90006815e-04,
  6.75879891e-06,-1.02178927e-06,-7.84788555e+00, 5.76482905e-04,
  9.38272674e-03, 6.01850047e-06]


--- Step 389 ---
qpos:
[ 7.17626257e-03, 4.02198584e-03,-3.61827301e-03,-2.58174637e-02,
  6.06376352e-03,-2.91876543e-03,-1.78402494e-02, 1.16381293e-02,
  1.56768634e-02, 2.34302867e-03,-8.94325913e-03, 2.40265871e-02,
  7.88704454e-01,-9.82587047e-03, 5.46278577e-01, 6.31085928e-02,
  9.49991876e-02,-7.00615394e-02, 1.21409218e-01, 9.99989049e-01,
 -2.75475192e-04, 7.43307994e-06, 4.67175537e-03]

qacc:
[  1.96042369, -0.05246827,  2.04048072, -7.3201089 ,  3.5266155 ,
  -0.09951069,  2.7576965 ,-11.65125956,  3.04547073, -2.57456642,
   7.66650235,-10.11575742, -1.44561904,  2.87558151,  1.24631554,
  -9.97405719,  1.1413178 , -0.64912055, -0.17087324, 11.00449079,
  19.23720429, -1.39906289]

qfrc_actuator:
[ 8.40888671e-05,-5.77252776e-06,-1.06346796e-04,-1.67849246e-04,
 -5.90008249e-05,-3.11688744e-04,-3.23881340e-04,-1.00957712e-04,
  5.22489987e-05,-2.02800178e-04,-1.51934045e-04, 4.47955532e-05,
  5.31105419e-02,-7.42845543e-04, 2.82642856e-02,-4.49231412e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005996086224810127
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.62894871e-14,  4.62894871e-14,  1.00000000e+00,  2.14271662e-27,
        1.00000000e+00, -4.62894871e-14, -1.00000000e+00,  0.00000000e+00,
       -4.62894871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190271, -0.06193068,  0.06198544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15171716e-05, 3.71955267e-05, 5.30217285e-06,-1.33401923e-05,
  2.08139180e-05,-5.70107133e-06,-2.16788620e-05,-2.87024050e-05,
  1.75993737e-05,-1.41665927e-04,-1.97659752e-05,-1.54676763e-05,
 -3.59450798e-04,-5.77032426e-05,-2.48751671e-04,-1.20882173e-04,
  1.51909806e-05, 1.72215807e-06,-7.84774940e+00, 5.82592651e-04,
  9.42186018e-03, 6.00276927e-06]


--- Step 390 ---
qpos:
[ 7.17786296e-03, 4.02176850e-03,-3.61820721e-03,-2.58187903e-02,
  6.06387395e-03,-2.91785724e-03,-1.78406895e-02, 1.16376872e-02,
  1.56782850e-02, 2.34135157e-03,-8.94338141e-03, 2.40271867e-02,
  7.89842073e-01,-9.82395122e-03, 5.47214678e-01, 6.31033872e-02,
  9.50138633e-02,-7.00723082e-02, 1.21409945e-01, 9.99989071e-01,
 -1.84753751e-04, 1.32536496e-04, 4.66964705e-03]

qacc:
[-1.92390346e+00, 7.63375365e-01,-3.06820376e+00, 6.21030597e+00,
  1.14053401e+01, 1.23882685e-02,-2.20285927e+00, 8.66361046e+00,
  4.85226916e+00,-2.48440711e+00, 8.82804528e+00,-1.64510388e+01,
 -1.05949476e-01,-2.24472069e+00,-8.08714538e+00, 2.33140248e+01,
 -1.01004703e+00,-1.45944742e+00,-1.63706191e-01, 2.46837707e+01,
 -1.81543628e+01, 1.31744036e+00]

qfrc_actuator:
[ 7.25362203e-05, 3.50225247e-06,-1.07772077e-04,-1.58103582e-04,
  7.42506912e-06,-3.33921612e-04,-3.18718106e-04,-8.19023078e-05,
  8.00175682e-05,-2.59662582e-04,-1.53061535e-04, 1.97652338e-05,
  5.30105124e-02,-7.95442964e-04, 2.82060088e-02,-4.39478467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005989424135294241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.63409753e-14, -9.26819507e-14,  1.00000000e+00, -4.29497199e-27,
        1.00000000e+00,  9.26819507e-14, -1.00000000e+00,  0.00000000e+00,
       -4.63409753e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896286, -0.05174879,  0.06198545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12105839e-05, 3.06151605e-05, 6.45391241e-06, 1.12653891e-05,
  6.70206371e-05,-3.11564712e-05, 3.15350367e-07, 1.75018064e-05,
  2.82187400e-05,-1.40798806e-04,-3.33539795e-05,-3.20875931e-05,
 -3.54547658e-04,-1.15800515e-04,-1.84778432e-04, 5.90048732e-05,
  2.86745104e-05, 6.20185828e-06,-7.84754974e+00, 5.95572142e-04,
  9.47337038e-03, 5.73922202e-06]


--- Step 391 ---
qpos:
[ 7.17965774e-03, 4.02148728e-03,-3.61775908e-03,-2.58196341e-02,
  6.06443511e-03,-2.91738483e-03,-1.78409967e-02, 1.16378400e-02,
  1.56793380e-02, 2.33926764e-03,-8.94381346e-03, 2.40270727e-02,
  7.90977820e-01,-9.82295393e-03, 5.48148724e-01, 6.31006138e-02,
  9.50245376e-02,-7.00888721e-02, 1.21409633e-01, 9.99989069e-01,
 -4.51225443e-05, 2.22103833e-04, 4.67023180e-03]

qacc:
[  1.72458777, -0.16226646, -1.58435605,  9.37411537,  3.95603477,
   0.2700454 , -4.32421048, 14.74541223, -3.24730225, -1.13494324,
   6.29110116,-17.86110466, -0.11096043, -2.26647885,-10.38319526,
  31.8983975 , -1.00032111, -1.44877306, -0.2597969 , 24.37146492,
 -17.88228818,  1.34653312]

qfrc_actuator:
[ 8.28479343e-05,-8.73878235e-06,-9.08882796e-05,-1.34087053e-04,
  2.87023893e-05,-3.65202371e-04,-3.15517444e-04,-5.27614472e-05,
  6.02752429e-05,-2.39205591e-04,-1.53700515e-04,-1.29541711e-05,
  5.29096394e-02,-8.44973743e-04, 2.81321421e-02,-4.26410198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005984160477882083
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.27634736e-14, -1.85526947e-13,  1.00000000e+00, -1.72101241e-26,
        1.00000000e+00,  1.85526947e-13, -1.00000000e+00,  0.00000000e+00,
       -9.27634736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896278, -0.05174879,  0.06198546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00041445e-05, 6.69524944e-06, 2.43951393e-05, 2.57735446e-05,
  2.31805119e-05,-4.78917002e-05,-2.59742412e-06, 2.81545120e-05,
 -1.89923923e-05,-6.64682653e-05,-3.49214982e-05,-4.05300244e-05,
 -3.61204783e-04,-1.17692083e-04,-1.53252323e-04, 1.09865839e-04,
  1.90537881e-05,-7.04645987e-06,-7.84761142e+00, 6.25244555e-04,
  9.51305460e-03, 4.42032367e-06]


--- Step 392 ---
qpos:
[ 7.18121747e-03, 4.02069985e-03,-3.61683793e-03,-2.58204775e-02,
  6.06490239e-03,-2.91699285e-03,-1.78414161e-02, 1.16386575e-02,
  1.56801455e-02, 2.33754910e-03,-8.94441658e-03, 2.40264564e-02,
  7.92111385e-01,-9.82154469e-03, 5.49080982e-01, 6.31000272e-02,
  9.50312447e-02,-7.01111955e-02, 1.21407944e-01, 9.99989030e-01,
  1.42909945e-04, 2.76584778e-04, 4.67355674e-03]

qacc:
[ -2.04545357, -1.98680082,  6.11715917, -6.49861052, -0.82326586,
   1.57632831, -8.57833042, 20.31671467, -2.17115109, -0.06877318,
   3.07413418,-11.77108391, -1.76475324,  4.0326332 , -9.1946364 ,
  28.43582957, -0.99183108, -1.43986807, -0.34424339, 24.11814097,
 -17.65608421,  1.37474615]

qfrc_actuator:
[ 7.04477810e-05,-6.91904755e-05,-8.11666557e-05,-1.37381962e-04,
  2.32212543e-05,-3.48393061e-04,-3.13553841e-04,-1.79424466e-05,
  4.82298604e-05,-1.54843197e-04,-1.35972589e-04,-3.21119785e-05,
  5.28030041e-02,-8.21280059e-04, 2.80596331e-02,-4.15053707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000596119456568997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.14807448e-14,  9.31208512e-14,  1.00000000e+00,  7.58755632e-27,
        1.00000000e+00, -9.31208512e-14, -1.00000000e+00,  0.00000000e+00,
       -8.14807448e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10896307, -0.05174828,  0.06198552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21151452e-05,-5.05609044e-05, 1.49980536e-05,-1.66169037e-06,
 -4.83664017e-06,-9.30741827e-06,-7.27733635e-06, 3.32232557e-05,
 -1.26121301e-05, 3.83199696e-05,-1.67424858e-06,-2.39965002e-05,
 -3.71665806e-04,-4.59089270e-05,-1.33150109e-04, 9.93057427e-05,
  7.42070945e-06,-1.41771074e-05,-7.84755250e+00, 6.70245516e-04,
  9.54099276e-03, 1.89884640e-06]


--- Step 393 ---
qpos:
[ 7.18192657e-03, 4.01962296e-03,-3.61610858e-03,-2.58213344e-02,
  6.06599011e-03,-2.91633099e-03,-1.78422457e-02, 1.16395154e-02,
  1.56811468e-02, 2.33662263e-03,-8.94537803e-03, 2.40255711e-02,
  7.93242789e-01,-9.82010690e-03, 5.50011725e-01, 6.30991151e-02,
  9.50383679e-02,-7.01260049e-02, 1.21407123e-01, 9.99988967e-01,
  2.66789120e-04, 3.35757697e-04, 4.67774538e-03]

qacc:
[ -7.48867185,  0.14045257, -0.97332806,  1.23165072,  5.41184482,
   1.5749509 , -5.28776568,  6.46604396,  1.67926452,  1.49131394,
  -2.66843511, -1.99094792, -1.38078611,  2.43447099, -1.22201425,
   1.09397311,  0.10403294,  1.8784829 ,  0.21723329,-32.06545886,
   2.49593777,  0.42269643]

qfrc_actuator:
[ 2.70195695e-05,-8.70901721e-05,-9.37385840e-05,-1.39021731e-04,
  5.53072561e-05,-3.20663376e-04,-3.29893245e-04,-1.55293729e-05,
  5.85794481e-05,-8.60049518e-05,-1.42744570e-04,-4.30587654e-05,
  5.26823550e-02,-8.25627339e-04, 2.79773373e-02,-4.17223868e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005983687262129944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63854049e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.63854049e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -0.09304841,  0.06198547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.37887766e-05,-4.31360679e-05,-2.12260558e-05,-3.31651991e-06,
  3.19434796e-05, 2.24326406e-05,-1.80099317e-05, 2.40745864e-06,
  9.99953404e-06, 8.89616419e-05, 1.36885301e-07,-9.82231326e-06,
 -3.80884450e-04,-6.89118100e-05,-1.36136524e-04,-3.42562911e-05,
 -6.34211747e-06,-1.53928615e-05,-7.84737729e+00, 7.30414788e-04,
  9.55732832e-03,-1.80632069e-06]


--- Step 394 ---
qpos:
[ 7.18279943e-03, 4.01850161e-03,-3.61595310e-03,-2.58218637e-02,
  6.06710910e-03,-2.91556231e-03,-1.78432125e-02, 1.16400521e-02,
  1.56819190e-02, 2.33672468e-03,-8.94716411e-03, 2.40249081e-02,
  7.94372110e-01,-9.81930280e-03, 5.50941578e-01, 6.30932046e-02,
  9.50459080e-02,-7.01334066e-02, 1.21406595e-01, 9.99988902e-01,
  3.27630351e-04, 3.99516996e-04, 4.68281694e-03]

qacc:
[  1.4242226 ,  2.21741925, -9.37397531, 15.98616946,  0.26724189,
  -0.1370253 ,  2.04844332, -7.46500331, -2.05912418,  4.12574011,
 -13.66947986, 18.06909385, -0.69621754, -0.34165997, 13.77188333,
 -50.09856383,  0.10424688,  1.8519412 ,  0.07295928,-31.50804605,
   2.44072103,  0.43026535]

qfrc_actuator:
[ 3.66946367e-05,-7.94729235e-05,-1.19211038e-04,-1.21902141e-04,
  5.59988674e-05,-3.22204870e-04,-3.39118985e-04,-3.22016093e-05,
  4.65198553e-05,-2.70540167e-05,-1.81713453e-04,-3.13587219e-05,
  5.25640259e-02,-8.64333219e-04, 2.79158379e-02,-4.43323639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000604882736090051
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17717566e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.17717566e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491165, -0.09304672,  0.06198531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.42015183e-06,-2.10154161e-05,-3.71035468e-05, 1.44780135e-05,
  1.61270230e-06, 7.38083802e-06,-6.72878664e-06,-1.62902727e-05,
 -1.17481343e-05, 1.08359635e-04,-2.08909147e-05, 1.53319769e-05,
 -3.88758549e-04,-1.07108223e-04,-1.32093930e-04,-2.81500779e-04,
 -4.35189334e-06,-1.23209771e-05,-7.84769395e+00, 7.70034983e-04,
  9.57645772e-03,-4.20152301e-06]


--- Step 395 ---
qpos:
[ 7.18309114e-03, 4.01739200e-03,-3.61649307e-03,-2.58214920e-02,
  6.06753849e-03,-2.91521751e-03,-1.78434924e-02, 1.16403963e-02,
  1.56821959e-02, 2.33755942e-03,-8.94905719e-03, 2.40243785e-02,
  7.95499357e-01,-9.81867584e-03, 5.51869393e-01, 6.30872318e-02,
  9.50538661e-02,-7.01334934e-02, 1.21405845e-01, 9.99988845e-01,
  3.26384633e-04, 4.67778819e-04, 4.68877912e-03]

qacc:
[ -5.13714138,  3.82519001,-17.39068557, 34.04000365, -6.00570088,
  -2.86326796, 10.23070339,-14.37360384, -4.37440303,  1.55079913,
  -4.67326173,  6.59932878, -1.09280599,  1.39504624, -2.79967655,
   5.46703259,  0.10447213,  1.82871309, -0.05551157,-31.0327665 ,
   2.39675166,  0.43214817]

qfrc_actuator:
[ 6.54702241e-06,-7.44273548e-05,-1.51965002e-04,-7.61099680e-05,
  2.04422191e-05,-3.59006590e-04,-3.08680131e-04,-4.22269811e-05,
  2.13600099e-05, 7.65860313e-06,-1.86132934e-04,-2.42068322e-05,
  5.24737885e-02,-8.69745542e-04, 2.78348601e-02,-4.42469816e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006081885693508399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56364638e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.56364638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491186, -0.09304601,  0.06198523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99114150e-05,-1.37094435e-05,-4.11517734e-05, 4.38934852e-05,
 -3.55070472e-05,-3.47794884e-05, 3.05717916e-05,-1.02598357e-05,
 -2.54572217e-05, 9.16667655e-05, 1.59435323e-05, 1.13769712e-05,
 -3.72525097e-04,-7.88948474e-05,-1.78662475e-04,-2.55519942e-05,
 -6.73663472e-07,-9.33814493e-06,-7.84787396e+00, 7.89543497e-04,
  9.59708475e-03,-5.45562039e-06]


--- Step 396 ---
qpos:
[ 7.18198439e-03, 4.01642719e-03,-3.61752470e-03,-2.58206061e-02,
  6.06753834e-03,-2.91513519e-03,-1.78436587e-02, 1.16399464e-02,
  1.56821697e-02, 2.33819517e-03,-8.95000922e-03, 2.40239865e-02,
  7.96624604e-01,-9.81814477e-03, 5.52794399e-01, 6.30883589e-02,
  9.50622431e-02,-7.01263455e-02, 1.21404418e-01, 9.99988795e-01,
  2.63854179e-04, 5.40477880e-04, 4.69563068e-03]

qacc:
[-12.32774539,  2.64900904,-11.28964212, 20.80718985, -3.75115371,
  -2.2911878 , 11.03247518,-24.78100651, -2.63436491, -2.604962  ,
   8.33483532, -7.32234361, -1.00535919,  1.29829815,-25.54770944,
  83.42289024,  0.10473886,  1.80868584, -0.16914488,-30.63183315,
   2.36241356,  0.42961027]

qfrc_actuator:
[-6.45674448e-05,-5.32105857e-05,-1.70984130e-04,-4.93239149e-05,
 -6.49770834e-07,-3.80971222e-04,-3.08469607e-04,-8.37695906e-05,
  6.45051302e-06,-4.32978560e-05,-1.52457926e-04,-1.97839775e-05,
  5.23845030e-02,-8.73137436e-04, 2.77529821e-02,-4.04434340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006088466166158796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.11742789e-14, -9.11742789e-14,  1.00000000e+00, -8.31274913e-27,
        1.00000000e+00,  9.11742789e-14, -1.00000000e+00,  0.00000000e+00,
       -9.11742789e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491199, -0.0930461 ,  0.06198521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.19649658e-05, 6.96481958e-06,-2.53807909e-05, 2.56341763e-05,
 -2.21193812e-05,-3.55605812e-05,-3.56229656e-06,-4.21740601e-05,
 -1.56012680e-05, 4.07018732e-06, 5.49824052e-05, 9.12890765e-06,
 -3.55712972e-04,-7.14934772e-05,-1.68744978e-04, 3.55415718e-04,
  4.75090607e-06,-6.54180899e-06,-7.84792416e+00, 7.89243660e-04,
  9.61919018e-03,-5.58391971e-06]


--- Step 397 ---
qpos:
[ 7.18072365e-03, 4.01562479e-03,-3.61880886e-03,-2.58197706e-02,
  6.06728478e-03,-2.91483020e-03,-1.78445767e-02, 1.16386548e-02,
  1.56826549e-02, 2.33853332e-03,-8.95043001e-03, 2.40243835e-02,
  7.97747676e-01,-9.81667554e-03, 5.53717975e-01, 6.30899287e-02,
  9.50710403e-02,-7.01120308e-02, 1.21401914e-01, 9.99988739e-01,
  1.40706896e-04, 6.17564825e-04, 4.70336339e-03]

qacc:
[ -1.36626289,  0.81936229, -2.39200406,  1.79691471, -2.24545014,
   0.66652711,  1.6111504 ,-15.14715392,  4.52252083, -0.26248662,
  -2.98178363, 16.0248554 , -2.3687523 ,  6.42006866, -3.38014423,
   8.90789433,  0.1050669 ,  1.79168904, -0.26910456,-30.29801012,
   2.33635191,  0.42362515]

qfrc_actuator:
[-7.04490793e-05,-4.01814764e-05,-1.81687954e-04,-5.16678233e-05,
 -1.30471834e-05,-3.58520168e-04,-3.43850198e-04,-1.25791320e-04,
  3.32024477e-05,-7.40066451e-05,-1.32436745e-04, 1.84493399e-05,
  5.22852050e-02,-8.22069566e-04, 2.76707068e-02,-4.03387292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006073482259779522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13992152e-14,  1.82798430e-13,  1.00000000e+00,  1.67076331e-26,
        1.00000000e+00, -1.82798430e-13, -1.00000000e+00,  0.00000000e+00,
       -9.13992152e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09491206, -0.09304684,  0.06198525])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.91924323e-06, 1.28026933e-05,-1.14788083e-05,-2.41884321e-06,
 -1.30398800e-05, 1.50512677e-08,-4.46210542e-05,-4.44874595e-05,
  2.63084792e-05,-1.67006413e-05, 2.79552462e-05, 4.04900983e-05,
 -3.52619655e-04,-1.36603171e-05,-1.20729091e-04, 8.36694043e-06,
  1.19478762e-05,-3.92972693e-06,-7.84785001e+00, 7.69391199e-04,
  9.64275710e-03,-4.59963736e-06]


--- Step 398 ---
qpos:
[ 7.17940151e-03, 4.01505369e-03,-3.61997480e-03,-2.58193500e-02,
  6.06722948e-03,-2.91464615e-03,-1.78456183e-02, 1.16379063e-02,
  1.56838018e-02, 2.33867642e-03,-8.95087457e-03, 2.40256069e-02,
  7.98868745e-01,-9.81432278e-03, 5.54639710e-01, 6.30857856e-02,
  9.50755920e-02,-7.00983253e-02, 1.21401172e-01, 9.99988681e-01,
  2.25898795e-05, 6.57760221e-04, 4.71221862e-03]

qacc:
[ -0.54094028, -0.87798137,  5.3223484 ,-12.85167679,  1.73351616,
   1.29938298, -7.16384984, 16.85543377,  5.82573736,  1.49870501,
  -9.22694903, 23.73341061, -2.29767   ,  6.26504997, 14.5844691 ,
 -54.84994165, -1.0614018 , -0.15228927,  0.44037405,  2.42800114,
 -18.45731655,  0.56540212]

qfrc_actuator:
[-7.33813718e-05,-1.43878676e-05,-1.69692442e-04,-7.11307034e-05,
 -2.47952100e-06,-3.63057772e-04,-3.46507633e-04,-9.67249058e-05,
  6.65053337e-05,-9.23886118e-05,-1.38327094e-04, 5.85097556e-05,
  5.22012904e-02,-7.74826804e-04, 2.75082833e-02,-4.34803149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006101498259417082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13724427e-14,  9.09795412e-14,  1.00000000e+00, -1.03465961e-27,
        1.00000000e+00, -9.09795412e-14, -1.00000000e+00,  0.00000000e+00,
        1.13724427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883197, -0.06839773,  0.06198518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14848466e-06, 3.05218254e-05, 1.31666251e-05,-1.93554982e-05,
  1.01987675e-05,-1.56539316e-05,-9.67996843e-06, 2.66618870e-05,
  3.40424003e-05,-2.02088339e-05,-4.49628848e-06, 4.10983104e-05,
 -3.25529947e-04,-1.14217995e-05,-2.21820538e-04,-3.30453649e-04,
  2.09230796e-05,-1.40948866e-06,-7.84765576e+00, 7.30198901e-04,
  9.66777091e-03,-2.51404459e-06]


--- Step 399 ---
qpos:
[ 7.17839931e-03, 4.01483285e-03,-3.62076539e-03,-2.58195450e-02,
  6.06730131e-03,-2.91489991e-03,-1.78460299e-02, 1.16381904e-02,
  1.56853389e-02, 2.33873678e-03,-8.95111272e-03, 2.40269252e-02,
  7.99987930e-01,-9.81168811e-03, 5.55558316e-01, 6.30803046e-02,
  9.50760433e-02,-7.00906398e-02, 1.21400802e-01, 9.99988623e-01,
 -4.47248772e-05, 6.61004058e-04, 4.72377118e-03]

qacc:
[  2.82178385, -1.85979448,  9.88483846,-21.36977891,  1.14028586,
  -0.21516209, -4.43641664, 21.62932992,  3.44275353, -0.49747541,
   1.20242164,  0.18497675, -1.47938699,  3.22430217, -0.54497194,
  -4.73049911, -1.02508868, -1.50500735,  0.09298505, 25.31289351,
 -18.59523605,  1.36577442]

qfrc_actuator:
[-5.68224198e-05, 1.89305962e-05,-1.44347053e-04,-1.00480422e-04,
  3.76423139e-06,-3.83534025e-04,-3.12106073e-04,-4.38061647e-05,
  8.56313184e-05,-8.56053732e-05,-1.23916580e-04, 6.38081557e-05,
  5.21000397e-02,-7.65705007e-04, 2.73617687e-02,-4.40717325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006143632125876763
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12944489e-14, -5.64722444e-14,  1.00000000e+00,  6.37822879e-28,
        1.00000000e+00,  5.64722444e-14, -1.00000000e+00,  0.00000000e+00,
        1.12944489e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895795, -0.05175286,  0.06198508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64833819e-05, 5.23132095e-05, 3.26221569e-05,-2.79608690e-05,
  6.52895185e-06,-3.00760417e-05, 3.09097645e-05, 5.24350752e-05,
  2.00848050e-05,-3.67240457e-06, 1.11049289e-05, 5.07337341e-06,
 -3.24529269e-04,-4.46399395e-05,-2.86461918e-04,-1.06469268e-04,
  1.85309861e-05,-1.99139184e-06,-7.84774579e+00, 6.92481584e-04,
  9.68090241e-03, 7.23516986e-08]


--- Step 400 ---
qpos:
[ 7.17863827e-03, 4.01497032e-03,-3.62127272e-03,-2.58197401e-02,
  6.06710213e-03,-2.91495524e-03,-1.78462403e-02, 1.16387083e-02,
  1.56867484e-02, 2.33912429e-03,-8.95134125e-03, 2.40279118e-02,
  8.01105052e-01,-9.80880433e-03, 5.56474722e-01, 6.30758512e-02,
  9.50724389e-02,-7.00888992e-02, 1.21400275e-01, 9.99988576e-01,
 -6.20834674e-05, 6.27968271e-04, 4.73804188e-03]

qacc:
[ 10.92801376, -0.33948073,  1.859514  , -2.53315251, -2.36848102,
   0.18562731, -1.26009063,  4.82873115, -1.12928535, -0.27534827,
   3.01388698, -9.01667669, -1.53125453,  3.19375873, -6.31128379,
  17.44619441, -1.01393556, -1.48621149, -0.03933744, 24.8912127 ,
 -18.25766023,  1.37473465]

qfrc_actuator:
[ 6.57976055e-06, 3.87998434e-05,-1.29048798e-04,-9.98901871e-05,
 -1.03471581e-05,-3.42197679e-04,-2.91678499e-04,-3.05408115e-05,
  7.85052138e-05,-4.60046653e-05,-1.15298865e-04, 4.86502323e-05,
  5.19724715e-02,-7.61454933e-04, 2.73208459e-02,-4.33314737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006173032158172248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12406573e-14,  8.99252585e-14,  1.00000000e+00, -1.01081901e-27,
        1.00000000e+00, -8.99252585e-14, -1.00000000e+00,  0.00000000e+00,
        1.12406573e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895717, -0.05175351,  0.06198501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.38899974e-05, 5.46896337e-05, 2.91658881e-05, 3.41653317e-06,
 -1.39387818e-05, 3.31649090e-05, 1.98444946e-05, 1.40673618e-05,
 -6.55721523e-06, 4.00679095e-05, 9.40238156e-06,-1.48354020e-05,
 -3.55737337e-04,-5.26331755e-05,-1.81050409e-04, 3.19466858e-05,
  1.28266551e-05,-6.32963732e-07,-7.84792538e+00, 6.70840221e-04,
  9.68199844e-03, 1.66802111e-06]


--- Step 401 ---
qpos:
[ 7.17894558e-03, 4.01534818e-03,-3.62179601e-03,-2.58198904e-02,
  6.06673516e-03,-2.91450029e-03,-1.78463185e-02, 1.16386543e-02,
  1.56877168e-02, 2.33970346e-03,-8.95144957e-03, 2.40290637e-02,
  8.02220167e-01,-9.80585142e-03, 5.57389537e-01, 6.30734596e-02,
  9.50648174e-02,-7.00930382e-02, 1.21399123e-01, 9.99988538e-01,
 -3.01971512e-05, 5.59211247e-04, 4.75503943e-03]

qacc:
[  0.59708288,  0.45332609, -1.3456141 ,  1.96910379, -1.4732092 ,
  -0.86887015,  6.49631877,-16.986584  , -3.88030298,  0.26524738,
  -1.26314187,  3.77699546, -1.2920562 ,  2.31605231, -8.53967749,
  26.5360487 , -1.00426624, -1.46991864, -0.15619849, 24.53669166,
 -17.97716415,  1.37774014]

qfrc_actuator:
[ 8.27553145e-06, 3.26987939e-05,-1.37589499e-04,-9.94580626e-05,
 -1.85717101e-05,-2.99740180e-04,-2.79458562e-04,-5.84342189e-05,
  5.59897520e-05,-4.03481668e-05,-1.10042593e-04, 5.71125493e-05,
  5.18718029e-02,-7.60207875e-04, 2.72847237e-02,-4.21655658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006175399998290948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.37090419e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.37090419e-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([ 0.10895694, -0.05175347,  0.061985  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52825932e-06, 3.06742663e-05, 6.46689026e-06, 3.84796288e-06,
 -8.61260007e-06, 6.57032928e-05, 2.20040853e-05,-2.55117700e-05,
 -2.26863408e-05, 2.93577814e-05, 1.41752965e-05, 1.02140048e-05,
 -3.50988738e-04,-6.19596995e-05,-1.17257531e-04, 9.46502921e-05,
  5.31021700e-06, 7.10205204e-06,-7.84797714e+00, 6.64850137e-04,
  9.67110466e-03, 2.02743856e-06]


--- Step 402 ---
qpos:
[ 7.17996143e-03, 4.01591725e-03,-3.62265119e-03,-2.58200052e-02,
  6.06661751e-03,-2.91393961e-03,-1.78458011e-02, 1.16382862e-02,
  1.56880632e-02, 2.34013393e-03,-8.95129976e-03, 2.40299972e-02,
  8.03333453e-01,-9.80324411e-03, 5.58302628e-01, 6.30760880e-02,
  9.50532117e-02,-7.01030013e-02, 1.21396935e-01, 9.99988496e-01,
  5.03429447e-05, 4.55191735e-04, 4.77476318e-03]

qacc:
[  6.2232043 ,  1.24143588, -4.22891549,  5.25149291,  2.19841302,
  -2.17498317,  9.27704783,-15.73586328, -5.46361246, -1.35681695,
   5.49308866, -9.59534125, -0.67775347,  0.16021792,-17.68172273,
  58.19985895, -0.99605595, -1.45601871, -0.25883506, 24.24201149,
 -17.74675759,  1.37616221]

qfrc_actuator:
[ 4.46343203e-05, 2.87427835e-05,-1.60247659e-04,-9.91655010e-05,
 -5.50634388e-06,-3.10259087e-04,-2.54421926e-04,-7.48055486e-05,
  2.46050754e-05,-7.28061918e-05,-1.06917631e-04, 4.38773606e-05,
  5.17873434e-02,-7.78434911e-04, 2.72355287e-02,-3.95160356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006155826912741663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.63603721e-14,  1.12720744e-14,  1.00000000e+00,  6.35298308e-28,
        1.00000000e+00, -1.12720744e-14, -1.00000000e+00,  0.00000000e+00,
       -5.63603721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895715, -0.05175287,  0.06198505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.64686506e-05, 1.46903460e-05,-1.53915736e-05, 1.90512457e-06,
  1.28424044e-05, 2.96553606e-05, 4.04315048e-05,-1.32913917e-05,
 -3.20180064e-05,-1.27022681e-05, 1.12824704e-05,-1.12903045e-05,
 -3.32763212e-04,-8.17344722e-05,-9.70206258e-05, 2.54008086e-04,
 -4.11466783e-06, 2.10436234e-05,-7.84790718e+00, 6.74290431e-04,
  9.64840685e-03, 1.17658641e-06]


--- Step 403 ---
qpos:
[ 7.18106026e-03, 4.01657131e-03,-3.62371201e-03,-2.58204555e-02,
  6.06631246e-03,-2.91326190e-03,-1.78452356e-02, 1.16381072e-02,
  1.56876861e-02, 2.33997191e-03,-8.95111995e-03, 2.40304940e-02,
  8.04444907e-01,-9.80085803e-03, 5.59214677e-01, 6.30795006e-02,
  9.50376490e-02,-7.01187419e-02, 1.21393354e-01, 9.99988427e-01,
  1.79052757e-04, 3.16280889e-04, 4.79720522e-03]

qacc:
[ 7.22180760e-01,-5.07090736e-03, 1.59202274e+00,-7.12252092e+00,
 -1.64021027e+00, 4.12828479e-01,-2.04028020e+00, 5.14361676e+00,
 -6.35616040e+00,-1.75387060e+00, 6.98321892e+00,-1.41786077e+01,
 -8.97200249e-01, 9.42356105e-01,-3.88714797e+00, 1.14037694e+01,
 -9.89247566e-01,-1.44436936e+00,-3.48564478e-01, 2.40006645e+01,
 -1.75603918e+01, 1.37103417e+00]

qfrc_actuator:
[ 4.78654935e-05, 2.60268276e-05,-1.73301346e-04,-1.16717936e-04,
 -1.55222904e-05,-3.16858133e-04,-2.57716996e-04,-6.65400678e-05,
 -1.17436640e-05,-1.45621876e-04,-1.23010079e-04, 1.79412158e-05,
  5.16966881e-02,-7.90206695e-04, 2.71732335e-02,-3.92096354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006118736512543965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53616127e-14,  1.13404032e-14,  1.00000000e+00, -5.14418978e-28,
        1.00000000e+00, -1.13404032e-14, -1.00000000e+00,  0.00000000e+00,
        4.53616127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895771, -0.05175183,  0.06198514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27171154e-06, 2.40055607e-06,-1.18480305e-05,-1.74195699e-05,
 -9.63976413e-06, 1.77445703e-05, 7.33859850e-06, 1.06745510e-05,
 -3.72611064e-05,-7.81016585e-05,-1.77244884e-05,-2.63118065e-05,
 -3.29574173e-04,-7.42793594e-05,-8.32553414e-05, 3.11263814e-05,
 -1.55491373e-05, 4.09788554e-05,-7.84772020e+00, 6.98977681e-04,
  9.61405783e-03,-8.63672999e-07]


--- Step 404 ---
qpos:
[ 7.18115497e-03, 4.01686682e-03,-3.62443455e-03,-2.58214382e-02,
  6.06588988e-03,-2.91243011e-03,-1.78449452e-02, 1.16373562e-02,
  1.56872207e-02, 2.33936237e-03,-8.95090302e-03, 2.40310031e-02,
  8.05554449e-01,-9.79828028e-03, 5.60125784e-01, 6.30812543e-02,
  9.50224201e-02,-7.01269201e-02, 1.21390755e-01, 9.99988344e-01,
  2.43853763e-04, 1.83482448e-04, 4.81854937e-03]

qacc:
[ -8.82204955, -2.49883413, 10.49262034,-19.99951129, -1.0401148 ,
  -0.20338865,  3.4393004 ,-13.01698008, -0.76681334, -0.66803927,
   1.47367442, -0.99050498, -1.43785738,  2.94783314,  3.64920437,
 -14.71590419,  0.08347174,  1.89061215,  0.24567897,-31.93919759,
   3.20936363, -0.55955615]

qfrc_actuator:
[-3.94300677e-06,-1.14206298e-05,-1.62833214e-04,-1.44620631e-04,
 -2.12974020e-05,-3.21158871e-04,-2.77701649e-04,-9.71278628e-05,
 -1.52152838e-05,-1.53385715e-04,-1.15002849e-04, 2.01955657e-05,
  5.16023816e-02,-7.80338822e-04, 2.71137305e-02,-4.01093083e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006146113488126603
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.80638224e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.80638224e-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([ 0.09491893, -0.09304717,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.16860380e-05,-3.93103499e-05, 8.90670090e-06,-2.85474501e-05,
 -6.04507083e-06, 7.56090482e-06,-1.50598815e-05,-2.93677181e-05,
 -4.55591007e-06,-5.62391525e-05,-1.12195584e-05,-2.21767054e-06,
 -3.29878740e-04,-5.14225968e-05,-1.00819905e-04,-1.00574035e-04,
 -2.91085524e-05, 6.66562882e-05,-7.84741973e+00, 7.38761697e-04,
  9.56818117e-03,-4.07688615e-06]


--- Step 405 ---
qpos:
[ 7.18166307e-03, 4.01671003e-03,-3.62469350e-03,-2.58223985e-02,
  6.06540125e-03,-2.91135629e-03,-1.78452706e-02, 1.16369481e-02,
  1.56863717e-02, 2.33876711e-03,-8.95082155e-03, 2.40314869e-02,
  8.06662190e-01,-9.79590333e-03, 5.61035351e-01, 6.30852253e-02,
  9.50075319e-02,-7.01276524e-02, 1.21388524e-01, 9.99988259e-01,
  2.45805088e-04, 5.63240709e-05, 4.83931171e-03]

qacc:
[  3.66114265, -1.85491768,  5.63819275, -5.64250494, -0.60119529,
   2.74697245,-10.77699792, 17.51747366, -3.38106256,  0.35174635,
  -1.107969  ,  0.86145796, -0.86867087,  0.90767523, -8.9463741 ,
  28.03947887,  0.08515531,  1.86145299,  0.09201086,-31.41083194,
   2.97135014, -0.29734823]

qfrc_actuator:
[ 1.87943632e-05,-3.37921806e-05,-1.38713664e-04,-1.42897125e-04,
 -2.45229137e-05,-3.06411847e-04,-3.07396250e-04,-7.93316864e-05,
 -3.48118722e-05,-1.22026432e-04,-1.10307555e-04, 2.13370165e-05,
  5.15112832e-02,-7.93316842e-04, 2.70665828e-02,-3.88709106e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006202652784560447
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94958224e-14,  8.94958224e-14,  1.00000000e+00,  8.00950224e-27,
        1.00000000e+00, -8.94958224e-14, -1.00000000e+00,  0.00000000e+00,
       -8.94958224e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492051, -0.093046  ,  0.06198493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12564910e-05,-4.37548862e-05, 1.61188485e-05,-2.02254013e-07,
 -3.39375205e-06, 1.45719555e-05,-3.10156091e-05, 1.70268507e-05,
 -1.97467194e-05,-2.48727440e-06,-8.37720802e-06,-1.70016996e-06,
 -3.23172290e-04,-7.20932195e-05,-1.11001138e-04, 1.03684073e-04,
 -5.76029556e-06, 5.40015992e-05,-7.84764640e+00, 7.59643220e-04,
  9.52728527e-03,-4.84957783e-06]


--- Step 406 ---
qpos:
[ 7.18209410e-03, 4.01636289e-03,-3.62476975e-03,-2.58229998e-02,
  6.06487762e-03,-2.90992515e-03,-1.78463645e-02, 1.16374425e-02,
  1.56849491e-02, 2.33846309e-03,-8.95085683e-03, 2.40319425e-02,
  8.07768168e-01,-9.79397837e-03, 5.61943252e-01, 6.30909919e-02,
  9.49929878e-02,-7.01210398e-02, 1.21386116e-01, 9.99988171e-01,
  1.85810330e-04,-6.55792843e-05, 4.85990768e-03]

qacc:
[-6.69102074e-01,-2.18505825e-02,-1.79700138e+00, 7.84730217e+00,
 -3.35883475e-01, 4.47680401e+00,-1.90883066e+01, 3.56768693e+01,
 -5.05581534e+00, 6.63047331e-01,-1.66951120e+00, 1.13537628e+00,
 -5.79749404e-01,-2.04140770e-01,-7.87165712e+00, 2.39828031e+01,
  8.60231793e-02, 1.83622597e+00,-4.42089175e-02,-3.09599575e+01,
  2.77734804e+00,-8.55713414e-02]

qfrc_actuator:
[ 1.42328926e-05,-2.91283771e-05,-1.24416496e-04,-1.23739692e-04,
 -2.62231390e-05,-2.80385744e-04,-3.42465942e-04,-3.31912024e-05,
 -6.37526255e-05,-8.52286922e-05,-1.07441681e-04, 2.18436402e-05,
  5.14168426e-02,-8.19686582e-04, 2.69843298e-02,-3.79795329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006226412312999446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.45771565e-14,  8.91543130e-14,  1.00000000e+00,  3.97424576e-27,
        1.00000000e+00, -8.91543130e-14, -1.00000000e+00,  0.00000000e+00,
       -4.45771565e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492172, -0.09304577,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.97271314e-06,-1.64664929e-05, 7.24369099e-06, 1.78396090e-05,
 -1.79155773e-06, 2.84624955e-05,-3.52990759e-05, 4.60223358e-05,
 -2.95039385e-05, 3.36134902e-05, 1.26628819e-06, 7.78061682e-08,
 -3.25255558e-04,-8.65013572e-05,-1.26428326e-04, 7.94313785e-05,
  1.51763657e-05, 4.31586521e-05,-7.84773717e+00, 7.60385459e-04,
  9.48799391e-03,-4.50591380e-06]


--- Step 407 ---
qpos:
[ 7.18074238e-03, 4.01607651e-03,-3.62535689e-03,-2.58230060e-02,
  6.06468281e-03,-2.90857978e-03,-1.78473984e-02, 1.16377948e-02,
  1.56828455e-02, 2.33863980e-03,-8.95098010e-03, 2.40323733e-02,
  8.08872254e-01,-9.79230376e-03, 5.62848971e-01, 6.30949386e-02,
  9.49787889e-02,-7.01071684e-02, 1.21383051e-01, 9.99988071e-01,
  6.46308298e-05,-1.82542381e-04, 4.88067372e-03]

qacc:
[-15.70947345,  2.76506244,-12.19418078, 23.19159049,  2.88064216,
  -0.57888181,  2.4903973 , -4.97399176, -6.00481918,  0.84209567,
  -1.95582672,  1.2922463 , -0.93410515,  0.96517856,  2.28667515,
 -12.6516569 ,  0.08628407,  1.81469864, -0.16421757,-30.57999854,
   2.61879134,  0.08661338]

qfrc_actuator:
[-7.73933237e-05,-2.60770343e-05,-1.51422584e-04,-9.44674114e-05,
 -9.26019345e-06,-3.01062194e-04,-3.44856507e-04,-4.17515003e-05,
 -9.79565530e-05,-4.54505519e-05,-1.05638004e-04, 2.19822947e-05,
  5.13098068e-02,-8.36007211e-04, 2.68278225e-02,-3.90762836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006223266065501498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.4599693e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -4.4599693e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492263, -0.0930463 ,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.17445373e-05,-3.88457159e-06,-2.88918704e-05, 2.91675178e-05,
  1.69212013e-05,-1.01202695e-05, 7.27628972e-07,-7.66831546e-06,
 -3.50313878e-05, 5.88355249e-05, 8.90837360e-06, 1.62515753e-06,
 -3.41746253e-04,-7.82965439e-05,-2.09777656e-04,-1.22558633e-04,
  3.51564360e-05, 3.36218495e-05,-7.84769873e+00, 7.41298093e-04,
  9.45027685e-03,-3.05475587e-06]


--- Step 408 ---
qpos:
[ 7.17899314e-03, 4.01563880e-03,-3.62620703e-03,-2.58223055e-02,
  6.06469311e-03,-2.90767902e-03,-1.78482503e-02, 1.16377349e-02,
  1.56806931e-02, 2.33904375e-03,-8.95124440e-03, 2.40324934e-02,
  8.09974455e-01,-9.79110190e-03, 5.63751790e-01, 6.30963075e-02,
  9.49672740e-02,-7.00908735e-02, 1.21381904e-01, 9.99987946e-01,
 -7.58201067e-05,-2.76357759e-04, 4.90157027e-03]

qacc:
[-3.50446210e+00, 1.99731489e+00,-1.03746259e+01, 2.31034084e+01,
  1.80787068e+00,-1.94773558e+00, 7.82673682e+00,-1.49180941e+01,
 -4.36578148e-01, 5.55457539e-02, 1.55136945e+00,-6.87350694e+00,
 -6.94028558e-01, 9.09539913e-03, 3.50829265e+00,-1.84849411e+01,
  6.71023565e-01, 6.05892456e-01, 4.79431585e-01,-9.57910205e+00,
  1.16207525e+01, 6.63233053e-02]

qfrc_actuator:
[-9.52534535e-05,-4.19207671e-05,-1.67084852e-04,-5.95060944e-05,
  7.98205021e-07,-3.49460009e-04,-3.45913184e-04,-6.46958957e-05,
 -9.94761252e-05,-5.74480582e-05,-1.22206321e-04, 4.15537566e-06,
  5.12059403e-02,-8.64071857e-04, 2.66588238e-02,-4.04493074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000619330487745742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52328351e-14, -1.19099895e-06,  1.00000000e+00, -1.13422207e-19,
        1.00000000e+00,  1.19099895e-06, -1.00000000e+00, -2.40741243e-35,
       -9.52328351e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08829556, -0.07721285,  0.06198496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04657390e-05,-2.27448549e-05,-1.89983516e-05, 3.43695102e-05,
  1.05385988e-05,-5.42669652e-05,-3.32788305e-06,-2.35043005e-05,
 -2.49421463e-06, 2.27886841e-05,-3.26383447e-06,-1.49657275e-05,
 -3.48899438e-04,-9.19695451e-05,-2.79793147e-04,-1.71393047e-04,
  5.52444156e-05, 2.51002221e-05,-7.84753639e+00, 7.02639829e-04,
  9.41410242e-03,-5.04105471e-07]


--- Step 409 ---
qpos:
[ 7.17911248e-03, 4.01489826e-03,-3.62659314e-03,-2.58215678e-02,
  6.06516902e-03,-2.90732416e-03,-1.78487519e-02, 1.16374026e-02,
  1.56792292e-02, 2.33944720e-03,-8.95184827e-03, 2.40320978e-02,
  8.11074710e-01,-9.78991569e-03, 5.64652312e-01, 6.30948288e-02,
  9.49606202e-02,-7.00772986e-02, 1.21382536e-01, 9.99987831e-01,
 -1.92132987e-04,-3.29346035e-04, 4.91854816e-03]

qacc:
[ 16.46798267, -1.65312442,  5.09963136, -4.91173495,  4.09454356,
  -2.26861837,  8.17922318,-13.03923738,  6.0465683 , -0.12508533,
   2.60203604,-10.96211668, -1.24116155,  2.08561449,  5.2280516 ,
 -23.16924991,  1.21526563, -0.68001834,  0.44470626, 12.16840025,
  20.35429731, -1.96111758]

qfrc_actuator:
[ 1.48446439e-06,-5.11611228e-05,-1.40479082e-04,-5.69860918e-05,
  2.44586924e-05,-3.78592240e-04,-3.28563058e-04,-7.81913179e-05,
 -6.39924860e-05,-8.26971098e-05,-1.49709606e-04,-2.41549731e-05,
  5.11146946e-02,-8.63355111e-04, 2.65730116e-02,-4.17957089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006247827484684443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33273089e-13, -8.88487260e-14,  1.00000000e+00, -1.18411442e-26,
        1.00000000e+00,  8.88487260e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33273089e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190467, -0.06194467,  0.06198482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.61501746e-05,-2.43887624e-05, 2.07734308e-05, 1.56060754e-06,
  2.39437519e-05,-6.11915267e-05, 4.91705355e-06,-1.63937715e-05,
  3.54225111e-05,-1.38405031e-05,-2.37198047e-05,-2.77388421e-05,
 -3.43744247e-04,-6.57582972e-05,-2.30792992e-04,-1.79649538e-04,
  5.72384367e-05, 1.82507342e-05,-7.84753330e+00, 6.58060488e-04,
  9.38465544e-03, 1.93760196e-06]


--- Step 410 ---
qpos:
[ 7.17969996e-03, 4.01414712e-03,-3.62674650e-03,-2.58211730e-02,
  6.06592460e-03,-2.90708960e-03,-1.78492198e-02, 1.16368780e-02,
  1.56785466e-02, 2.34009968e-03,-8.95262742e-03, 2.40313227e-02,
  8.12172951e-01,-9.78809265e-03, 5.65551187e-01, 6.30901979e-02,
  9.49587566e-02,-7.00664146e-02, 1.21384393e-01, 9.99987739e-01,
 -2.84898400e-04,-3.42043714e-04, 4.93190277e-03]

qacc:
[ 4.12813833e+00,-1.37868307e+00, 6.32426592e+00,-1.25959426e+01,
  2.45030454e+00,-6.53381837e-01, 2.90301640e+00,-6.18861930e+00,
  6.86569643e+00, 2.45207137e-02, 1.96897712e+00,-8.41388015e+00,
 -2.00520249e+00, 5.00737379e+00, 7.13536234e+00,-2.83837276e+01,
  1.19755436e+00,-6.72709271e-01, 3.06345112e-01, 1.18720815e+01,
  2.00874959e+01,-1.81168196e+00]

qfrc_actuator:
[ 2.28530710e-05,-3.84747876e-05,-1.24639607e-04,-7.35441095e-05,
  3.81852544e-05,-3.60380718e-04,-3.18162601e-04,-8.59921906e-05,
 -2.47771137e-05,-4.47497275e-05,-1.48013665e-04,-4.06735335e-05,
  5.10257689e-02,-8.27884891e-04, 2.65211844e-02,-4.32906546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006274651449199864
  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([ 0.08190457, -0.06194559,  0.06198476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40926348e-05, 3.46852664e-06, 1.34220001e-05,-1.68564828e-05,
  1.43897676e-05,-1.56912605e-05,-2.19878864e-06,-1.05717363e-05,
  4.02196048e-05, 2.41203528e-05,-5.04411667e-06,-1.84726959e-05,
 -3.33259231e-04,-2.76555363e-05,-1.77829423e-04,-1.89268206e-04,
  3.53461953e-05, 8.08413964e-06,-7.84773244e+00, 6.21627193e-04,
  9.36715221e-03, 3.60515385e-06]


--- Step 411 ---
qpos:
[ 7.17985003e-03, 4.01330680e-03,-3.62667249e-03,-2.58209692e-02,
  6.06683867e-03,-2.90644862e-03,-1.78500904e-02, 1.16358802e-02,
  1.56783395e-02, 2.34103813e-03,-8.95345048e-03, 2.40303410e-02,
  8.13269273e-01,-9.78584158e-03, 5.66448170e-01, 6.30847153e-02,
  9.49616229e-02,-7.00581949e-02, 1.21386989e-01, 9.99987676e-01,
 -3.54608166e-04,-3.14909403e-04, 4.94187477e-03]

qacc:
[-3.84166938,-1.13963632, 4.70940528,-8.32230781, 1.36698921, 0.68522836,
  0.32918469,-8.16912782, 4.17856971, 0.06694676, 1.16842401,-4.87132596,
 -1.67602353, 3.87840294,-0.1763107 ,-3.34279397, 1.18249263,-0.66608742,
  0.18464322,11.6253316 ,19.85938342,-1.68962266]

qfrc_actuator:
[-3.46904081e-07,-4.83088042e-05,-1.15214216e-04,-8.34311869e-05,
  4.59511557e-05,-3.13970193e-04,-3.29507942e-04,-1.08100089e-04,
 -1.44365818e-06,-2.23917103e-05,-1.46579266e-04,-5.00470120e-05,
  5.09329855e-02,-8.07714071e-04, 2.64524918e-02,-4.36176062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006274724784921248
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.42339331e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.42339331e-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([ 0.08190405, -0.06194607,  0.06198476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25118701e-05,-5.80937834e-06, 1.12197203e-05,-9.60245661e-06,
  8.17207159e-06, 3.67320505e-05,-1.52197518e-05,-2.30610076e-05,
  2.44866242e-05, 3.40117948e-05, 5.15721990e-06,-8.87365576e-06,
 -3.23277450e-04,-3.74952188e-05,-1.74273109e-04,-6.68517413e-05,
  2.04918495e-05, 1.23916203e-06,-7.84785623e+00, 5.92522320e-04,
  9.36265688e-03, 5.02013212e-06]


--- Step 412 ---
qpos:
[ 7.17937617e-03, 4.01247800e-03,-3.62677142e-03,-2.58212158e-02,
  6.06749429e-03,-2.90594910e-03,-1.78506249e-02, 1.16346442e-02,
  1.56777245e-02, 2.34199181e-03,-8.95441990e-03, 2.40292967e-02,
  8.14363656e-01,-9.78329038e-03, 5.67343003e-01, 6.30785320e-02,
  9.49691688e-02,-7.00526161e-02, 1.21389898e-01, 9.99987644e-01,
 -4.01669924e-04,-2.48328854e-04, 4.94866134e-03]

qacc:
[ -5.49799139, -0.41796023,  3.42783181,-10.96373488, -2.24876513,
  -1.61161592,  6.48891703,-11.05406348, -3.59541438,  0.3073587 ,
  -0.79027914, -0.08335624, -1.54394567,  3.32799098, -1.02121128,
  -0.95609101,  1.169876  , -0.66021155,  0.07826479, 11.42083734,
  19.66748378, -1.58934599]

qfrc_actuator:
[-3.18171042e-05,-5.38195762e-05,-1.27477650e-04,-1.07082897e-04,
  3.23973480e-05,-3.39882012e-04,-3.17972674e-04,-1.20681792e-04,
 -2.31513840e-05,-4.50291285e-05,-1.63115687e-04,-5.51543703e-05,
  5.08273000e-02,-7.96768828e-04, 2.63471322e-02,-4.39642626e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006253136644580048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43866450e-14, -1.10966612e-13,  1.00000000e+00, -4.92543563e-27,
        1.00000000e+00,  1.10966612e-13, -1.00000000e+00,  0.00000000e+00,
       -4.43866450e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190319, -0.06194619,  0.06198481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.21091144e-05,-6.83241604e-06,-1.24045043e-05,-2.36971575e-05,
 -1.33059374e-05,-9.51122116e-06, 1.64539750e-05,-1.19808560e-05,
 -2.09980765e-05,-2.94705635e-06,-9.18297532e-06,-3.64318283e-06,
 -3.30886802e-04,-4.61092326e-05,-1.95190329e-04,-6.14266647e-05,
  1.19823182e-05,-2.78585872e-06,-7.84790830e+00, 5.70620831e-04,
  9.37099601e-03, 6.18314992e-06]


--- Step 413 ---
qpos:
[ 7.17818361e-03, 4.01180319e-03,-3.62705819e-03,-2.58224516e-02,
  6.06832770e-03,-2.90610542e-03,-1.78502072e-02, 1.16336362e-02,
  1.56768545e-02, 2.34266179e-03,-8.95491429e-03, 2.40288858e-02,
  8.15456130e-01,-9.78086496e-03, 5.68235322e-01, 6.30742753e-02,
  9.49813527e-02,-7.00496577e-02, 1.21392750e-01, 9.99987636e-01,
 -4.26419320e-04,-1.42620125e-04, 4.95242502e-03]

qacc:
[-6.33558466e+00,-1.29628841e+00, 9.10516724e+00,-2.60393755e+01,
  1.59697423e+00,-3.05980228e+00, 8.68478992e+00,-5.77224167e+00,
 -2.22327212e+00,-3.94051587e-01,-1.80648137e+00, 1.22125770e+01,
 -1.01524807e+00, 1.32590757e+00,-9.50038119e+00, 2.79000733e+01,
  1.15949902e+00,-6.55102032e-01,-1.41957657e-02, 1.12524892e+01,
  1.95092501e+01,-1.50639652e+00]

qfrc_actuator:
[-6.78879592e-05,-3.90488026e-05,-1.34692372e-04,-1.56410381e-04,
  4.19105149e-05,-3.91049296e-04,-2.75534124e-04,-1.09840853e-04,
 -3.56851878e-05,-5.90021867e-05,-1.37056693e-04,-2.22582417e-05,
  5.07192697e-02,-8.09154873e-04, 2.62464928e-02,-4.29006351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006214314624803235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46639369e-14, -6.69959053e-14,  1.00000000e+00,  2.99230089e-27,
        1.00000000e+00,  6.69959053e-14, -1.00000000e+00,  0.00000000e+00,
        4.46639369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190207, -0.06194603,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.69809371e-05, 7.39538978e-06,-1.09601205e-05,-5.05065551e-05,
  9.12953035e-06,-5.36144706e-05, 4.20900297e-05, 1.07730098e-05,
 -1.31290537e-05,-1.77042158e-05, 2.41958316e-05, 3.23843095e-05,
 -3.39920572e-04,-7.16689532e-05,-1.98358938e-04, 7.74789505e-05,
  9.31391282e-06,-4.37842100e-06,-7.84789154e+00, 5.55816714e-04,
  9.39202592e-03, 7.09506578e-06]


--- Step 414 ---
qpos:
[ 7.17760281e-03, 4.01109763e-03,-3.62738654e-03,-2.58242552e-02,
  6.06961317e-03,-2.90649890e-03,-1.78494050e-02, 1.16330969e-02,
  1.56758410e-02, 2.34289738e-03,-8.95472023e-03, 2.40292221e-02,
  8.16546583e-01,-9.77822186e-03, 5.69125915e-01, 6.30747513e-02,
  9.49942451e-02,-7.00508558e-02, 1.21396168e-01, 9.99987638e-01,
 -4.15564977e-04,-3.15720045e-05, 4.95491078e-03]

qacc:
[  5.38403249, -1.10432817,  6.25168187,-15.95657331,  3.97223081,
  -0.430855  , -0.91048879,  8.59565905, -1.23326416, -0.95782006,
  -0.56817557, 12.71326471, -1.418647  ,  2.80307746,-16.79364964,
  55.14355899,  0.17713138, -1.03914117,  0.14139052, 17.81478129,
   2.58177387, -0.6403796 ]

qfrc_actuator:
[-3.53643203e-05,-4.77614357e-05,-1.38793792e-04,-1.84919007e-04,
  6.49310079e-05,-3.85788369e-04,-2.50809335e-04,-8.53173412e-05,
 -4.27044997e-05,-8.52364228e-05,-1.03755928e-04, 1.50162976e-05,
  5.06152256e-02,-7.99728563e-04, 2.62286824e-02,-4.03042022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006164366394207546
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.11295572e-07, -2.25129185e-14,  1.00000000e+00,  1.37620474e-20,
        1.00000000e+00,  2.25129185e-14, -1.00000000e+00,  0.00000000e+00,
        6.11295572e-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([ 0.09409357, -0.05735021,  0.06198503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.14811112e-05,-8.98215526e-06,-5.65421836e-06,-2.95479155e-05,
  2.32604671e-05,-1.55584781e-05, 1.92072681e-05, 2.38936690e-05,
 -7.39928675e-06,-2.97736475e-05, 3.37429865e-05, 3.79841991e-05,
 -3.46303139e-04,-5.40981691e-05,-1.00623638e-04, 2.38302217e-04,
  1.21340287e-05,-3.84489926e-06,-7.84780818e+00, 5.48021023e-04,
  9.42562934e-03, 7.75690979e-06]


--- Step 415 ---
qpos:
[ 7.17776104e-03, 4.01030678e-03,-3.62776711e-03,-2.58260332e-02,
  6.07047472e-03,-2.90690805e-03,-1.78486858e-02, 1.16332047e-02,
  1.56750957e-02, 2.34337580e-03,-8.95518260e-03, 2.40296634e-02,
  8.17634976e-01,-9.77512534e-03, 5.70015865e-01, 6.30788105e-02,
  9.50031189e-02,-7.00578831e-02, 1.21398765e-01, 9.99987637e-01,
 -3.55795238e-04, 4.35055876e-05, 4.95962367e-03]

qacc:
[  6.50512508,  0.07327088, -0.55449433,  1.16676718, -3.71157557,
   1.55027924, -8.27779867, 19.60929184,  2.33570824,  2.36728498,
  -8.42636319, 11.12318414, -1.73553138,  3.95083365,-11.71255652,
  39.71812007, -1.00464573, -1.45729886, -0.20504714, 24.3683157 ,
 -18.10669059,  1.1053161 ]

qfrc_actuator:
[ 1.76774931e-06,-5.26883441e-05,-1.41098350e-04,-1.83209412e-04,
  4.24526134e-05,-3.82332133e-04,-2.54278732e-04,-5.29160629e-05,
 -2.86719405e-05,-6.53053050e-05,-1.37524056e-04, 1.90456592e-05,
  5.05136520e-02,-7.77508001e-04, 2.62339602e-02,-3.84215891e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000616040324075251
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.94229529e-14, -1.07005158e-13,  1.00000000e+00, -4.21845929e-27,
        1.00000000e+00,  1.07005158e-13, -1.00000000e+00,  0.00000000e+00,
       -3.94229529e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894959, -0.05175066,  0.06198504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.80274405e-05,-1.23365073e-05,-5.86279644e-06, 5.59144425e-07,
 -2.18210400e-05,-2.38677271e-07,-3.49459298e-06, 3.28636396e-05,
  1.38100127e-05, 1.18620399e-05,-3.44543365e-05, 4.65862097e-06,
 -3.44653643e-04,-4.08829946e-05,-1.90588923e-05, 1.87432245e-04,
  1.15609622e-05,-5.51877373e-06,-7.84779752e+00, 5.51622529e-04,
  9.46096903e-03, 7.94253699e-06]


--- Step 416 ---
qpos:
[ 7.17801820e-03, 4.00967937e-03,-3.62801758e-03,-2.58278220e-02,
  6.07071552e-03,-2.90742824e-03,-1.78479230e-02, 1.16330129e-02,
  1.56748692e-02, 2.34428565e-03,-8.95643904e-03, 2.40297897e-02,
  8.18721531e-01,-9.77241090e-03, 5.70904796e-01, 6.30848656e-02,
  9.50080094e-02,-7.00706909e-02, 1.21400161e-01, 9.99987632e-01,
 -2.47664902e-04, 8.31433572e-05, 4.96666359e-03]

qacc:
[  0.87206176, -0.17155675,  0.96714888, -1.47750925, -5.42884102,
  -0.87449709,  4.18868916, -9.38225634,  4.53215251,  2.13228297,
  -5.46071504,  0.97729375, -0.71407515,  0.21255103, -7.51754585,
  24.14149844, -0.99581951, -1.4451077 , -0.30055431, 24.09206342,
 -17.84003122,  1.15825665]

qfrc_actuator:
[ 5.78764800e-06,-1.97717155e-05,-1.24544899e-04,-1.81487826e-04,
  1.11226817e-05,-3.97837955e-04,-2.56598202e-04,-6.94119267e-05,
 -2.36261383e-06,-3.59310643e-05,-1.74958759e-04, 3.47110337e-06,
  5.04189627e-02,-8.01191584e-04, 2.61625170e-02,-3.75072844e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006133695751904811
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.82818638e-14, -1.69691183e-14,  1.00000000e+00,  4.79918291e-28,
        1.00000000e+00,  1.69691183e-14, -1.00000000e+00,  0.00000000e+00,
        2.82818638e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894975, -0.0517499 ,  0.0619851 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.09909869e-06, 2.48809813e-05, 1.33187576e-05, 1.00637458e-06,
 -3.19546717e-05,-1.49543296e-05,-1.66498898e-06,-1.59874408e-05,
  2.67081389e-05, 2.90797332e-05,-3.90695165e-05,-1.61694619e-05,
 -3.34074821e-04,-8.53546616e-05,-6.85145540e-05, 9.71832864e-05,
  1.21026322e-06,-1.02450301e-05,-7.84785047e+00, 5.70963458e-04,
  9.48456337e-03, 7.08107938e-06]


--- Step 417 ---
qpos:
[ 7.17797687e-03, 4.00937628e-03,-3.62843872e-03,-2.58295766e-02,
  6.07057887e-03,-2.90816173e-03,-1.78474125e-02, 1.16326594e-02,
  1.56749602e-02, 2.34511932e-03,-8.95769752e-03, 2.40297388e-02,
  8.19806227e-01,-9.76996923e-03, 5.71792516e-01, 6.30867865e-02,
  9.50089470e-02,-7.00892388e-02, 1.21400021e-01, 9.99987611e-01,
 -9.16243955e-05, 8.77771327e-05, 4.97611344e-03]

qacc:
[ -2.63834269,  0.98126802, -3.01096846,  3.62372358, -3.30731918,
   0.09639719, -0.05881644, -2.19199413,  2.79541633, -0.46530977,
   2.25174091, -5.24919468, -0.95459604,  1.0055933 , 10.70642621,
 -40.02694085, -0.98825584, -1.43504066, -0.38375263, 23.86776094,
 -17.62105522,  1.20264213]

qfrc_actuator:
[-9.71526146e-06, 1.31161206e-07,-1.32343333e-04,-1.79732892e-04,
 -7.39915138e-06,-4.24619382e-04,-2.76073803e-04,-7.90529766e-05,
  1.32023504e-05,-5.44345927e-05,-1.78687930e-04,-5.73518288e-06,
  5.03231324e-02,-8.16258264e-04, 2.60397726e-02,-3.98353183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006091191878515451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.11334798e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.11334798e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895027, -0.05174874,  0.0619852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53473875e-05, 3.66407446e-05,-9.70673126e-07, 3.30635829e-06,
 -1.94392675e-05,-3.61735459e-05,-2.33239145e-05,-1.06493945e-05,
  1.63377771e-05,-1.10151839e-05,-3.09160863e-06,-9.62730321e-06,
 -3.35813572e-04,-7.94240897e-05,-1.50370358e-04,-2.37931259e-04,
 -1.04878321e-05,-9.39748190e-06,-7.84778500e+00, 6.05483498e-04,
  9.49647989e-03, 5.03185768e-06]


--- Step 418 ---
qpos:
[ 7.17809526e-03, 4.00925889e-03,-3.62917810e-03,-2.58312682e-02,
  6.07056578e-03,-2.90885504e-03,-1.78478160e-02, 1.16322070e-02,
  1.56752377e-02, 2.34531367e-03,-8.95876211e-03, 2.40303282e-02,
  8.20888912e-01,-9.76705695e-03, 5.72678765e-01, 6.30845374e-02,
  9.50059569e-02,-7.01134945e-02, 1.21398058e-01, 9.99987552e-01,
  1.11968828e-04, 5.77601338e-05, 4.98804277e-03]

qacc:
[  1.39270705,  1.26239577, -4.41446968,  5.88002126,  1.05183351,
   2.4008558 , -8.07033881,  7.79611965,  1.65925153, -0.07185769,
  -3.67896854, 14.92783075, -1.84976515,  4.31294116, 10.45987646,
 -39.65361892, -0.98190042, -1.42695027, -0.45593798, 23.68974051,
 -17.44359846,  1.2403228 ]

qfrc_actuator:
[-1.06875448e-06,-5.75309589e-06,-1.54504159e-04,-1.77998538e-04,
 -4.78487426e-07,-4.22514234e-04,-3.23317315e-04,-8.45991730e-05,
  2.23144018e-05,-1.19082350e-04,-1.80420823e-04, 2.43729851e-05,
  5.02266856e-02,-7.90606012e-04, 2.59661881e-02,-4.19251224e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006036480659639271
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19594617e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.19594617e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10895107, -0.05174726,  0.06198534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.22503609e-06, 1.45607260e-05,-1.45851391e-05, 3.34028374e-06,
  6.35404281e-06,-2.33821490e-05,-5.79527223e-05,-8.10852197e-06,
  9.57424135e-06,-7.18680729e-05,-4.71763649e-06, 2.93421827e-05,
 -3.37152359e-04,-3.82971689e-05,-1.73584056e-04,-2.42710050e-04,
 -2.37799064e-05,-3.04398161e-06,-7.84760506e+00, 6.55035162e-04,
  9.49685165e-03, 1.81185987e-06]


--- Step 419 ---
qpos:
[ 7.17866132e-03, 4.00918687e-03,-3.63013919e-03,-2.58325684e-02,
  6.07098047e-03,-2.90957344e-03,-1.78488035e-02, 1.16313320e-02,
  1.56752778e-02, 2.34448062e-03,-8.95932050e-03, 2.40313031e-02,
  8.21969676e-01,-9.76413213e-03, 5.73562864e-01, 6.30814308e-02,
  9.50033307e-02,-7.01301738e-02, 1.21397267e-01, 9.99987468e-01,
  2.50948701e-04, 3.29984465e-05, 5.00007316e-03]

qacc:
[  3.9330143 ,  1.4779419 , -6.84292602, 13.93878984,  3.72521626,
   0.72128526, -0.84820197, -5.50092204, -2.05591328, -1.97502381,
   3.45097217,  3.16106242, -1.22975599,  2.07734235, -0.55628192,
  -2.60428395,  0.09097241,  1.89412491,  0.29319596,-32.293168  ,
   2.78877663,  0.04843502]

qfrc_actuator:
[ 2.17285942e-05,-9.34811243e-06,-1.67313965e-04,-1.58566562e-04,
  2.13576432e-05,-4.20997920e-04,-3.50953583e-04,-1.05439258e-04,
  9.80603008e-06,-1.93070427e-04,-1.63398415e-04, 4.18179465e-05,
  5.01246236e-02,-7.94414564e-04, 2.58795603e-02,-4.22573569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006069241995140667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.14630711e-14,  9.14630711e-14,  1.00000000e+00,  8.36549338e-27,
        1.00000000e+00, -9.14630711e-14, -1.00000000e+00,  0.00000000e+00,
       -9.14630711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492663, -0.09305192,  0.06198526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30379448e-05, 1.69703065e-06,-1.14697153e-05, 1.96212730e-05,
  2.20121828e-05,-2.38433268e-05,-3.98718647e-05,-2.40021005e-05,
 -1.22628359e-05,-1.13885905e-04, 2.61999178e-06, 1.47731979e-05,
 -3.36711463e-04,-6.38417652e-05,-1.96715074e-04,-6.99319506e-05,
 -3.89052685e-05, 8.68485324e-06,-7.84731356e+00, 7.19501082e-04,
  9.48578550e-03,-2.56582924e-06]


--- Step 420 ---
qpos:
[ 7.17949638e-03, 4.00906609e-03,-3.63126642e-03,-2.58325812e-02,
  6.07096410e-03,-2.91070656e-03,-1.78494981e-02, 1.16312391e-02,
  1.56751673e-02, 2.34324578e-03,-8.95987270e-03, 2.40320885e-02,
  8.23048577e-01,-9.76154586e-03, 5.74444463e-01, 6.30785977e-02,
  9.50010719e-02,-7.01393936e-02, 1.21397023e-01, 9.99987384e-01,
  3.26508173e-04, 1.32200316e-05, 5.01243933e-03]

qacc:
[  2.36410012,  3.04679128,-16.38589874, 38.94432961, -3.75530315,
   0.25047653, -4.9781261 , 18.33849961, -1.31867775, -0.93594623,
   3.37132192, -6.37031514, -0.79043685,  0.4599468 , -4.5030861 ,
  10.41775343,  0.09186912,  1.86485013,  0.13672219,-31.69735092,
   2.6502004 ,  0.16620757]

qfrc_actuator:
[ 3.49119792e-05,-1.15035410e-05,-1.74482386e-04,-9.33641540e-05,
 -1.46848583e-06,-4.37538359e-04,-3.31284603e-04,-6.40818133e-05,
  2.42745580e-06,-1.83255715e-04,-1.53265339e-04, 3.39110273e-05,
  5.00245826e-02,-8.15629784e-04, 2.57639174e-02,-4.20840737e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006141455885154273
  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([ 0.09492753, -0.09305007,  0.06198508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38394083e-05,-2.71224779e-06,-7.53818666e-06, 6.52645023e-05,
 -2.22029506e-05,-3.90902133e-05, 9.02291161e-06, 3.84936970e-05,
 -7.77045827e-06,-5.26663595e-05,-1.25431715e-05,-1.24078035e-05,
 -3.38676587e-04,-8.38701100e-05,-2.14981846e-04,-1.22212765e-05,
 -2.67219380e-05, 6.61338897e-06,-7.84767751e+00, 7.63910428e-04,
  9.47872477e-03,-4.99157694e-06]


--- Step 421 ---
qpos:
[ 7.18082801e-03, 4.00899395e-03,-3.63222874e-03,-2.58318485e-02,
  6.07032935e-03,-2.91197201e-03,-1.78500583e-02, 1.16316165e-02,
  1.56753135e-02, 2.34211403e-03,-8.96058602e-03, 2.40330639e-02,
  8.24125635e-01,-9.75922560e-03, 5.75323848e-01, 6.30785069e-02,
  9.49991828e-02,-7.01412565e-02, 1.21396769e-01, 9.99987315e-01,
  3.39667295e-04,-1.79583845e-06, 5.02532544e-03]

qacc:
[ 4.37592529e+00, 1.13025864e+00,-7.09173970e+00, 1.96948705e+01,
 -5.40444156e+00, 4.28336624e-01,-3.74826018e+00, 1.17500837e+01,
  2.25286571e+00, 9.73395803e-01,-4.08294015e+00, 7.56160535e+00,
 -8.14394290e-01, 6.29838060e-01,-1.15262068e+01, 3.56183239e+01,
  9.24027645e-02, 1.83922432e+00,-2.48469503e-03,-3.11878513e+01,
  2.53771622e+00, 2.58744449e-01]

qfrc_actuator:
[ 6.00792244e-05, 5.03340220e-06,-1.60480235e-04,-5.50100344e-05,
 -3.26516108e-05,-4.29007903e-04,-3.19381233e-04,-3.96994644e-05,
  1.58875509e-05,-1.41126614e-04,-1.46968333e-04, 4.67190569e-05,
  4.99364698e-02,-8.29190296e-04, 2.57002097e-02,-4.05502013e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006178860872853853
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49202146e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.49202146e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949282 , -0.09304926,  0.06198499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.55584879e-05, 1.62777125e-05, 1.47845640e-05, 3.92501346e-05,
 -3.18330753e-05,-9.77368852e-06, 6.29542434e-06, 2.37740039e-05,
  1.32176496e-05, 9.60139460e-06,-6.53692518e-06, 9.87810220e-06,
 -3.31508200e-04,-7.86776910e-05,-1.63729556e-04, 1.25005697e-04,
 -1.48000920e-05, 4.90380689e-06,-7.84790170e+00, 7.88070716e-04,
  9.47318479e-03,-6.28112408e-06]


--- Step 422 ---
qpos:
[ 7.18210600e-03, 4.00902002e-03,-3.63269069e-03,-2.58317279e-02,
  6.07001501e-03,-2.91285395e-03,-1.78509642e-02, 1.16319041e-02,
  1.56759645e-02, 2.34137449e-03,-8.96140255e-03, 2.40341426e-02,
  8.25200941e-01,-9.75740336e-03, 5.76201769e-01, 6.30784723e-02,
  9.49976645e-02,-7.01358510e-02, 1.21396014e-01, 9.99987262e-01,
  2.91289373e-04,-1.22279422e-05, 5.03887612e-03]

qacc:
[ -0.45846702, -2.52884422, 11.78276681,-23.23207622,  2.7863796 ,
   1.2823055 , -3.46804542,  2.197765  ,  4.43153084,  1.01079227,
  -3.30287343,  4.9824656 , -0.56778683, -0.27500379, -2.325581  ,
   5.00550123,  0.09268503,  1.81710756, -0.12547363,-30.75661568,
   2.44658875,  0.33151895]

qfrc_actuator:
[ 5.65963360e-05, 1.49552380e-05,-1.34040323e-04,-8.59958983e-05,
 -1.52312950e-05,-3.87798791e-04,-3.29848325e-04,-4.32557470e-05,
  4.15036811e-05,-9.77056765e-05,-1.42808126e-04, 5.38996933e-05,
  4.98502533e-02,-8.55847729e-04, 2.56357725e-02,-4.05336006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006187532243179805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48572622e-14,  1.79429049e-13,  1.00000000e+00,  8.04869589e-27,
        1.00000000e+00, -1.79429049e-13, -1.00000000e+00,  0.00000000e+00,
       -4.48572622e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492869, -0.09304931,  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:
[-2.75246000e-06, 2.37754762e-05, 3.29885356e-05,-2.90137622e-05,
  1.65061838e-05, 3.81033558e-05,-1.08657563e-05,-3.28995205e-06,
  2.59907303e-05, 4.79153462e-05, 5.69916210e-06, 7.55957278e-06,
 -3.23500737e-04,-9.01843081e-05,-1.27595172e-04,-1.29461606e-05,
 -2.41039820e-06, 3.29982986e-06,-7.84799369e+00, 7.92312404e-04,
  9.46914383e-03,-6.44794348e-06]


--- Step 423 ---
qpos:
[ 7.18298757e-03, 4.00925405e-03,-3.63313867e-03,-2.58319597e-02,
  6.07025650e-03,-2.91342526e-03,-1.78517263e-02, 1.16321219e-02,
  1.56769172e-02, 2.34129779e-03,-8.96257940e-03, 2.40349359e-02,
  8.26274355e-01,-9.75583688e-03, 5.77077669e-01, 6.30778708e-02,
  9.49965173e-02,-7.01232523e-02, 1.21394324e-01, 9.99987216e-01,
  1.82096161e-04,-1.82206743e-05, 5.05320504e-03]

qacc:
[ -3.49279306, -0.48307863,  3.61700984, -9.89531185,  4.86297766,
  -0.14461797,  1.39017529, -3.04119569,  2.6328908 ,  1.29031213,
  -2.13327902, -2.70922273, -0.92158241,  0.90448313, -1.2562916 ,
   0.09392276,  0.09279896,  1.79829852, -0.23352081,-30.39606962,
   2.37299131,  0.38882262]

qfrc_actuator:
[ 3.62749661e-05, 2.08389902e-05,-1.36044456e-04,-1.04268352e-04,
  1.29070116e-05,-3.62950658e-04,-3.17806194e-04,-4.54508070e-05,
  5.63101448e-05,-5.38399929e-05,-1.57676087e-04, 3.99620164e-05,
  4.97439297e-02,-8.72272276e-04, 2.55176519e-02,-4.08788910e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000617279534790946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49643542e-14, -1.79857417e-13,  1.00000000e+00, -8.08717258e-27,
        1.00000000e+00,  1.79857417e-13, -1.00000000e+00,  0.00000000e+00,
       -4.49643542e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492904, -0.09305006,  0.06198501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03910067e-05, 2.47491573e-05, 5.96900129e-06,-1.66775982e-05,
  2.86237649e-05, 4.38178582e-05, 1.84796998e-05,-9.99721618e-07,
  1.55580882e-05, 7.22065112e-05,-3.99140908e-06,-1.15398696e-05,
 -3.40069541e-04,-7.98489451e-05,-1.82575951e-04,-5.27761139e-05,
  1.09708391e-05, 1.67970741e-06,-7.84795954e+00, 7.76914494e-04,
  9.46658008e-03,-5.50389999e-06]


--- Step 424 ---
qpos:
[ 7.18327355e-03, 4.01000591e-03,-3.63404879e-03,-2.58320701e-02,
  6.07048874e-03,-2.91383486e-03,-1.78522535e-02, 1.16319790e-02,
  1.56773504e-02, 2.34177559e-03,-8.96391916e-03, 2.40355561e-02,
  8.27345783e-01,-9.75468906e-03, 5.77951218e-01, 6.30798130e-02,
  9.49957413e-02,-7.01035234e-02, 1.21391322e-01, 9.99987155e-01,
  1.26818053e-05,-1.98901545e-05, 5.06840163e-03]

qacc:
[ -5.26606277,  2.23674415, -7.47393928,  9.90648713, -0.07662264,
  -1.1846997 ,  6.05785185,-12.79630368, -4.58727198,  0.84090076,
  -1.18867178, -1.97118824, -0.74659884,  0.15172766,-11.13360812,
  33.94034985,  0.092806  ,  1.78256543, -0.3279977 ,-30.09925516,
   2.31383211,  0.43401962]

qfrc_actuator:
[ 6.21473690e-06, 5.96561189e-05,-1.54828755e-04,-9.71750278e-05,
  1.16072701e-05,-3.65752255e-04,-3.10362325e-04,-6.45656254e-05,
  2.91265741e-05,-2.78876023e-05,-1.65909946e-04, 3.14533566e-05,
  4.96256173e-02,-9.00352769e-04, 2.54313338e-02,-3.94825214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006139285041329434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52097849e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.52097849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -0.09305136,  0.06198509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06305222e-05, 5.31628013e-05,-1.35114978e-05, 8.03648765e-06,
 -4.67364791e-07, 2.55145160e-05, 1.87503438e-05,-1.66158886e-05,
 -2.67170016e-05, 6.50349379e-05, 5.80374089e-06,-5.77642939e-06,
 -3.61769709e-04,-9.33123341e-05,-1.77872247e-04, 1.12713360e-04,
  2.57213205e-05, 3.66382968e-08,-7.84780399e+00, 7.42109800e-04,
  9.46547285e-03,-3.45925602e-06]


--- Step 425 ---
qpos:
[ 7.18319698e-03, 4.01098243e-03,-3.63479063e-03,-2.58324463e-02,
  6.07035879e-03,-2.91384625e-03,-1.78527958e-02, 1.16319405e-02,
  1.56774546e-02, 2.34258866e-03,-8.96500529e-03, 2.40364140e-02,
  8.28415174e-01,-9.75412450e-03, 5.78823157e-01, 6.30845735e-02,
  9.49953364e-02,-7.00767158e-02, 1.21386679e-01, 9.99987050e-01,
 -2.16474543e-04,-1.73291621e-05, 5.08453637e-03]

qacc:
[ -3.1899895 , -0.71464079,  4.10845964, -9.14674396, -3.17655485,
   0.78926362, -2.4810963 ,  4.0088237 , -2.89167643,  0.22940817,
  -1.16922662,  4.62178736, -0.60825652, -0.46619715,-10.8740896 ,
  34.61023133,  0.09275136,  1.7696662 , -0.41028578,-29.85988237,
   2.26661283,  0.4697463 ]

qfrc_actuator:
[-1.15784411e-05, 6.45823198e-05,-1.47705370e-04,-1.10700333e-04,
 -7.01254677e-06,-3.31861146e-04,-3.05826063e-04,-5.80082955e-05,
  1.29549423e-05,-1.28399866e-05,-1.52463968e-04, 4.39565475e-05,
  4.95108400e-02,-9.35161635e-04, 2.53908284e-02,-3.79576257e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006091008018418026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36704346e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.36704346e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09492942, -0.09305309,  0.0619852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86458078e-05, 3.21800589e-05, 1.67207567e-05,-1.15579853e-05,
 -1.86243304e-05, 5.13408517e-05, 1.15524307e-05, 7.97853496e-06,
 -1.69077051e-05, 5.23559004e-05, 2.74050730e-05, 1.53803521e-05,
 -3.75121227e-04,-1.05339523e-04,-1.10912796e-04, 1.35526093e-04,
  4.21160115e-05,-1.53485288e-06,-7.84753067e+00, 6.88089686e-04,
  9.46580323e-03,-3.22716084e-07]


--- Step 426 ---
qpos:
[ 7.18256279e-03, 4.01180444e-03,-3.63525406e-03,-2.58329401e-02,
  6.07035162e-03,-2.91363395e-03,-1.78526776e-02, 1.16323012e-02,
  1.56777091e-02, 2.34355445e-03,-8.96524120e-03, 2.40370516e-02,
  8.29482387e-01,-9.75333170e-03, 5.79694283e-01, 6.30841138e-02,
  9.49907033e-02,-7.00561106e-02, 1.21383675e-01, 9.99986904e-01,
 -3.93323844e-04,-5.37764363e-05, 5.10245328e-03]

qacc:
[ -4.8971411 , -1.21506613,  4.54663211, -6.92496063,  1.09153713,
  -0.72991789,  1.34288134,  4.34869453,  1.34574219, -2.63081411,
  10.59911435,-15.87990723, -1.73278164,  3.52875751, 14.59437982,
 -52.72182929, -1.05703698, -1.55060545,  0.40969434, 26.05402647,
 -19.63705261,  0.88650672]

qfrc_actuator:
[-3.97588266e-05, 3.15073714e-05,-1.43235573e-04,-1.18505547e-04,
 -1.62512411e-07,-3.11760838e-04,-2.67373114e-04,-3.63685479e-05,
  2.11602153e-05,-4.33781618e-06,-1.08608848e-04, 3.32199817e-05,
  4.94089113e-02,-9.20417556e-04, 2.53032675e-02,-4.08066921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006186139748428632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34602079e-13, -8.97347190e-14,  1.00000000e+00, -1.20784797e-26,
        1.00000000e+00,  8.97347190e-14, -1.00000000e+00,  0.00000000e+00,
       -1.34602079e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894371, -0.05174985,  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:
[-2.87011843e-05,-1.21535436e-05, 1.27745687e-05,-6.07279195e-06,
  6.33504889e-06, 5.15382809e-05, 5.07639792e-05, 2.43968461e-05,
  7.74307552e-06, 4.40757220e-05, 5.85797499e-05,-7.24589317e-06,
 -3.73098240e-04,-5.95547603e-05,-1.28057063e-04,-2.92786468e-04,
  6.03584665e-05,-2.84811178e-06,-7.84714224e+00, 6.15008306e-04,
  9.46755441e-03, 3.89850479e-06]


--- Step 427 ---
qpos:
[ 7.18194060e-03, 4.01249625e-03,-3.63588480e-03,-2.58338402e-02,
  6.07042656e-03,-2.91331468e-03,-1.78520179e-02, 1.16332867e-02,
  1.56773699e-02, 2.34472645e-03,-8.96489665e-03, 2.40372220e-02,
  8.30547446e-01,-9.75177344e-03, 5.80563502e-01, 6.30813016e-02,
  9.49818937e-02,-7.00416013e-02, 1.21381615e-01, 9.99986738e-01,
 -5.18962362e-04,-1.28273597e-04, 5.12227867e-03]

qacc:
[  0.10246898, -0.54141367,  3.39209651,-10.05220121,  0.73398091,
  -0.08696572, -2.12543144, 11.9982844 , -5.20973387, -2.30133033,
  10.59096056,-19.77456733, -2.22591466,  5.55083348,  4.34986131,
 -19.1699057 , -1.04413544, -1.52399092,  0.23610779, 25.5080306 ,
 -19.15572034,  0.94541576]

qfrc_actuator:
[-3.83261700e-05, 1.14263091e-05,-1.58288002e-04,-1.40673273e-04,
  3.87670604e-06,-3.17672434e-04,-2.44744867e-04,-6.01582005e-06,
 -9.61378616e-06, 2.85542748e-07,-8.27115432e-05, 8.90262925e-06,
  4.93201036e-02,-8.76519906e-04, 2.52087628e-02,-4.19503936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000627089861876387
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95870750e-14,  1.38315382e-13,  1.00000000e+00,  1.37744243e-26,
        1.00000000e+00, -1.38315382e-13, -1.00000000e+00,  0.00000000e+00,
       -9.95870750e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894154, -0.05175163,  0.06198477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.10951298e-07,-2.45300785e-05,-1.62007877e-05,-2.23628535e-05,
  4.23513456e-06, 3.44313991e-05, 4.03663049e-05, 3.47908570e-05,
 -3.05377513e-05, 4.10306236e-05, 4.19563976e-05,-2.05459203e-05,
 -3.51076437e-04,-2.52687469e-05,-1.91929148e-04,-1.48636824e-04,
  5.34609652e-05, 3.03917111e-06,-7.84746670e+00, 5.58070632e-04,
  9.45615692e-03, 7.72916400e-06]


--- Step 428 ---
qpos:
[ 7.18203016e-03, 4.01283981e-03,-3.63605942e-03,-2.58346684e-02,
  6.06985961e-03,-2.91284029e-03,-1.78513404e-02, 1.16350043e-02,
  1.56766647e-02, 2.34612550e-03,-8.96452528e-03, 2.40378266e-02,
  8.31610572e-01,-9.74974923e-03, 5.81430023e-01, 6.30807882e-02,
  9.49689534e-02,-7.00330940e-02, 1.21379882e-01, 9.99986564e-01,
 -5.94330456e-04,-2.40020427e-04, 5.14409630e-03]

qacc:
[  6.28550681, -1.59968112,  4.71034782, -3.91416464, -5.61850996,
   1.67294366, -8.74014536, 21.24926708, -3.22313667,  1.12518919,
  -5.39870563, 12.69078806, -1.66337587,  3.78543175,-10.87167023,
  32.35919041, -1.03266747, -1.50047911,  0.0815108 , 25.03960245,
 -18.75385482,  0.98324197]

qfrc_actuator:
[-1.71964604e-06,-8.20940485e-07,-1.31461513e-04,-1.35617439e-04,
 -2.92842631e-05,-3.21411267e-04,-2.49509378e-04, 2.91793493e-05,
 -2.75862986e-05, 2.46703270e-06,-8.54118842e-05, 3.00296048e-05,
  4.92392448e-02,-8.51263900e-04, 2.51048937e-02,-4.06584601e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006316570196848031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.26330077e-13,  9.33744047e-14,  1.00000000e+00,  1.17959957e-26,
        1.00000000e+00, -9.33744047e-14, -1.00000000e+00,  0.00000000e+00,
       -1.26330077e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10894022, -0.05175247,  0.06198466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.66155291e-05,-3.02815147e-05, 1.89931711e-05, 3.01152596e-06,
 -3.30310313e-05, 2.53234293e-05, 8.51001594e-06, 3.87399866e-05,
 -1.88225257e-05, 3.28537076e-05, 1.02148025e-05, 2.39346473e-05,
 -3.22345868e-04,-3.65189043e-05,-2.10527417e-04, 9.57053380e-05,
  4.66487959e-05, 1.45115954e-05,-7.84765069e+00, 5.17220873e-04,
  9.43228688e-03, 1.02719506e-05]


--- Step 429 ---
qpos:
[ 7.18186774e-03, 4.01286500e-03,-3.63564182e-03,-2.58350982e-02,
  6.06889978e-03,-2.91232355e-03,-1.78508754e-02, 1.16364709e-02,
  1.56764394e-02, 2.34775063e-03,-8.96444238e-03, 2.40387019e-02,
  8.32671926e-01,-9.74774876e-03, 5.82294752e-01, 6.30806586e-02,
  9.49608470e-02,-7.00272768e-02, 1.21380048e-01, 9.99986418e-01,
 -6.45602394e-04,-3.10072747e-04, 5.16238634e-03]

qacc:
[-2.19362977,-1.25144969, 2.17880193, 3.99265926,-3.44544971, 0.13967346,
  0.65447828,-4.70245071, 4.21008088, 1.65440754,-6.62310474,11.62058263,
 -1.08377493, 1.70800021,-3.77674671, 9.42761145, 1.20849651,-0.6725179 ,
  0.47487787,12.15474177,20.7860503 ,-1.75435106]

qfrc_actuator:
[-1.57238628e-05,-8.09775952e-06,-9.78168077e-05,-1.14543148e-04,
 -4.85689346e-05,-3.41690032e-04,-2.70402392e-04, 1.36648869e-05,
 -2.36290123e-06, 3.08007588e-06,-1.04949365e-04, 4.22034905e-05,
  4.91525613e-02,-8.54952182e-04, 2.50381521e-02,-4.04276187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006343954667164808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.75024400e-14, -6.56268300e-14,  1.00000000e+00, -5.74250775e-27,
        1.00000000e+00,  6.56268300e-14, -1.00000000e+00,  0.00000000e+00,
       -8.75024400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190007, -0.06195581,  0.06198459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29764740e-05,-2.01543134e-05, 2.98318608e-05, 2.04932529e-05,
 -2.02214998e-05,-2.74084608e-06,-1.32895300e-05,-1.33859413e-05,
  2.47036242e-05, 2.20556049e-05,-1.06867494e-05, 1.43964055e-05,
 -3.10439700e-04,-6.17163579e-05,-1.52419109e-04, 1.35961505e-06,
  3.94446720e-05, 3.15947705e-05,-7.84770307e+00, 4.92159488e-04,
  9.39619226e-03, 1.15632960e-05]


--- Step 430 ---
qpos:
[ 7.18119399e-03, 4.01281124e-03,-3.63514892e-03,-2.58356125e-02,
  6.06806119e-03,-2.91205342e-03,-1.78510754e-02, 1.16378103e-02,
  1.56765184e-02, 2.34926231e-03,-8.96416050e-03, 2.40397268e-02,
  8.33731569e-01,-9.74608828e-03, 5.83158104e-01, 6.30813374e-02,
  9.49575093e-02,-7.00241240e-02, 1.21381534e-01, 9.99986313e-01,
 -6.73377441e-04,-3.39154197e-04, 5.17737334e-03]

qacc:
[-4.49733046,-0.4803217 , 1.93249625,-3.47294898, 1.04421399, 1.26811579,
 -4.4612343 , 3.50833795, 2.68516182,-0.40368094, 0.58177394, 1.77970674,
 -0.70377888, 0.32347284,-4.46079817,12.67875411, 1.19214631,-0.66613079,
  0.33019141,11.85354068,20.42557964,-1.64201656]

qfrc_actuator:
[-4.16628711e-05,-1.22829022e-05,-9.59049922e-05,-1.19718412e-04,
 -4.17674481e-05,-3.89594659e-04,-3.18501990e-04, 3.92014796e-06,
  1.25733195e-05,-1.50904281e-05,-9.87793004e-05, 4.89951656e-05,
  4.90624382e-02,-8.75703728e-04, 2.49990284e-02,-3.99358459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006369107814564318
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.30735307e-13, -4.35784358e-14,  1.00000000e+00, -5.69724021e-27,
        1.00000000e+00,  4.35784358e-14, -1.00000000e+00,  0.00000000e+00,
       -1.30735307e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08190045, -0.06195676,  0.06198453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63170782e-05,-8.42516339e-06, 2.12837347e-06,-4.60668368e-06,
  6.22388820e-06,-5.27904195e-05,-5.07800412e-05,-1.05872422e-05,
  1.56509964e-05,-7.48128447e-06, 9.88464266e-06, 7.64041349e-06,
 -3.09958853e-04,-7.94704555e-05,-1.12026355e-04, 2.88601437e-05,
  2.03555554e-05, 1.74134364e-05,-7.84787660e+00, 4.76568491e-04,
  9.37332751e-03, 1.21011023e-05]


--- Step 431 ---
qpos:
[ 7.18021434e-03, 4.01280076e-03,-3.63438783e-03,-2.58365593e-02,
  6.06731045e-03,-2.91209608e-03,-1.78515372e-02, 1.16386585e-02,
  1.56760861e-02, 2.35059676e-03,-8.96343105e-03, 2.40401253e-02,
  8.34789418e-01,-9.74462659e-03, 5.84020099e-01, 6.30815804e-02,
  9.49588838e-02,-7.00236129e-02, 1.21383833e-01, 9.99986252e-01,
 -6.78150146e-04,-3.27873523e-04, 5.18923825e-03]

qacc:
[ -2.68511847, -1.57788285,  7.53815715,-15.47968931,  0.76556117,
  -0.69438704,  3.94753138,-11.79787367, -4.48157005, -2.76563345,
  12.18034032,-23.61970988, -0.93356132,  1.06544999, -0.66937566,
  -0.5294571 ,  1.17806845, -0.66038507,  0.20304574, 11.60498418,
  20.12229823, -1.55145193]

qfrc_actuator:
[-5.66499727e-05, 3.02750966e-06,-7.72476057e-05,-1.40319694e-04,
 -3.74238656e-05,-4.00544897e-04,-3.29130049e-04,-2.01387436e-05,
 -1.41842918e-05,-2.65293338e-05,-7.75567661e-05, 1.70653338e-05,
  4.89649837e-02,-8.88614848e-04, 2.49285705e-02,-4.01809268e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006366429942701451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74387064e-13,  1.08991915e-13,  1.00000000e+00,  1.90067800e-26,
        1.00000000e+00, -1.08991915e-13, -1.00000000e+00,  0.00000000e+00,
       -1.74387064e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0819003 , -0.06195726,  0.06198454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57376238e-05, 1.08317235e-05, 1.70177603e-05,-2.09767266e-05,
  4.50546912e-06,-5.14210030e-05,-2.81578498e-05,-2.82876877e-05,
 -2.63110092e-05,-1.33078610e-05, 2.11352300e-05,-3.17666468e-05,
 -3.19822616e-04,-7.35459605e-05,-1.23671373e-04,-3.85529989e-05,
  7.80009596e-06, 6.31825144e-06,-7.84797332e+00, 4.68310561e-04,
  9.36365129e-03, 1.23893937e-05]


--- Step 432 ---
qpos:
[ 7.17940735e-03, 4.01291289e-03,-3.63342910e-03,-2.58380966e-02,
  6.06627296e-03,-2.91277854e-03,-1.78517121e-02, 1.16388703e-02,
  1.56753366e-02, 2.35204398e-03,-8.96282060e-03, 2.40397949e-02,
  8.35845427e-01,-9.74328097e-03, 5.84881007e-01, 6.30817490e-02,
  9.49649230e-02,-7.00257231e-02, 1.21386500e-01, 9.99986233e-01,
 -6.60326008e-04,-2.76737108e-04, 5.19812719e-03]

qacc:
[  1.52361181, -1.60960238,  8.45529403,-19.06032184, -2.48976615,
  -2.95164306, 11.99371688,-23.00703231, -2.79775414, -1.0137936 ,
   6.91872934,-19.43972769, -1.04998331,  1.45016835, -1.35695753,
   2.46714241,  1.16614822, -0.65535156,  0.09200811, 11.40120285,
  19.86998257, -1.47826599]

qfrc_actuator:
[-4.73142077e-05, 1.21919875e-05,-6.65185286e-05,-1.69794929e-04,
 -5.23227608e-05,-4.42415557e-04,-3.17412453e-04,-5.23712829e-05,
 -2.97592362e-05,-1.60674917e-05,-8.31362084e-05,-1.96289084e-05,
  4.88685254e-02,-8.96826929e-04, 2.48979436e-02,-4.01488058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006341261041310498
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.75396090e-14, -4.37698045e-14,  1.00000000e+00, -3.83159157e-27,
        1.00000000e+00,  4.37698045e-14, -1.00000000e+00,  0.00000000e+00,
       -8.75396090e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818997 , -0.06195738,  0.0619846 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.89219640e-06, 1.78293592e-05, 1.43313432e-05,-2.88298999e-05,
 -1.47858027e-05,-7.76465428e-05,-3.34720096e-06,-3.59618378e-05,
 -1.63215787e-05, 5.95615180e-06,-6.84869104e-06,-3.71559460e-05,
 -3.24563518e-04,-6.99991554e-05,-9.64753025e-05,-1.60328216e-05,
  1.18579608e-06,-2.12620324e-06,-7.84799750e+00, 4.67255091e-04,
  9.36695020e-03, 1.24278274e-05]


--- Step 433 ---
qpos:
[ 7.17871838e-03, 4.01318925e-03,-3.63268372e-03,-2.58392612e-02,
  6.06472020e-03,-2.91421663e-03,-1.78517336e-02, 1.16397546e-02,
  1.56750963e-02, 2.35323682e-03,-8.96217492e-03, 2.40397548e-02,
  8.36899579e-01,-9.74200527e-03, 5.85740173e-01, 6.30826831e-02,
  9.49755871e-02,-7.00304375e-02, 1.21389149e-01, 9.99986249e-01,
 -6.20234542e-04,-1.86160104e-04, 5.20415847e-03]

qacc:
[ 1.02949691e+00, 1.57895951e+00,-6.88696964e+00, 1.35495769e+01,
 -4.49065558e+00,-3.41376602e-02,-4.15162151e+00, 1.60857282e+01,
  4.48692625e+00, 1.54194431e-01,-2.27848605e+00, 7.45005674e+00,
 -1.08531739e+00, 1.58804048e+00,-4.85431929e+00, 1.33057491e+01,
  1.15624875e+00,-6.51059724e-01,-4.42188300e-03, 1.12356353e+01,
  1.96630966e+01,-1.41895379e+00]

qfrc_actuator:
[-4.14935458e-05, 1.75722541e-05,-7.83357834e-05,-1.51005550e-04,
 -7.84276760e-05,-4.84633729e-04,-3.10484103e-04,-1.81558017e-05,
 -3.10879307e-06,-4.59421943e-05,-8.66566475e-05,-5.57059193e-06,
  4.87727334e-02,-9.02222782e-04, 2.48060271e-02,-3.97747093e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006298239626536528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.32206349e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.32206349e-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([ 0.08189876, -0.06195721,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.07902950e-06, 1.70696772e-05,-7.37579493e-06, 1.94880431e-05,
 -2.65528135e-05,-8.78488590e-05,-1.07562190e-05, 3.00746781e-05,
  2.61957832e-05,-2.96178487e-05,-4.44275489e-06, 1.33501543e-05,
 -3.26336276e-04,-6.77668062e-05,-1.44090113e-04, 2.26082136e-05,
  9.15583237e-08,-8.25876657e-06,-7.84795242e+00, 4.73292912e-04,
  9.38304832e-03, 1.22165719e-05]


--- Step 434 ---
qpos:
[ 7.17810462e-03, 4.01356080e-03,-3.63207794e-03,-2.58398426e-02,
  6.06355582e-03,-2.91577999e-03,-1.78519184e-02, 1.16406369e-02,
  1.56751774e-02, 2.35402266e-03,-8.96144194e-03, 2.40392091e-02,
  8.37951834e-01,-9.74075211e-03, 5.86596904e-01, 6.30831868e-02,
  9.49822236e-02,-7.00409754e-02, 1.21390970e-01, 9.99986266e-01,
 -5.31387470e-04,-1.31513685e-04, 5.21232547e-03]

qacc:
[  0.65635576,  1.71622132, -8.39496061, 18.63084618,  3.39544086,
   0.28015917, -1.24227493,  1.57358875,  2.8370686 , -1.8282032 ,
   7.86296916,-16.44188001, -1.17327523,  1.85695282, -2.26878057,
   2.77167909, -1.00689469, -1.4558544 , -0.20722976, 24.28417246,
 -18.09257279,  1.05215944]

qfrc_actuator:
[-3.77963708e-05, 2.05913377e-05,-8.55962871e-05,-1.21737025e-04,
 -5.76551083e-05,-4.55678118e-04,-3.06410582e-04,-1.61363656e-05,
  1.26720323e-05,-8.19441564e-05,-8.90483219e-05,-3.27989771e-05,
  4.86720833e-02,-9.05928619e-04, 2.46561318e-02,-4.00911590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006262036860713444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.54044479e-15, -4.98640031e-14,  1.00000000e+00, -2.76268757e-28,
        1.00000000e+00,  4.98640031e-14, -1.00000000e+00,  0.00000000e+00,
       -5.54044479e-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([ 0.10893871, -0.05174979,  0.06198479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87386740e-06, 1.18636050e-05,-3.97799042e-06, 3.01239696e-05,
  1.99824723e-05,-2.10608109e-05,-1.43397635e-05,-1.52935505e-06,
  1.65187773e-05,-5.29523304e-05,-8.61766438e-06,-2.83966988e-05,
 -3.32138383e-04,-6.61657453e-05,-2.16978754e-04,-4.97914189e-05,
  4.23355739e-06,-1.23499649e-05,-7.84784062e+00, 4.86333835e-04,
  9.41180238e-03, 1.17561525e-05]


--- Step 435 ---
qpos:
[ 7.17753995e-03, 4.01408803e-03,-3.63184653e-03,-2.58404053e-02,
  6.06333886e-03,-2.91735733e-03,-1.78518550e-02, 1.16411473e-02,
  1.56754470e-02, 2.35471995e-03,-8.96087734e-03, 2.40383184e-02,
  8.39002250e-01,-9.73954818e-03, 5.87451158e-01, 6.30842501e-02,
  9.49848690e-02,-7.00572867e-02, 1.21391568e-01, 9.99986277e-01,
 -3.94321682e-04,-1.12280943e-04, 5.22272661e-03]

qacc:
[  0.41761428,  1.28980129, -4.3786637 ,  5.18209323,  8.29827772,
  -1.49359408,  6.8414936 ,-13.63595319,  1.65536195, -0.36000886,
   2.56515672, -8.19675815, -1.08922361,  1.63228454, -5.31837039,
  13.35120305, -0.99779407, -1.44335796, -0.30546722, 24.01687945,
 -17.83285566,  1.10448475]

qfrc_actuator:
[-3.53776926e-05, 2.21970480e-05,-1.07863768e-04,-1.22046021e-04,
 -9.45356883e-06,-4.37604249e-04,-2.86041871e-04,-3.30290580e-05,
  2.19153058e-05,-6.81102098e-05,-9.08288999e-05,-4.86144278e-05,
  4.85845660e-02,-9.08639862e-04, 2.45514612e-02,-3.97478826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006226692146846929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.01470473e-14,  5.57189415e-15,  1.00000000e+00,  2.79414039e-28,
        1.00000000e+00, -5.57189415e-15, -1.00000000e+00,  0.00000000e+00,
       -5.01470473e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893905, -0.05174878,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53007008e-06, 8.69211497e-06,-1.92746240e-05, 6.47048238e-07,
  4.87657380e-05, 3.33333147e-06, 1.42169253e-05,-1.83200347e-05,
  9.69876212e-06,-1.88041463e-05,-1.47797810e-05,-1.89383560e-05,
 -3.22982770e-04,-6.59728830e-05,-2.09887212e-04, 3.57524885e-06,
 -8.54644685e-06,-1.23342974e-05,-7.84782371e+00, 5.14736450e-04,
  9.42856948e-03, 1.01842084e-05]


--- Step 436 ---
qpos:
[ 7.17666373e-03, 4.01475955e-03,-3.63217455e-03,-2.58409525e-02,
  6.06301166e-03,-2.91902330e-03,-1.78510078e-02, 1.16421135e-02,
  1.56758255e-02, 2.35530337e-03,-8.96066219e-03, 2.40376058e-02,
  8.40050775e-01,-9.73804653e-03, 5.88303624e-01, 6.30861958e-02,
  9.49835542e-02,-7.00793305e-02, 1.21390603e-01, 9.99986265e-01,
 -2.09470909e-04,-1.28038789e-04, 5.23544341e-03]

qacc:
[ -2.76257608,  1.79194001, -6.16657576,  7.20790636, -0.93826204,
  -1.36633832,  2.78081728,  3.91694051,  0.94962799,  1.19111913,
  -5.22088788,  8.9504859 , -1.49949283,  3.12567023, -5.25931582,
  14.66051157, -0.99005768, -1.43311612, -0.39082975, 23.80091632,
 -17.62029612,  1.14830185]

qfrc_actuator:
[-5.14827034e-05, 2.28561744e-05,-1.38844830e-04,-1.22017476e-04,
 -1.65195770e-05,-4.26120601e-04,-2.38489707e-04,-7.64040766e-06,
  2.72402773e-05,-7.77882595e-05,-1.09774683e-04,-3.97877544e-05,
  4.84943400e-02,-8.92966007e-04, 2.45006458e-02,-3.91944748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006175803245201117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.30314885e-14, -5.05602613e-14,  1.00000000e+00, -3.69249114e-27,
        1.00000000e+00,  5.05602613e-14, -1.00000000e+00,  0.00000000e+00,
       -7.30314885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893973, -0.0517474 ,  0.061985  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60311630e-05, 1.54855101e-06,-3.15442426e-05,-2.53870175e-07,
 -5.67140102e-06, 1.55716027e-05, 4.93726870e-05, 2.56671312e-05,
  5.59795388e-06,-2.40836388e-05,-2.53186732e-05, 7.13968450e-06,
 -3.19344538e-04,-4.60550513e-05,-1.46895006e-04, 2.84585030e-05,
 -2.25713872e-05,-6.89133106e-06,-7.84768979e+00, 5.58276635e-04,
  9.43367299e-03, 7.42994707e-06]


--- Step 437 ---
qpos:
[ 7.17594649e-03, 4.01515320e-03,-3.63217549e-03,-2.58411568e-02,
  6.06260254e-03,-2.92040234e-03,-1.78500191e-02, 1.16437172e-02,
  1.56762651e-02, 2.35577796e-03,-8.96065921e-03, 2.40363038e-02,
  8.41097385e-01,-9.73630459e-03, 5.89155115e-01, 6.30856533e-02,
  9.49868702e-02,-7.01040070e-02, 1.21389864e-01, 9.99986238e-01,
 -1.84922688e-06,-1.03531647e-04, 5.24521492e-03]

qacc:
[  1.41474277, -0.57821759,  0.07887204,  5.53683114, -0.71687925,
   1.29676687, -6.76285014, 17.35628189,  0.53141806, -0.76555918,
   5.00838332,-14.79054518, -1.53138039,  3.12413794,  6.10956972,
 -23.3820313 ,  1.15773019, -0.65818396,  0.05645677, 11.49051135,
  20.07291765, -1.46983113]

qfrc_actuator:
[-4.28556574e-05, 5.14384091e-06,-1.21461343e-04,-1.04038131e-04,
 -2.05621616e-05,-4.00758209e-04,-2.28520128e-04, 2.46854306e-05,
  3.02184764e-05,-8.37601280e-05,-1.21018548e-04,-6.98189102e-05,
  4.83919080e-02,-8.84340990e-04, 2.44555416e-02,-4.04732438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006143944318227901
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51754999e-14,  9.03509999e-14,  1.00000000e+00,  4.08165159e-27,
        1.00000000e+00, -9.03509999e-14, -1.00000000e+00,  0.00000000e+00,
       -4.51754999e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189616, -0.06195679,  0.06198508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.17187088e-06,-2.33945129e-05, 1.38085686e-05, 1.69507750e-05,
 -4.20224600e-06, 4.54142128e-05, 2.01638849e-05, 3.52011038e-05,
  3.13148863e-06,-2.43824606e-05,-1.90977658e-05,-3.18007055e-05,
 -3.25296818e-04,-5.05323197e-05,-1.12653512e-04,-1.46017164e-04,
 -3.81081151e-05, 3.87992792e-06,-7.84744249e+00, 6.16811813e-04,
  9.42724131e-03, 3.50945772e-06]


--- Step 438 ---
qpos:
[ 7.17533803e-03, 4.01525529e-03,-3.63165440e-03,-2.58411562e-02,
  6.06249286e-03,-2.92130864e-03,-1.78489856e-02, 1.16456782e-02,
  1.56774268e-02, 2.35619957e-03,-8.96058842e-03, 2.40349705e-02,
  8.42142090e-01,-9.73442185e-03, 5.90005110e-01, 6.30845685e-02,
  9.49947859e-02,-7.01313121e-02, 1.21389001e-01, 9.99986181e-01,
  2.28294017e-04,-3.92401610e-05, 5.25206991e-03]

qacc:
[ 0.97912858,-1.42457359, 3.65206502,-0.72206492, 2.61372908, 1.23032179,
 -4.99859249,10.77590499, 6.35817099,-0.3362154 , 1.2074598 ,-1.79372306,
 -1.37256255, 2.5774507 ,-0.53588886,-1.2560635 , 1.14989555,-0.657145  ,
 -0.03108126,11.36481402,19.83283457,-1.45928804]

qfrc_actuator:
[-3.74879253e-05,-5.47430281e-06,-9.34744904e-05,-9.33745358e-05,
 -5.02228619e-06,-3.67408692e-04,-2.23018864e-04, 4.30570071e-05,
  6.72982562e-05,-6.97151625e-05,-1.09886127e-04,-6.92104389e-05,
  4.82928743e-02,-8.80006926e-04, 2.43925523e-02,-4.06908275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006110566402536821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81689053e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.81689053e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818957 , -0.06195674,  0.06198516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.58919742e-06,-2.01310282e-05, 2.54381354e-05, 1.04689844e-05,
  1.54333843e-05, 6.44516139e-05, 1.85848422e-05, 2.16979027e-05,
  3.71635859e-05,-4.90940479e-06, 2.64087272e-06,-1.71432673e-06,
 -3.26675264e-04,-5.64400842e-05,-1.36909192e-04,-4.58427317e-05,
 -3.20089530e-05,-1.17594585e-05,-7.84729107e+00, 6.83599123e-04,
  9.43487343e-03, 8.32217024e-08]


--- Step 439 ---
qpos:
[ 7.17410880e-03, 4.01510041e-03,-3.63105350e-03,-2.58410014e-02,
  6.06222544e-03,-2.92182176e-03,-1.78480901e-02, 1.16471766e-02,
  1.56786789e-02, 2.35669228e-03,-8.96077616e-03, 2.40343516e-02,
  8.43184845e-01,-9.73214487e-03, 5.90853764e-01, 6.30798716e-02,
  9.50030867e-02,-7.01510102e-02, 1.21389529e-01, 9.99986090e-01,
  3.93491551e-04, 2.97960613e-05, 5.25973706e-03]

qacc:
[ -5.45737458, -0.2346644 , -0.28705911,  2.99336477, -1.39164668,
  -0.04519797,  2.873772  ,-10.95750387,  0.78643131,  2.28571968,
 -11.03248813, 23.7602201 , -1.73629857,  3.83058814,  8.96770785,
 -34.15482743,  0.09629649,  1.90174755,  0.34799494,-32.45992751,
   2.54297675,  0.406892  ]

qfrc_actuator:
[-6.95944334e-05,-2.94637200e-05,-9.49566620e-05,-8.70995969e-05,
 -1.35867795e-05,-3.65072735e-04,-2.37910899e-04, 1.75757999e-05,
  7.08954862e-05,-6.14250396e-05,-1.21028309e-04,-3.27880633e-05,
  4.81959475e-02,-8.60491436e-04, 2.43082623e-02,-4.25890484e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006213935511352325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.93333237e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.93333237e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493925, -0.09305186,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19571066e-05,-2.95501993e-05,-2.15203498e-06, 6.49527790e-06,
 -8.10271517e-06, 4.31672694e-05, 1.45425990e-06,-2.16593631e-05,
  4.65246939e-06, 6.02032760e-06,-1.18934218e-05, 3.62705564e-05,
 -3.26516565e-04,-4.21919567e-05,-1.56420276e-04,-2.11022470e-04,
 -2.05168830e-05,-2.53925674e-05,-7.84707282e+00, 7.57461053e-04,
  9.45526853e-03,-3.59896180e-06]


--- Step 440 ---
qpos:
[ 7.17284934e-03, 4.01477487e-03,-3.63076649e-03,-2.58407559e-02,
  6.06185769e-03,-2.92201120e-03,-1.78476018e-02, 1.16480411e-02,
  1.56792748e-02, 2.35739863e-03,-8.96172675e-03, 2.40341907e-02,
  8.44225635e-01,-9.72958304e-03, 5.91700667e-01, 6.30696325e-02,
  9.50117755e-02,-7.01632273e-02, 1.21390779e-01, 9.99985995e-01,
  4.95027360e-04, 1.03435384e-04, 5.26826711e-03]

qacc:
[ -0.27294978,  0.8394061 , -3.70065306,  5.89380103, -0.89657144,
   0.26285888,  2.3624561 ,-12.92245286, -5.80213301,  3.36867126,
 -13.51553524, 22.48278401, -1.66024113,  3.48048179, 14.18478203,
 -53.29751019,  0.09699162,  1.87024055,  0.18022761,-31.81832639,
   2.46910985,  0.42960711]

qfrc_actuator:
[-7.02415438e-05,-4.36412393e-05,-1.13886839e-04,-8.34890283e-05,
 -1.85238605e-05,-3.63701817e-04,-2.64874282e-04,-1.57872255e-05,
  3.69934841e-05,-5.66907009e-05,-1.62988661e-04,-1.11157016e-05,
  4.80897060e-02,-8.49929478e-04, 2.41952545e-02,-4.54627828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006284654071391643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41640467e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.41640467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09493971, -0.09305001,  0.06198474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56540157e-06,-3.08772074e-05,-2.50768421e-05, 2.39749529e-06,
 -5.15267249e-06, 2.48840973e-05,-1.86250671e-05,-3.18884204e-05,
 -3.37675006e-05, 7.18986211e-06,-4.09277773e-05, 2.22254630e-05,
 -3.33407472e-04,-4.96068159e-05,-2.12337567e-04,-3.20245389e-04,
 -1.49986974e-05,-2.18557738e-05,-7.84747983e+00, 8.10303615e-04,
  9.47772254e-03,-6.77665275e-06]


--- Step 441 ---
qpos:
[ 7.17228121e-03, 4.01466092e-03,-3.63062403e-03,-2.58405302e-02,
  6.06143367e-03,-2.92204097e-03,-1.78473908e-02, 1.16485117e-02,
  1.56794600e-02, 2.35805602e-03,-8.96307127e-03, 2.40339542e-02,
  8.45264567e-01,-9.72719467e-03, 5.92545205e-01, 6.30618706e-02,
  9.50208548e-02,-7.01680737e-02, 1.21392154e-01, 9.99985914e-01,
  5.33999289e-04, 1.81565460e-04, 5.27769138e-03]

qacc:
[ 6.07721501e+00, 6.30954444e-01,-1.78015379e+00, 1.53263500e+00,
 -5.04048044e-01, 1.75686529e-01, 1.34470755e+00,-7.83902892e+00,
 -3.62568592e+00, 8.87750414e-01,-2.92779860e+00, 2.27203039e+00,
 -9.35565165e-01, 1.04407706e+00,-1.09444151e+01, 3.32689784e+01,
  9.76144373e-02, 1.84269206e+00, 3.14798936e-02,-3.12697226e+01,
  2.41036748e+00, 4.42713352e-01]

qfrc_actuator:
[-3.46026296e-05, 1.34276663e-06,-1.07418787e-04,-8.14754028e-05,
 -2.12788152e-05,-3.62997702e-04,-2.81003202e-04,-3.57705732e-05,
  1.68076646e-05,-7.20134665e-05,-1.87326930e-04,-1.60753503e-05,
  4.79939246e-02,-8.62540573e-04, 2.41503137e-02,-4.39173408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006318710573677694
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39260119e-14,  1.75704048e-13,  1.00000000e+00, -7.71797810e-27,
        1.00000000e+00, -1.75704048e-13, -1.00000000e+00,  0.00000000e+00,
        4.39260119e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09494003, -0.09304927,  0.06198465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55852815e-05, 2.26522417e-05,-2.91340747e-06,-1.29495075e-07,
 -2.89140611e-06, 9.40318533e-06,-1.43922184e-05,-2.01846274e-05,
 -2.11407002e-05,-1.88279104e-05,-2.71200136e-05,-5.63272053e-06,
 -3.29192225e-04,-7.47564394e-05,-1.79754224e-04, 1.08960382e-04,
 -8.10397132e-06,-1.83741389e-05,-7.84774493e+00, 8.42837674e-04,
  9.50167576e-03,-8.80274300e-06]


--- Step 442 ---
qpos:
[ 7.17179941e-03, 4.01493813e-03,-3.63026175e-03,-2.58403319e-02,
  6.06097993e-03,-2.92192942e-03,-1.78476674e-02, 1.16487563e-02,
  1.56790570e-02, 2.35805020e-03,-8.96413484e-03, 2.40333479e-02,
  8.46301696e-01,-9.72497585e-03, 5.93387627e-01, 6.30608497e-02,
  9.50303269e-02,-7.01656444e-02, 1.21393131e-01, 9.99985853e-01,
  5.11337126e-04, 2.64098607e-04, 5.28802598e-03]

qacc:
[  0.76014371, -0.15540365,  1.41650683, -2.52548422, -0.27791947,
   1.08407608, -2.63957023, -0.59696159, -5.15597085, -2.41327815,
   8.91214105,-15.29402215, -0.82619687,  0.78723957,-23.44648018,
  77.54803159,  0.09821416,  1.81892721, -0.09950309,-30.80508085,
   2.36438852,  0.44833723]

qfrc_actuator:
[-3.11594604e-05, 4.60044192e-05,-8.57555829e-05,-8.03455650e-05,
 -2.27284187e-05,-3.62659130e-04,-3.08351219e-04,-4.77124557e-05,
 -1.28841169e-05,-1.34698596e-04,-1.83403096e-04,-3.66638360e-05,
  4.79098060e-02,-8.70958507e-04, 2.41090510e-02,-4.03109967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006322605911008028
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.77978985e-14,  8.77978985e-14,  1.00000000e+00,  7.70847099e-27,
        1.00000000e+00, -8.77978985e-14, -1.00000000e+00,  0.00000000e+00,
       -8.77978985e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09494024, -0.09304944,  0.06198465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46206234e-06, 5.67375567e-05, 2.59768541e-05, 1.99455989e-06,
 -1.52750991e-06, 1.75570922e-06,-2.78802861e-05,-1.24311956e-05,
 -3.02969804e-05,-7.90715765e-05,-3.49104465e-06,-2.24403756e-05,
 -3.18565552e-04,-7.27360604e-05,-1.12767245e-04, 3.43289610e-04,
  3.51012940e-07,-1.51077120e-05,-7.84787633e+00, 8.55413342e-04,
  9.52710748e-03,-9.69458594e-06]


--- Step 443 ---
qpos:
[ 7.17136299e-03, 4.01557518e-03,-3.62991724e-03,-2.58401018e-02,
  6.06120210e-03,-2.92170867e-03,-1.78480330e-02, 1.16491775e-02,
  1.56786461e-02, 2.35744500e-03,-8.96542925e-03, 2.40328730e-02,
  8.47337036e-01,-9.72286269e-03, 5.94228540e-01, 6.30624837e-02,
  9.50401943e-02,-7.01560202e-02, 1.21393252e-01, 9.99985806e-01,
  4.27819519e-04, 3.50967978e-04, 5.29927520e-03]

qacc:
[  0.39267656,  0.59023449, -1.54998717,  1.8659907 ,  5.90999292,
   0.74496328, -3.2130717 ,  6.35522106, -0.06670394,  0.12396506,
  -2.14656496,  5.23316105, -0.97502896,  1.27451495,-10.21646725,
  32.56330257,  0.09882522,  1.79870968, -0.21419768,-30.41595063,
   2.32921584,  0.44812291]

qfrc_actuator:
[-2.89526407e-05, 5.47031976e-05,-9.07870847e-05,-7.97304914e-05,
  1.21064125e-05,-3.44832765e-04,-3.06604222e-04,-3.70871941e-05,
 -1.24324359e-05,-1.71909412e-04,-1.98544571e-04,-3.07997938e-05,
  4.78220957e-02,-8.76795061e-04, 2.40221257e-02,-3.90711833e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006302023788850308
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.80846425e-14,  8.80846425e-14,  1.00000000e+00,  7.75890424e-27,
        1.00000000e+00, -8.80846425e-14, -1.00000000e+00,  0.00000000e+00,
       -8.80846425e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09494036, -0.09305032,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35093901e-06, 4.58651589e-05, 9.94759458e-06, 3.98007814e-06,
  3.47934449e-05, 1.25148996e-05,-1.75359172e-06, 9.49362008e-06,
 -4.36820338e-07,-8.31087895e-05,-3.26666347e-05, 1.92289082e-06,
 -3.14110043e-04,-6.82881199e-05,-1.03843160e-04, 1.27764466e-04,
  1.04796496e-05,-1.21092704e-05,-7.84788058e+00, 8.48326957e-04,
  9.55399907e-03,-9.46727986e-06]


--- Step 444 ---
qpos:
[ 7.17095625e-03, 4.01677863e-03,-3.62972122e-03,-2.58398835e-02,
  6.06184015e-03,-2.92158491e-03,-1.78480221e-02, 1.16497165e-02,
  1.56789333e-02, 2.35630275e-03,-8.96693164e-03, 2.40324628e-02,
  8.48370560e-01,-9.72079537e-03, 5.95068047e-01, 6.30603642e-02,
  9.50504596e-02,-7.01392689e-02, 1.21392116e-01, 9.99985756e-01,
  2.84089435e-04, 4.42124395e-04, 5.31143407e-03]

qacc:
[ 2.46792456e-01, 1.13893935e+00,-2.92514681e+00, 2.54055705e+00,
  3.65274569e+00,-9.44732215e-01, 2.67359250e+00,-1.15435141e+00,
  6.14618072e+00,-7.53667456e-03,-1.29654011e+00, 3.16476948e+00,
 -1.18411606e+00, 1.89082174e+00, 9.27971368e+00,-3.54297663e+01,
  9.94712297e-02, 1.78177486e+00,-3.14159986e-01,-3.00946119e+01,
  2.30322903e+00, 4.43341768e-01]

qfrc_actuator:
[-2.74812054e-05, 9.49570070e-05,-9.39331329e-05,-7.94726353e-05,
  3.25129009e-05,-3.52043395e-04,-2.87603764e-04,-3.09865689e-05,
  2.35129707e-05,-1.93634204e-04,-2.06973185e-04,-2.71703599e-05,
  4.77269680e-02,-8.81078867e-04, 2.38971728e-02,-4.11901828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006261899050523517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43245338e-14,  8.86490676e-14,  1.00000000e+00,  3.92932859e-27,
        1.00000000e+00, -8.86490676e-14, -1.00000000e+00,  0.00000000e+00,
       -4.43245338e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09494042, -0.09305179,  0.06198479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55123517e-06, 6.81009565e-05, 7.67808174e-06, 2.64070499e-06,
  2.14045985e-05,-1.60297264e-07, 2.16972835e-05, 6.75890175e-06,
  3.59018915e-05,-7.48284590e-05,-2.95301104e-05,-1.01978383e-06,
 -3.17838195e-04,-6.55024135e-05,-1.63329268e-04,-2.19355786e-04,
  2.23476635e-05,-9.33689554e-06,-7.84776285e+00, 8.21826531e-04,
  9.58233419e-03,-8.13380857e-06]


--- Step 445 ---
qpos:
[ 7.17057027e-03, 4.01855401e-03,-3.62986768e-03,-2.58396513e-02,
  6.06202833e-03,-2.92151940e-03,-1.78477695e-02, 1.16503287e-02,
  1.56793039e-02, 2.35472847e-03,-8.96859500e-03, 2.40320823e-02,
  8.49402325e-01,-9.71879431e-03, 5.95905724e-01, 6.30547201e-02,
  9.50611255e-02,-7.01154462e-02, 1.21389376e-01, 9.99985677e-01,
  8.06680537e-05, 5.37533731e-04, 5.32449035e-03]

qacc:
[  0.16210937,  1.74182914, -5.17173531,  5.53669793, -3.92800386,
  -0.59382236,  1.7098268 , -0.80038014,  0.73616164, -0.06134835,
  -0.73779744,  1.83051612, -1.1140691 ,  1.71563292,  7.961486  ,
 -31.73153512,  0.10016798,  1.76785112, -0.40093642,-29.83412324,
   2.28508711,  0.43497671]

qfrc_actuator:
[-2.64534525e-05, 1.18288076e-04,-1.13562710e-04,-7.93981275e-05,
  8.74677838e-06,-3.56361086e-04,-2.76433747e-04,-2.76123944e-05,
  2.67938219e-05,-2.05889945e-04,-2.11304603e-04,-2.48673643e-05,
  4.76434342e-02,-8.84448572e-04, 2.38027063e-02,-4.29631622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006206488165035606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47202587e-14,  1.78881035e-13,  1.00000000e+00,  7.99960614e-27,
        1.00000000e+00, -1.78881035e-13, -1.00000000e+00,  0.00000000e+00,
       -4.47202587e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09494041, -0.09305371,  0.06198493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.09110806e-06, 6.30671335e-05,-4.54353538e-06, 3.30402104e-06,
 -2.31557946e-05, 3.65510459e-07, 1.40399782e-05, 4.24730029e-06,
  4.27072409e-06,-6.01705747e-05,-2.34301691e-05,-1.93997441e-06,
 -3.08775155e-04,-6.48473775e-05,-1.97496432e-04,-2.11434666e-04,
  3.59891412e-05,-6.66260712e-06,-7.84752711e+00, 7.76116716e-04,
  9.61209889e-03,-5.70519227e-06]


--- Step 446 ---
qpos:
[ 7.17054482e-03, 4.02044242e-03,-3.63003418e-03,-2.58397281e-02,
  6.06158546e-03,-2.92146908e-03,-1.78473616e-02, 1.16506318e-02,
  1.56786757e-02, 2.35326993e-03,-8.97061723e-03, 2.40323655e-02,
  8.50432399e-01,-9.71714105e-03, 5.96741035e-01, 6.30508980e-02,
  9.50675145e-02,-7.00942681e-02, 1.21388882e-01, 9.99985565e-01,
 -1.00663795e-04, 5.94769138e-04, 5.33914146e-03]

qacc:
[  3.17089082, -0.437267  ,  3.06663264, -8.44745316, -5.51707417,
  -1.07890298,  5.14190174,-10.74958119, -8.8013012 ,  2.53956279,
 -11.6055971 , 23.54879026, -0.65705003,  0.19799251, -8.97960534,
  26.36767224, -1.06925242, -0.66114186,  0.56144805, 10.94255256,
 -19.14542648,  0.80496839]

qfrc_actuator:
[-7.94223246e-06, 9.57281377e-05,-1.25076381e-04,-9.72072963e-05,
 -2.30708754e-05,-3.58942949e-04,-2.69977841e-04,-4.36293537e-05,
 -2.46938298e-05,-1.59096567e-04,-2.13141539e-04, 1.21540478e-05,
  4.75562653e-02,-9.04983690e-04, 2.37319462e-02,-4.18529092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006206500187348627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03919707e-07, -5.19598089e-08,  1.00000000e+00, -5.39964813e-15,
        1.00000000e+00,  5.19598089e-08, -1.00000000e+00, -7.88860905e-31,
       -1.03919707e-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([ 0.10886563, -0.06248525,  0.06198492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85587504e-05, 1.18484188e-05, 1.04779982e-06,-1.52056035e-05,
 -3.24798429e-05, 6.89691112e-07, 8.40375718e-06,-1.54338909e-05,
 -5.13930548e-05, 8.30260707e-06,-1.71801622e-05, 3.36023442e-05,
 -3.06271299e-04,-8.03475485e-05,-1.86747415e-04, 7.33782888e-05,
  5.14178582e-05,-3.87797850e-06,-7.84717631e+00, 7.11363259e-04,
  9.64328147e-03,-2.19063945e-06]


--- Step 447 ---
qpos:
[ 7.17005165e-03, 4.02207240e-03,-3.62984686e-03,-2.58403404e-02,
  6.06041940e-03,-2.92118390e-03,-1.78472445e-02, 1.16503942e-02,
  1.56777800e-02, 2.35227363e-03,-8.97263081e-03, 2.40337089e-02,
  8.51460697e-01,-9.71596821e-03, 5.97574490e-01, 6.30486371e-02,
  9.50697584e-02,-7.00792118e-02, 1.21389417e-01, 9.99985441e-01,
 -2.30460047e-04, 6.14138900e-04, 5.35607591e-03]

qacc:
[-4.10183266e+00,-2.42534837e+00, 1.04194223e+01,-2.00600300e+01,
 -6.34174159e+00, 2.16958256e-02, 2.67767246e+00,-1.17686067e+01,
 -2.36245017e+00, 2.77417036e+00,-1.34737562e+01, 3.14612871e+01,
 -5.85345210e-01,-2.08635970e-01,-7.44300063e+00, 2.20773235e+01,
 -1.03627056e+00,-1.53044752e+00, 2.57349573e-01, 2.56656625e+01,
 -1.90702385e+01, 1.15510106e+00]

qfrc_actuator:
[-3.25469094e-05, 6.36163679e-05,-1.14153335e-04,-1.25429268e-04,
 -5.93583228e-05,-3.42750456e-04,-2.84113166e-04,-7.09279431e-05,
 -3.69833206e-05,-9.50012945e-05,-1.95466850e-04, 6.93606588e-05,
  4.74509953e-02,-9.35510019e-04, 2.36648725e-02,-4.10048753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006294075361043955
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20489699e-14,  3.30734548e-14,  1.00000000e+00,  7.29235609e-28,
        1.00000000e+00, -3.30734548e-14, -1.00000000e+00,  0.00000000e+00,
       -2.20489699e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089321 , -0.05174935,  0.06198471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40786436e-05,-2.59805901e-05, 1.29525645e-05,-2.79789011e-05,
 -3.72148694e-05, 1.76340012e-05,-1.34964794e-05,-2.72789542e-05,
 -1.37540380e-05, 6.66852449e-05, 1.84777976e-05, 5.76310649e-05,
 -3.25103061e-04,-9.17237206e-05,-1.45479537e-04, 6.46296914e-05,
  4.63407945e-05,-5.29131338e-06,-7.84740933e+00, 6.53460757e-04,
  9.66205219e-03, 1.90741549e-06]


--- Step 448 ---
qpos:
[ 7.16926756e-03, 4.02347955e-03,-3.62980871e-03,-2.58409098e-02,
  6.05917175e-03,-2.92020689e-03,-1.78478638e-02, 1.16504937e-02,
  1.56770884e-02, 2.35155000e-03,-8.97433416e-03, 2.40353846e-02,
  8.52487224e-01,-9.71544422e-03, 5.98407106e-01, 6.30458851e-02,
  9.50679087e-02,-7.00701828e-02, 1.21390353e-01, 9.99985327e-01,
 -3.09706566e-04, 5.96486220e-04, 5.37538575e-03]

qacc:
[ -2.5616883 ,  0.21559401, -1.36718443,  2.49896687, -0.74870279,
   3.66644355,-13.1683579 , 19.67096277,  1.80205573,  0.17371761,
  -1.50534476,  6.56513322, -0.45938058, -0.73794762,  0.2427878 ,
  -2.65178269, -1.02337757, -1.50683282,  0.10008539, 25.17462223,
 -18.64660264,  1.19891397]

qfrc_actuator:
[-4.68318110e-05, 4.38523671e-05,-1.25639349e-04,-1.24043671e-04,
 -6.24778227e-05,-2.80032049e-04,-3.10219449e-04,-5.13823148e-05,
 -2.60854684e-05,-9.19282283e-05,-1.84061793e-04, 8.47584764e-05,
  4.73562363e-02,-9.71759336e-04, 2.36479820e-02,-4.12064836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006341941010244434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.28238337e-14,  4.37651116e-14,  1.00000000e+00, -1.43653875e-27,
        1.00000000e+00, -4.37651116e-14, -1.00000000e+00,  0.00000000e+00,
        3.28238337e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893076, -0.05175032,  0.0619846 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49824414e-05,-3.28817130e-05,-1.62432349e-05, 1.74782549e-07,
 -4.17491379e-06, 6.85984664e-05,-2.50732572e-05, 1.93044464e-05,
  1.05222649e-05, 4.66994620e-05, 2.94817368e-05, 2.00206313e-05,
 -3.29129113e-04,-1.02176925e-04,-7.95372875e-05,-3.60372825e-05,
  3.64353676e-05,-3.66360073e-06,-7.84771776e+00, 6.11820615e-04,
  9.66838226e-03, 4.93866840e-06]


--- Step 449 ---
qpos:
[ 7.16935287e-03, 4.02477739e-03,-3.63000090e-03,-2.58407765e-02,
  6.05858587e-03,-2.91861971e-03,-1.78488541e-02, 1.16511561e-02,
  1.56765328e-02, 2.35060806e-03,-8.97502258e-03, 2.40365560e-02,
  8.53511922e-01,-9.71505366e-03, 5.99238319e-01, 6.30429628e-02,
  9.50620108e-02,-7.00670988e-02, 1.21391134e-01, 9.99985231e-01,
 -3.39241040e-04, 5.42514432e-04, 5.39713373e-03]

qacc:
[  7.64793562,  1.93184113,-10.08222736, 22.70253539,  5.76923443,
   2.98984592,-11.88773487, 21.79803738,  1.23308009, -4.16559463,
  16.5586255 ,-26.74182355, -1.03169065,  1.35862034, -1.53254843,
   2.4047047 , -1.01206904, -1.4862426 , -0.03881169, 24.75731924,
 -18.29328108,  1.22820153]

qfrc_actuator:
[-1.65666630e-06, 4.93174417e-05,-1.32456721e-04,-8.75049641e-05,
 -2.82962401e-05,-2.43206909e-04,-3.25193644e-04,-2.21443820e-05,
 -1.93926241e-05,-1.25463800e-04,-1.41218296e-04, 5.76223266e-05,
  4.72731731e-02,-9.75576575e-04, 2.35706384e-02,-4.13134943e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006356767419521125
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.36630347e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.36630347e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893013, -0.05175049,  0.06198456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.47344022e-05,-1.63224777e-05,-1.56173414e-05, 3.45710326e-05,
  3.40864497e-05, 7.08034589e-05,-3.23005331e-06, 3.16845373e-05,
  7.00235296e-06,-4.29224121e-07, 5.68374975e-05,-2.37240327e-05,
 -3.21775054e-04,-7.17565880e-05,-1.24842165e-04,-2.46315508e-05,
  2.56826072e-05, 3.95521883e-06,-7.84789134e+00, 5.86034388e-04,
  9.66251583e-03, 6.70749851e-06]


--- Step 450 ---
qpos:
[ 7.16997867e-03, 4.02593041e-03,-3.63001520e-03,-2.58398854e-02,
  6.05841437e-03,-2.91672234e-03,-1.78495686e-02, 1.16511212e-02,
  1.56764066e-02, 2.34986478e-03,-8.97501973e-03, 2.40373621e-02,
  8.54534714e-01,-9.71437556e-03, 6.00067585e-01, 6.30422813e-02,
  9.50521035e-02,-7.00698889e-02, 1.21391271e-01, 9.99985151e-01,
 -3.19768527e-04, 4.52805015e-04, 5.42135973e-03]

qacc:
[  4.76615411,  0.86254971, -6.56085571, 19.49757526,  3.6288458 ,
  -1.80279078,  9.95550176,-22.6821044 ,  3.79519759, -2.42888405,
  10.5707586 ,-18.13011947, -1.4738451 ,  2.97739279, -9.59319326,
  29.48636967, -1.00234784, -1.46852975, -0.16073073, 24.40602197,
 -18.00122358,  1.24618512]

qfrc_actuator:
[ 2.48926503e-05, 5.21429353e-05,-1.18579435e-04,-4.83041120e-05,
 -7.95001023e-06,-2.39865424e-04,-3.15806781e-04,-5.84622552e-05,
  2.51625849e-06,-9.18194850e-05,-9.80931577e-05, 4.11745867e-05,
  4.71812190e-02,-9.60190455e-04, 2.34890585e-02,-4.01223052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006344640636024579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.74929794e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.74929794e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893005, -0.05175   ,  0.06198459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78094107e-05,-8.07693697e-06, 9.76354917e-06, 3.86302048e-05,
  2.13436162e-05, 4.35893048e-05, 2.47000592e-05,-3.27833283e-05,
  2.21029067e-05, 4.41684411e-05, 4.92319489e-05,-1.49605607e-05,
 -3.20471940e-04,-4.79335133e-05,-1.46249190e-04, 1.00556974e-04,
  1.37795883e-05, 1.75530142e-05,-7.84793789e+00, 5.75836021e-04,
  9.64467590e-03, 7.24602018e-06]


--- Step 451 ---
qpos:
[ 7.16953814e-03, 4.02713384e-03,-3.63017513e-03,-2.58392252e-02,
  6.05814393e-03,-2.91507515e-03,-1.78498657e-02, 1.16503693e-02,
  1.56765435e-02, 2.34993300e-03,-8.97527886e-03, 2.40372608e-02,
  8.55555546e-01,-9.71315911e-03, 6.00895052e-01, 6.30449607e-02,
  9.50382196e-02,-7.00784930e-02, 1.21390340e-01, 9.99985074e-01,
 -2.51875597e-04, 3.27833159e-04, 5.44808583e-03]

qacc:
[-9.39200674e+00, 1.66090955e-02, 1.04193887e+00,-4.87179074e+00,
 -8.48728405e-01,-2.97062421e+00, 1.31433464e+01,-2.60411621e+01,
  2.29322483e+00,-6.80671850e-02, 5.62294811e+00,-2.14998867e+01,
 -1.75620993e+00, 3.98293661e+00,-1.27432915e+01, 4.08535859e+01,
 -9.94168535e-01,-1.45350744e+00,-2.67200076e-01, 2.41136979e+01,
 -1.77626109e+01, 1.25534482e+00]

qfrc_actuator:
[-3.07629007e-05, 5.34639115e-05,-1.28106703e-04,-6.10999466e-05,
 -1.36749199e-05,-2.92063495e-04,-3.10054321e-04,-9.75732437e-05,
  1.54545727e-05,-3.59495162e-05,-1.08139230e-04,-4.30259884e-06,
  4.70840032e-02,-9.33649914e-04, 2.34263394e-02,-3.83531532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006310857009869802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31942027e-13, -8.79613516e-14,  1.00000000e+00, -1.16057991e-26,
        1.00000000e+00,  8.79613516e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31942027e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893042, -0.05174899,  0.06198467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.48743457e-05, 4.39260331e-07,-8.67379603e-06,-1.20575165e-05,
 -5.09953267e-06,-2.41791223e-05, 1.66494315e-05,-3.70299482e-05,
  1.35781273e-05, 9.01300799e-05, 4.62970275e-06,-4.21731335e-05,
 -3.20589495e-04,-3.40190611e-05,-1.21581816e-04, 1.62976421e-04,
  4.87594699e-07, 3.70357414e-05,-7.84786355e+00, 5.81002742e-04,
  9.61504868e-03, 6.58030694e-06]


--- Step 452 ---
qpos:
[ 7.16808923e-03, 4.02838773e-03,-3.63041942e-03,-2.58394181e-02,
  6.05815239e-03,-2.91397466e-03,-1.78499336e-02, 1.16498978e-02,
  1.56771802e-02, 2.34984376e-03,-8.97497497e-03, 2.40366834e-02,
  8.56574486e-01,-9.71160004e-03, 6.01721024e-01, 6.30487195e-02,
  9.50203858e-02,-7.00928610e-02, 1.21387970e-01, 9.99984976e-01,
 -1.36042991e-04, 1.67981130e-04, 5.47732010e-03]

qacc:
[ -8.88023312, -1.43708166,  8.84349355,-23.5223039 ,  2.45711101,
  -0.78998063,  0.57619515,  4.3222207 ,  4.4188933 , -2.77041879,
  11.57124744,-20.57850157, -1.55480359,  3.25944638, -5.41847312,
  15.85433798, -0.98745723, -1.44097175, -0.35977537, 23.87405155,
 -17.57072893,  1.25758783]

qfrc_actuator:
[-8.10928477e-05, 5.37448764e-05,-1.33671714e-04,-1.04408271e-04,
  8.10294555e-07,-3.41643743e-04,-3.06734510e-04,-8.48036178e-05,
  4.07575217e-05,-9.17048817e-05,-9.61534091e-05,-3.10038762e-05,
  4.69890296e-02,-9.18535185e-04, 2.33483648e-02,-3.78551235e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006259995223169001
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.77352056e-13, -1.77352056e-13,  1.00000000e+00, -3.14537518e-26,
        1.00000000e+00,  1.77352056e-13, -1.00000000e+00,  0.00000000e+00,
       -1.77352056e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893114, -0.05174757,  0.0619848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.18912529e-05,-1.84213271e-06,-6.97060020e-06,-4.38257907e-05,
  1.43319506e-05,-6.13053531e-05,-9.18806865e-07, 1.15879000e-05,
  2.57216705e-05,-6.19905591e-06, 2.97165240e-05,-2.34992663e-05,
 -3.15766402e-04,-4.40762835e-05,-1.19555934e-04, 4.22761796e-05,
 -1.43956317e-05, 6.22445610e-05,-7.84767300e+00, 6.01349913e-04,
  9.57378740e-03, 4.73125456e-06]


--- Step 453 ---
qpos:
[ 7.16673768e-03, 4.02978822e-03,-3.63081566e-03,-2.58397908e-02,
  6.05833413e-03,-2.91317394e-03,-1.78497732e-02, 1.16498967e-02,
  1.56781159e-02, 2.34909552e-03,-8.97427448e-03, 2.40369041e-02,
  8.57591575e-01,-9.71011470e-03, 6.02545258e-01, 6.30514437e-02,
  9.49986235e-02,-7.01129519e-02, 1.21383839e-01, 9.99984824e-01,
  2.73431741e-05,-2.64502936e-05, 5.50905959e-03]

qacc:
[  0.84964146,  0.24643932,  0.15765131, -3.12971971,  1.5289865 ,
  -0.0689129 , -2.32017352, 10.32201032,  2.65451031, -0.34135013,
  -3.42595353, 17.10184574, -1.12379876,  1.65235635,  0.58303505,
  -5.71274416, -0.98212473, -1.43071598, -0.4399708 , 23.68150806,
 -17.41983655,  1.25437801]

qfrc_actuator:
[-7.46009605e-05, 7.11342649e-05,-1.36862394e-04,-1.12051628e-04,
  9.33071007e-06,-3.35998799e-04,-2.87100302e-04,-5.93688833e-05,
  5.53846660e-05,-1.60533196e-04,-8.94212849e-05, 6.74986198e-06,
  4.68848142e-02,-9.28048178e-04, 2.32399710e-02,-3.84654493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006195987900758787
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.34388137e-13,  8.95920911e-14,  1.00000000e+00,  1.20401142e-26,
        1.00000000e+00, -8.95920911e-14, -1.00000000e+00,  0.00000000e+00,
       -1.34388137e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10893213, -0.05174583,  0.06198495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.01586046e-06, 1.29873126e-05,-5.95348624e-06,-8.81614524e-06,
  8.90804536e-06,-2.83631178e-05, 7.24773294e-06, 2.29997046e-05,
  1.53554444e-05,-6.71515772e-05, 8.29713265e-06, 3.80588448e-05,
 -3.23589731e-04,-6.89847708e-05,-1.63166658e-04,-7.51914665e-05,
 -3.10560404e-05, 9.29662804e-05,-7.84736977e+00, 6.36726606e-04,
  9.52101587e-03, 1.71530827e-06]


--- Step 454 ---
qpos:
[ 7.16685387e-03, 4.03117113e-03,-3.63119978e-03,-2.58402429e-02,
  6.05827180e-03,-2.91266215e-03,-1.78493777e-02, 1.16501979e-02,
  1.56788743e-02, 2.34849174e-03,-8.97432325e-03, 2.40372069e-02,
  8.58606865e-01,-9.70874395e-03, 6.03366957e-01, 6.30489395e-02,
  9.49771272e-02,-7.01253784e-02, 1.21381115e-01, 9.99984629e-01,
  1.26277287e-04,-2.14209919e-04, 5.53891096e-03]

qacc:
[ 12.92040413, -0.24570501,  1.13270438, -2.46278516, -2.12333185,
  -0.41182031, -0.35502489,  5.4171956 , -1.58571613,  2.45696088,
  -8.82417082, 11.32860767, -1.11911286,  1.62693054, 12.06250537,
 -47.59636351,  0.06651383,  1.91609784,  0.35141733,-32.20718441,
   3.51335715, -0.94316205]

qfrc_actuator:
[ 7.86898737e-07, 6.31671075e-05,-1.38527137e-04,-1.16380603e-04,
 -3.48634752e-06,-3.50504894e-04,-2.75520963e-04,-4.43897950e-05,
  4.58547243e-05,-1.30124959e-04,-1.21405431e-04, 1.10822522e-05,
  4.67964213e-02,-9.34305863e-04, 2.30494920e-02,-4.13217019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000617263374086241
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.99310628e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.99310628e-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([ 0.09495343, -0.09305854,  0.06198501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.55315053e-05,-2.35108196e-06,-3.02278212e-08,-4.15183627e-06,
 -1.25736999e-05,-2.79119453e-05, 7.39803066e-06, 1.44596641e-05,
 -9.12065086e-06,-3.77174545e-06,-4.35160009e-05, 2.48159225e-06,
 -3.17715435e-04,-6.98335785e-05,-2.76658763e-04,-3.11538528e-04,
 -4.96780239e-05, 1.28939199e-04,-7.84695638e+00, 6.87011784e-04,
  9.45683160e-03,-2.45492845e-06]


--- Step 455 ---
qpos:
[ 7.16856294e-03, 4.03198910e-03,-3.63102421e-03,-2.58414011e-02,
  6.05840131e-03,-2.91245123e-03,-1.78485569e-02, 1.16510099e-02,
  1.56784777e-02, 2.34792403e-03,-8.97420272e-03, 2.40371636e-02,
  8.59620298e-01,-9.70684361e-03, 6.04185823e-01, 6.30436080e-02,
  9.49559089e-02,-7.01302730e-02, 1.21379123e-01, 9.99984409e-01,
  1.61886678e-04,-3.95938279e-04, 5.56761062e-03]

qacc:
[ 14.04833189, -3.79309107, 15.36510338,-27.99132477,  1.69744867,
  -0.53787891, -0.82096609,  9.20762581,-10.15890563, -1.11817448,
   5.55167146,-11.87571042, -1.78856258,  4.10998031,  4.40396976,
 -21.37399549,  0.06948974,  1.88297155,  0.1832582 ,-31.64529299,
   3.19088658, -0.5693773 ]

qfrc_actuator:
[ 8.05977584e-05, 4.58629642e-06,-1.21626971e-04,-1.54254822e-04,
  6.74742742e-06,-3.59239900e-04,-2.51119921e-04,-1.79516133e-05,
 -1.33181609e-05,-1.11725182e-04,-1.04621588e-04,-4.24125851e-06,
  4.67175838e-02,-9.03034765e-04, 2.29323892e-02,-4.26390143e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006246248348951433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44355941e-14,  1.77742376e-13,  1.00000000e+00,  7.89808808e-27,
        1.00000000e+00, -1.77742376e-13, -1.00000000e+00,  0.00000000e+00,
       -4.44355941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495565, -0.09305705,  0.06198483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.19515485e-05,-6.00981268e-05, 1.62533876e-05,-3.80611687e-05,
  9.86389927e-06,-2.22238863e-05, 2.00367270e-05, 2.57774184e-05,
 -5.94335723e-05, 7.42906543e-06, 1.07387727e-05,-1.69412556e-05,
 -3.04996404e-04,-3.11678010e-05,-2.76985953e-04,-1.84290238e-04,
 -1.52436667e-05, 1.08152784e-04,-7.84727063e+00, 7.18957482e-04,
  9.39904755e-03,-3.68244526e-06]


--- Step 456 ---
qpos:
[ 7.16949110e-03, 4.03223062e-03,-3.63060230e-03,-2.58426347e-02,
  6.05865225e-03,-2.91240016e-03,-1.78474588e-02, 1.16517787e-02,
  1.56780649e-02, 2.34746219e-03,-8.97393208e-03, 2.40369286e-02,
  8.60631920e-01,-9.70455127e-03, 6.05003085e-01, 6.30399741e-02,
  9.49349755e-02,-7.01277507e-02, 1.21377268e-01, 9.99984171e-01,
  1.35141331e-04,-5.72156809e-04, 5.59575136e-03]

qacc:
[ -6.85638517, -1.59253735,  4.91259262, -6.20807969,  1.0740409 ,
  -1.07638672,  3.70986749, -4.77722332, -0.14086905, -0.67393815,
   3.41578565, -7.05157973, -1.54105586,  3.31804973, -7.44388259,
  22.71050578,  0.07122712,  1.8542255 ,  0.03395603,-31.1616545 ,
   2.92840667, -0.26750155]

qfrc_actuator:
[ 3.80817580e-05,-3.05504079e-05,-1.11892912e-04,-1.58339776e-04,
  1.27207897e-05,-3.64384758e-04,-2.37062821e-04,-2.04725272e-05,
 -1.24650374e-05,-1.00479869e-04,-9.47010784e-05,-1.32103952e-05,
  4.66285722e-02,-8.85349998e-04, 2.29552945e-02,-4.14383216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006283149983860592
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.83492378e-14, -8.83492378e-14,  1.00000000e+00, -7.80558783e-27,
        1.00000000e+00,  8.83492378e-14, -1.00000000e+00,  0.00000000e+00,
       -8.83492378e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495737, -0.09305656,  0.06198474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.02110234e-05,-6.70219307e-05,-2.00777964e-06,-6.84060159e-06,
  6.24553923e-06,-1.23448795e-05, 1.28127305e-05,-2.28266013e-06,
 -8.34235321e-07, 1.68891810e-05, 1.21989267e-05,-8.60540353e-06,
 -2.99574959e-04,-3.83168793e-05,-1.22315448e-04, 7.47210688e-05,
  1.46896646e-05, 9.08920422e-05,-7.84744354e+00, 7.30536500e-04,
  9.34288406e-03,-3.79460209e-06]


--- Step 457 ---
qpos:
[ 7.16990320e-03, 4.03197722e-03,-3.63009978e-03,-2.58435612e-02,
  6.05862795e-03,-2.91235178e-03,-1.78465094e-02, 1.16521756e-02,
  1.56786997e-02, 2.34737374e-03,-8.97446096e-03, 2.40359290e-02,
  8.61641900e-01,-9.70265339e-03, 6.05819614e-01, 6.30375932e-02,
  9.49189108e-02,-7.01279477e-02, 1.21377491e-01, 9.99983951e-01,
  1.33164836e-04,-7.07120020e-04, 5.61955824e-03]

qacc:
[ -4.53134437, -0.23830444, -1.37758905,  6.90417026, -2.41336658,
  -0.34939411,  2.81975234, -9.02866165,  9.18722155,  1.13581924,
  -0.13592801,-12.06272537, -0.61932724,  0.07669474, -4.85416219,
  15.4332528 ,  1.21715392, -0.67982133,  0.51972515, 12.49841685,
  20.55774512, -2.17682457]

qfrc_actuator:
[ 1.26694477e-05,-5.13831770e-05,-1.06369049e-04,-1.42499442e-04,
 -1.62106340e-06,-3.67396191e-04,-2.46986780e-04,-4.00194302e-05,
  4.14796742e-05,-9.36114714e-05,-1.42204990e-04,-5.38881422e-05,
  4.65388447e-02,-9.11396531e-04, 2.29556802e-02,-4.07135567e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006336902715184528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.37999080e-14, -8.75998161e-14,  1.00000000e+00, -3.83686389e-27,
        1.00000000e+00,  8.75998161e-14, -1.00000000e+00,  0.00000000e+00,
       -4.37999080e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189761, -0.06197535,  0.06198461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65783659e-05,-5.90465687e-05,-8.80713062e-06, 1.27705695e-05,
 -1.41681465e-05,-7.38025404e-06,-1.09898911e-05,-1.96814653e-05,
  5.39255381e-05, 1.84765039e-05,-4.28080375e-05,-3.96984430e-05,
 -2.96992862e-04,-8.22531825e-05,-5.16390808e-05, 5.98817282e-05,
  4.22918335e-05, 7.62182585e-05,-7.84748287e+00, 7.22097268e-04,
  9.28831097e-03,-2.79885641e-06]


--- Step 458 ---
qpos:
[ 7.17104208e-03, 4.03122269e-03,-3.62948400e-03,-2.58449829e-02,
  6.05877682e-03,-2.91219079e-03,-1.78457714e-02, 1.16526700e-02,
  1.56789417e-02, 2.34692365e-03,-8.97499390e-03, 2.40344902e-02,
  8.62650179e-01,-9.70103270e-03, 6.06635137e-01, 6.30364517e-02,
  9.49076369e-02,-7.01308433e-02, 1.21379192e-01, 9.99983766e-01,
  1.55296731e-04,-8.01495346e-04, 5.63934161e-03]

qacc:
[  6.40945305, -2.01133561,  8.27351001,-16.61861491,  1.50682532,
   0.93718078, -3.54292489,  5.4926128 , -3.45113294, -1.36388547,
   6.0352655 ,-13.37514419, -0.7783636 ,  0.59368817, -5.20765174,
  16.10170703,  1.19771597, -0.67466573,  0.36942476, 12.16661933,
  20.2256222 , -2.02304622]

qfrc_actuator:
[ 5.08247497e-05,-8.12371492e-05,-1.03304098e-04,-1.68314145e-04,
  7.70132083e-06,-3.51468149e-04,-2.53231758e-04,-3.39304427e-05,
  1.97060791e-05,-1.42936981e-04,-1.52263439e-04,-7.74361140e-05,
  4.64487376e-02,-9.27546925e-04, 2.29052531e-02,-4.00991654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
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       0., 0.])
  dim: 3
  dist: -0.0006370344466591765
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.71399522e-14, -8.71399522e-14,  1.00000000e+00, -7.59337127e-27,
        1.00000000e+00,  8.71399522e-14, -1.00000000e+00,  0.00000000e+00,
       -8.71399522e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189777, -0.06197665,  0.06198453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73801086e-05,-6.41499011e-05,-9.77359875e-06,-2.83965283e-05,
  8.91628425e-06, 8.66899263e-06,-9.81630463e-06, 5.00684904e-06,
 -2.02327261e-05,-4.95047376e-05,-1.28802887e-05,-2.50084997e-05,
 -3.03141557e-04,-7.69236324e-05,-7.52942687e-05, 5.62407448e-05,
  1.82043292e-05, 5.20331220e-05,-7.84770382e+00, 7.22622002e-04,
  9.24459895e-03,-3.28573593e-06]


--- Step 459 ---
qpos:
[ 7.17228393e-03, 4.03028382e-03,-3.62870192e-03,-2.58467474e-02,
  6.05903622e-03,-2.91199318e-03,-1.78453808e-02, 1.16532525e-02,
  1.56789214e-02, 2.34586792e-03,-8.97497897e-03, 2.40331193e-02,
  8.63656690e-01,-9.69928468e-03, 6.07449575e-01, 6.30344203e-02,
  9.49010868e-02,-7.01364189e-02, 1.21381841e-01, 9.99983622e-01,
  2.00996041e-04,-8.55854492e-04, 5.65534576e-03]

qacc:
[  0.9145746 , -1.41644792,  6.13698729,-12.1876659 ,  0.95575958,
   1.19845628, -4.57866416,  6.63654123, -2.27994569, -2.18749853,
   6.35915728, -5.62199259, -1.29519967,  2.3799353 ,  1.11708285,
  -6.16255838,  1.18095331, -0.66997508,  0.23718308, 11.89483135,
  19.94103613, -1.90224793]

qfrc_actuator:
[ 5.50736742e-05,-6.30417848e-05,-8.40267717e-05,-1.82937219e-04,
  1.31313044e-05,-3.59795929e-04,-2.74899743e-04,-3.05333424e-05,
  6.78084301e-06,-1.72135266e-04,-1.22577625e-04,-7.29732896e-05,
  4.63637928e-02,-9.19966497e-04, 2.28350406e-02,-4.06210331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006374357426636446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.35425467e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.35425467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189743, -0.06197741,  0.06198452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.29180659e-06,-2.08787565e-05, 3.84391100e-06,-1.82593116e-05,
  5.68793681e-06,-5.30565011e-06,-2.09253941e-05, 3.52281765e-06,
 -1.35180268e-05,-6.05945341e-05, 1.70238626e-05, 1.41524939e-06,
 -3.01248052e-04,-5.37374877e-05,-1.05179470e-04,-6.03554605e-05,
  1.29310246e-06, 3.22841364e-05,-7.84784770e+00, 7.30606388e-04,
  9.21398271e-03,-4.02988055e-06]


--- Step 460 ---
qpos:
[ 7.17322210e-03, 4.02967900e-03,-3.62827796e-03,-2.58480142e-02,
  6.05935868e-03,-2.91160626e-03,-1.78456144e-02, 1.16538710e-02,
  1.56790908e-02, 2.34452377e-03,-8.97471913e-03, 2.40317923e-02,
  8.64661427e-01,-9.69714021e-03, 6.08261805e-01, 6.30345554e-02,
  9.48992034e-02,-7.01446579e-02, 1.21384977e-01, 9.99983523e-01,
  2.69822855e-04,-8.70681614e-04, 5.66776230e-03]

qacc:
[ -2.68989109,  2.47299664,-10.26250465, 19.17785333,  0.52906867,
   2.06663138, -7.1601216 ,  8.64462382,  1.68235701, -0.97857803,
   2.74500048, -2.15804782, -1.50174999,  3.22825776, -9.74894816,
  29.4810852 ,  1.16668128, -0.66586771,  0.12157847, 11.67380617,
  19.69994988, -1.80777007]

qfrc_actuator:
[ 3.93118795e-05,-1.61331439e-05,-9.06256154e-05,-1.55294287e-04,
  1.62192160e-05,-3.47140974e-04,-3.05600908e-04,-2.87809577e-05,
  1.69437895e-05,-1.71115927e-04,-1.05100840e-04,-6.97879817e-05,
  4.62820129e-02,-8.98441214e-04, 2.27263716e-02,-3.95004776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006354493960368107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.73573121e-14, -8.73573121e-14,  1.00000000e+00, -7.63129998e-27,
        1.00000000e+00,  8.73573121e-14, -1.00000000e+00,  0.00000000e+00,
       -8.73573121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818967 , -0.06197774,  0.06198457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56156664e-05, 3.52721181e-05,-1.10651434e-05, 2.65301518e-05,
  3.24926324e-06, 5.50577312e-06,-3.42613175e-05, 8.66606826e-07,
  9.75340022e-06,-2.92520089e-05, 7.12169790e-06, 1.21110709e-06,
 -2.92862060e-04,-3.68685085e-05,-1.69429871e-04, 9.37632788e-05,
 -9.16950525e-06, 1.62888908e-05,-7.84791873e+00, 7.45917457e-04,
  9.19625550e-03,-5.03144538e-06]


--- Step 461 ---
qpos:
[ 7.17361913e-03, 4.02950176e-03,-3.62834449e-03,-2.58482529e-02,
  6.06040556e-03,-2.91123459e-03,-1.78455952e-02, 1.16541255e-02,
  1.56793804e-02, 2.34311185e-03,-8.97462607e-03, 2.40305138e-02,
  8.65664447e-01,-9.69472841e-03, 6.09072048e-01, 6.30366409e-02,
  9.49019389e-02,-7.01555465e-02, 1.21388198e-01, 9.99983464e-01,
  3.61423023e-04,-8.46381095e-04, 5.67674077e-03]

qacc:
[-4.78568078e+00, 4.06308727e+00,-1.79787402e+01, 3.61946540e+01,
  6.34704043e+00,-1.48776172e+00, 6.79142526e+00,-1.34621822e+01,
  1.05317201e+00, 4.74280016e-01,-2.02919957e+00, 3.18818998e+00,
 -1.33730507e+00, 2.67912405e+00,-8.77888104e+00, 2.65441039e+01,
  1.15470441e+00,-6.62409064e-01, 2.10965879e-02, 1.14958705e+01,
  1.94985148e+01,-1.73431328e+00]

qfrc_actuator:
[ 1.19091076e-05, 1.20535309e-05,-1.12292265e-04,-1.02995167e-04,
  5.34104037e-05,-3.39816352e-04,-2.88048412e-04,-4.57511544e-05,
  2.28599318e-05,-1.69793621e-04,-1.12618284e-04,-6.73723475e-05,
  4.61968702e-02,-8.86621698e-04, 2.26427006e-02,-3.84866309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006315585536277868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31843241e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.31843241e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189566, -0.06197773,  0.06198466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.78329057e-05, 4.67726084e-05,-1.48218292e-05, 5.39469826e-05,
  3.72872876e-05, 3.35229134e-06, 1.44958379e-05,-1.79049095e-05,
  6.17844341e-06,-1.34600772e-05,-1.26253458e-05, 1.43705964e-06,
 -2.87676042e-04,-4.31810468e-05,-1.52670403e-04, 8.43835109e-05,
 -1.37042249e-05, 3.53069434e-06,-7.84792021e+00, 7.68443931e-04,
  9.19124547e-03,-6.29015775e-06]


--- Step 462 ---
qpos:
[ 7.17402964e-03, 4.02953828e-03,-3.62857468e-03,-2.58482035e-02,
  6.06154532e-03,-2.91114981e-03,-1.78447057e-02, 1.16545115e-02,
  1.56797385e-02, 2.34187375e-03,-8.97504784e-03, 2.40296126e-02,
  8.66665762e-01,-9.69242620e-03, 6.09881318e-01, 6.30384139e-02,
  9.49050031e-02,-7.01591614e-02, 1.21391060e-01, 9.99983417e-01,
  3.90961393e-04,-8.18053830e-04, 5.68707825e-03]

qacc:
[  0.1099317 ,  1.33311262, -5.5561528 , 10.63770534,  0.84509183,
  -2.54099818,  7.95255466, -6.85437863,  0.58374249,  2.44423003,
  -9.97669297, 17.20363216, -0.9930468 ,  1.34707996, -0.4709719 ,
  -0.38978311,  0.08219503,  1.81844341, -0.08952776,-31.01838399,
   2.1897447 ,  0.70499187]

qfrc_actuator:
[ 1.33859491e-05, 1.10272572e-05,-1.24971353e-04,-8.98897128e-05,
  5.71190864e-05,-3.53313732e-04,-2.42170990e-04,-3.80640378e-05,
  2.62216906e-05,-1.50642170e-04,-1.34818532e-04,-4.76880051e-05,
  4.60991171e-02,-8.98407742e-04, 2.26166944e-02,-3.86084730e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006285492858909836
  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([ 0.09496178, -0.09305779,  0.06198473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01688534e-07, 2.43741564e-05,-2.97365444e-06, 1.56481415e-05,
  4.77531783e-06,-9.39718150e-06, 4.77292675e-05, 7.98092607e-06,
  3.52841732e-06, 9.13409541e-06,-2.64676528e-05, 1.87042296e-05,
 -2.97825950e-04,-6.66415986e-05,-8.92371898e-05,-2.77662490e-05,
 -1.26690367e-05,-6.38651743e-06,-7.84785470e+00, 7.98093902e-04,
  9.19881123e-03,-7.80545532e-06]


--- Step 463 ---
qpos:
[ 7.17548940e-03, 4.02961653e-03,-3.62859175e-03,-2.58480011e-02,
  6.06203092e-03,-2.91086796e-03,-1.78437493e-02, 1.16556702e-02,
  1.56801341e-02, 2.34068684e-03,-8.97547973e-03, 2.40296253e-02,
  8.67665264e-01,-9.68990386e-03, 6.10689258e-01, 6.30397164e-02,
  9.49083963e-02,-7.01555822e-02, 1.21393106e-01, 9.99983388e-01,
  3.59300797e-04,-7.85781124e-04, 5.69879072e-03]

qacc:
[  9.2421158 , -0.24339013,  0.2712827 ,  2.03829691, -5.72515937,
   1.67487057, -8.83767572, 21.93983477,  0.32932982,  1.97695362,
 -10.81103993, 26.60958352, -1.41236775,  2.75223846, -0.50193659,
  -1.00652919,  0.08223412,  1.79852602, -0.20397547,-30.5871972 ,
   2.14698588,  0.71169545]

qfrc_actuator:
[ 6.73576616e-05, 1.02686269e-05,-1.14635903e-04,-8.22190149e-05,
  2.33273938e-05,-3.25768675e-04,-2.33275133e-04, 1.82016137e-06,
  2.80544112e-05,-1.38760345e-04,-1.29908442e-04,-2.38024656e-07,
  4.60045098e-02,-8.88581871e-04, 2.25453807e-02,-3.88643214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006270453032677925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.85281350e-14,  8.85281350e-14,  1.00000000e+00,  7.83723068e-27,
        1.00000000e+00, -8.85281350e-14, -1.00000000e+00,  0.00000000e+00,
       -8.85281350e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496191, -0.09305834,  0.06198477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.39997270e-05, 1.29273372e-05, 1.55465263e-05, 8.91644479e-06,
 -3.36607986e-05, 3.24779640e-05, 1.30981875e-05, 4.12853202e-05,
  1.93191369e-06, 1.23780970e-05, 4.20564689e-06, 4.72952507e-05,
 -3.05502012e-04,-4.96272208e-05,-1.21743607e-04,-4.01644142e-05,
 -4.03137956e-06,-5.66263637e-06,-7.84797303e+00, 8.07606221e-04,
  9.20836818e-03,-8.39266280e-06]


--- Step 464 ---
qpos:
[ 7.17723966e-03, 4.02975070e-03,-3.62845075e-03,-2.58480516e-02,
  6.06245260e-03,-2.91031045e-03,-1.78427022e-02, 1.16569403e-02,
  1.56808932e-02, 2.33990881e-03,-8.97601300e-03, 2.40301661e-02,
  8.68663068e-01,-9.68757668e-03, 6.11496024e-01, 6.30373514e-02,
  9.49121186e-02,-7.01448762e-02, 1.21393937e-01, 9.99983370e-01,
  2.67155884e-04,-7.49626934e-04, 5.71188669e-03]

qacc:
[  2.56110516, -0.89392573,  4.35052409, -9.00513491, -0.56109933,
   0.3409497 , -1.15543495,  2.73297803,  3.1889162 ,  1.9046592 ,
  -8.24743258, 17.25929471, -0.96588758,  1.18029189,  9.35594907,
 -35.21339615,  0.08229379,  1.78169928, -0.3038022 ,-30.23005493,
   2.11330591,  0.71477695]

qfrc_actuator:
[ 8.07746043e-05, 9.75710442e-06,-1.08555671e-04,-9.55420452e-05,
  2.10032684e-05,-3.09472628e-04,-2.28360335e-04, 7.07092651e-06,
  4.67259403e-05,-9.56819441e-05,-1.26783567e-04, 2.76784737e-05,
  4.59171872e-02,-9.01579991e-04, 2.24682526e-02,-4.07954810e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006235318808406332
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90269655e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.90269655e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496198, -0.09305952,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49538752e-05, 1.03213028e-05, 1.09684454e-05,-1.20611697e-05,
 -3.27673298e-06, 3.88962655e-05, 1.46496064e-05, 7.89525536e-06,
  1.87243985e-05, 5.29457821e-05, 7.85547396e-06, 2.95164951e-05,
 -3.00451493e-04,-7.19502832e-05,-1.42305038e-04,-2.12194651e-04,
  7.08659274e-06,-5.22593995e-06,-7.84796637e+00, 7.97597105e-04,
  9.21930470e-03,-7.86814438e-06]


--- Step 465 ---
qpos:
[ 7.17844782e-03, 4.02977043e-03,-3.62814586e-03,-2.58482395e-02,
  6.06284324e-03,-2.91003282e-03,-1.78410369e-02, 1.16579534e-02,
  1.56815253e-02, 2.33942593e-03,-8.97645090e-03, 2.40306926e-02,
  8.69659210e-01,-9.68597744e-03, 6.12301399e-01, 6.30335975e-02,
  9.49184493e-02,-7.01318330e-02, 1.21395653e-01, 9.99983358e-01,
  1.56011197e-04,-6.91605221e-04, 5.72548427e-03]

qacc:
[ -4.76486416, -0.88303472,  3.52306382, -6.09093785, -0.24773074,
  -2.62502005,  9.90977936,-15.14258385, -1.12028256,  0.0961998 ,
   0.28727582, -0.90913891, -0.3287799 , -1.07835918,  2.13312733,
 -10.46294545,  0.65207168,  0.58429043,  0.22125939, -9.43708922,
  10.98791152,  0.25498363]

qfrc_actuator:
[ 5.24450938e-05,-8.38965345e-06,-1.05058778e-04,-1.03363894e-04,
  1.94784685e-05,-3.53341289e-04,-2.08132134e-04,-8.10609940e-06,
  3.96544789e-05,-8.75216536e-05,-1.24634500e-04, 2.61425964e-05,
  4.58183127e-02,-9.45697897e-04, 2.24249503e-02,-4.13901328e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006189686387790153
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12104127e-13,  1.24937162e-06,  1.00000000e+00, -1.40059715e-19,
        1.00000000e+00, -1.24937162e-06, -1.00000000e+00,  0.00000000e+00,
        1.12104127e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08830752, -0.07723635,  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:
[-2.79016957e-05,-1.06328887e-05, 6.55670642e-06,-7.23677927e-06,
 -1.60576238e-06,-1.87903940e-05, 3.03185651e-05,-1.28560167e-05,
 -6.52545965e-06, 4.06976224e-05, 1.50888041e-05, 1.58041138e-06,
 -3.12814991e-04,-1.04637637e-04,-1.36809039e-04,-9.07096861e-05,
  2.07175488e-05,-5.04276372e-06,-7.84783944e+00, 7.68294719e-04,
  9.23160477e-03,-6.24347588e-06]


--- Step 466 ---
qpos:
[ 7.17930728e-03, 4.02955096e-03,-3.62748165e-03,-2.58478262e-02,
  6.06286768e-03,-2.90999111e-03,-1.78393641e-02, 1.16588144e-02,
  1.56820677e-02, 2.33923373e-03,-8.97658564e-03, 2.40315282e-02,
  8.70653550e-01,-9.68456862e-03, 6.13105070e-01, 6.30304431e-02,
  9.49294626e-02,-7.01214406e-02, 1.21397725e-01, 9.99983374e-01,
  6.79075590e-05,-5.94470899e-04, 5.73537260e-03]

qacc:
[-3.05361536,-0.07669379,-2.70762244,12.69003274,-3.20020383,-0.63925273,
  2.48004121,-4.96274784,-0.78329977, 0.17477038,-1.36821373, 6.01656476,
 -0.9430367 , 1.05166843,-4.30152185,11.44462482, 1.17067532,-0.662699  ,
  0.08873606,11.63101698,19.48973828,-1.8656954 ]

qfrc_actuator:
[ 3.52893921e-05,-1.92169419e-05,-8.54283016e-05,-7.23941656e-05,
  6.73335673e-07,-3.79605612e-04,-2.14784901e-04,-1.74633563e-05,
  3.52350331e-05,-6.48567770e-05,-1.05474493e-04, 4.27717179e-05,
  4.57285424e-02,-9.54618943e-04, 2.23593990e-02,-4.10134686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006180885680907716
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.49054991e-14, -8.98109981e-14,  1.00000000e+00, -4.03300769e-27,
        1.00000000e+00,  8.98109981e-14, -1.00000000e+00,  0.00000000e+00,
       -4.49054991e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08189043, -0.06197869,  0.06198499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79521784e-05,-1.57462190e-05, 1.79879862e-05, 3.06009534e-05,
 -1.88582553e-05,-3.10928502e-05,-7.26897498e-06,-9.36998851e-06,
 -4.59318029e-06, 4.86289399e-05, 2.94903794e-05, 1.89273147e-05,
 -3.17744071e-04,-7.54562633e-05,-1.42639985e-04, 1.39900038e-05,
  2.74052587e-05,-7.39679046e-06,-7.84774281e+00, 7.33125051e-04,
  9.25050822e-03,-4.27221206e-06]


--- Step 467 ---
qpos:
[ 7.17960913e-03, 4.02928413e-03,-3.62687718e-03,-2.58477315e-02,
  6.06266629e-03,-2.90987177e-03,-1.78378922e-02, 1.16591856e-02,
  1.56828976e-02, 2.33979813e-03,-8.97670755e-03, 2.40328612e-02,
  8.71646053e-01,-9.68296612e-03, 6.13907433e-01, 6.30253601e-02,
  9.49451161e-02,-7.01136791e-02, 1.21399783e-01, 9.99983411e-01,
  2.44928520e-06,-4.58475762e-04, 5.74179636e-03]

qacc:
[-4.90959174e+00,-5.41985522e-01, 3.19972962e+00,-8.59239192e+00,
 -1.98413859e+00,-3.40566195e-01, 3.43845036e+00,-1.16609972e+01,
  2.51635511e+00, 1.98341386e+00,-7.73012943e+00, 1.57721345e+01,
 -1.43211820e+00, 2.74569830e+00, 3.92925626e+00,-1.64677890e+01,
  1.16004437e+00,-6.57727286e-01,-3.19512284e-03, 1.14329041e+01,
  1.93650337e+01,-1.74036715e+00]

qfrc_actuator:
[ 7.10877333e-06,-2.54820017e-05,-9.18839180e-05,-8.98435659e-05,
 -1.03998106e-05,-3.59734068e-04,-2.19450143e-04,-4.10834916e-05,
  5.01727388e-05, 1.90251571e-06,-9.41064865e-05, 6.99821493e-05,
  4.56443072e-02,-9.42668220e-04, 2.22912280e-02,-4.20211344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000614933733657036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.51358807e-14,  9.02717613e-14,  1.00000000e+00,  4.07449545e-27,
        1.00000000e+00, -9.02717613e-14, -1.00000000e+00,  0.00000000e+00,
       -4.51358807e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188925, -0.06197878,  0.06198506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.86980566e-05,-1.00544092e-05,-6.44028528e-06,-1.69068437e-05,
 -1.16220955e-05, 5.51995210e-07,-1.23284759e-05,-2.53913464e-05,
  1.48216239e-05, 1.00862469e-04, 2.57029904e-05, 3.06823147e-05,
 -3.10183497e-04,-5.22903047e-05,-1.35524705e-04,-1.19175503e-04,
  2.26035575e-05,-7.84251093e-06,-7.84771938e+00, 7.05259933e-04,
  9.28117139e-03,-2.58750998e-06]


--- Step 468 ---
qpos:
[ 7.17957061e-03, 4.02918837e-03,-3.62673503e-03,-2.58478464e-02,
  6.06233355e-03,-2.90973040e-03,-1.78362436e-02, 1.16595964e-02,
  1.56835553e-02, 2.34066083e-03,-8.97647520e-03, 2.40341996e-02,
  8.72636703e-01,-9.68118566e-03, 6.14708401e-01, 6.30177354e-02,
  9.49653759e-02,-7.01085311e-02, 1.21401510e-01, 9.99983456e-01,
 -4.06882624e-05,-2.83821232e-04, 5.74495869e-03]

qacc:
[ -3.01372709,  1.09276752, -2.67375636, -0.35052722, -1.14420001,
  -0.38045348,  1.23515728, -0.8510849 , -1.50805575, -0.58191755,
   2.6293739 , -3.32805702, -1.43792159,  2.72935283,  5.64998028,
 -22.67859827,  1.15156527, -0.6533649 , -0.0829117 , 11.27041751,
  19.26529372, -1.63587684]

qfrc_actuator:
[-9.58577294e-06,-1.13532587e-05,-1.13715866e-04,-1.00159994e-04,
 -1.68276407e-05,-3.47905460e-04,-2.04964860e-04,-3.73574514e-05,
  4.08783868e-05,-1.19795264e-05,-8.72446161e-05, 6.77240746e-05,
  4.55474835e-02,-9.36254989e-04, 2.22215109e-02,-4.33039361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006103936306008362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.0943202e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.0943202e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818879 , -0.0619786 ,  0.06198517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75119634e-05, 6.44365301e-06,-2.52899024e-05,-1.12987939e-05,
 -6.75812664e-06, 8.47631923e-06, 1.21828670e-05, 2.82496677e-06,
 -8.83844634e-06, 4.91308993e-05, 3.19160791e-05, 3.54638025e-06,
 -3.13567889e-04,-5.38938821e-05,-1.49695957e-04,-1.53442504e-04,
  2.38939246e-05,-5.81890398e-06,-7.84762903e+00, 6.84499857e-04,
  9.32435254e-03,-1.15947654e-06]


--- Step 469 ---
qpos:
[ 7.18036671e-03, 4.02960229e-03,-3.62733614e-03,-2.58481084e-02,
  6.06192621e-03,-2.90945310e-03,-1.78347827e-02, 1.16604040e-02,
  1.56840971e-02, 2.34158815e-03,-8.97627078e-03, 2.40355583e-02,
  8.73625694e-01,-9.67967825e-03, 6.15507360e-01, 6.30070169e-02,
  9.49902158e-02,-7.01059816e-02, 1.21402629e-01, 9.99983493e-01,
 -6.17690806e-05,-7.06605461e-05, 5.74502979e-03]

qacc:
[  7.31439351,  2.43418927, -7.10432505,  5.39497067, -0.66082987,
   1.52178525, -6.83917798, 13.90622482, -1.02304566,  0.20746803,
  -0.69850924,  1.04497871, -0.83632544,  0.77179286,  6.38949328,
 -26.63288199,  1.14502953, -0.64962455, -0.1516884 , 11.13835153,
  19.18946381, -1.54791107]

qfrc_actuator:
[ 3.38750212e-05, 3.25649087e-05,-1.44347132e-04,-1.06178135e-04,
 -2.04724347e-05,-3.40878058e-04,-2.14791739e-04,-1.75573400e-05,
  3.51419047e-05,-3.85854432e-05,-1.01185625e-04, 6.58306730e-05,
  4.54698033e-02,-9.50978645e-04, 2.21029892e-02,-4.49154987e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006047950878327324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.58925282e-14, -9.17850564e-14,  1.00000000e+00,  4.21224829e-27,
        1.00000000e+00,  9.17850564e-14, -1.00000000e+00,  0.00000000e+00,
        4.58925282e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188641, -0.06197822,  0.06198531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.29673411e-05, 4.18102868e-05,-3.28052853e-05,-6.83621675e-06,
 -3.83552514e-06, 1.43769838e-05,-6.49921225e-06, 2.06352482e-05,
 -5.96864051e-06, 7.57515077e-06, 2.46775813e-07, 1.38049172e-06,
 -2.97044209e-04,-7.58622353e-05,-2.08262194e-04,-1.89912342e-04,
  3.09292885e-05,-1.66052671e-06,-7.84747342e+00, 6.70759894e-04,
  9.37996741e-03, 1.39476357e-08]


--- Step 470 ---
qpos:
[ 7.18133263e-03, 4.03004415e-03,-3.62789765e-03,-2.58480879e-02,
  6.06182308e-03,-2.90891323e-03,-1.78335129e-02, 1.16614264e-02,
  1.56845658e-02, 2.34261009e-03,-8.97619592e-03, 2.40365426e-02,
  8.74613048e-01,-9.67863966e-03, 6.16303726e-01, 6.29960896e-02,
  9.50196167e-02,-7.01060181e-02, 1.21402906e-01, 9.99983495e-01,
 -6.10051208e-05, 1.80898845e-04, 5.74215373e-03]

qacc:
[ 1.49571845, 0.50526513,-2.94302035, 7.74821405, 2.65175915, 1.31717407,
 -5.10893973, 8.94782077,-0.64815096,-0.28261429, 2.77275305,-9.12000491,
 -0.54402344,-0.19891977,-3.1921365 , 5.61482714, 1.1402483 ,-0.64650145,
 -0.21073521,11.03240449,19.13637636,-1.47303917]

qfrc_actuator:
[ 4.13796565e-05, 2.29391769e-05,-1.44286867e-04,-9.18433011e-05,
 -4.69897670e-06,-3.19101472e-04,-2.21159636e-04,-6.23844561e-06,
  3.15529409e-05,-3.72060620e-05,-1.09615243e-04, 4.63862456e-05,
  4.53823553e-02,-9.78004601e-04, 2.19925704e-02,-4.49333683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000598417480179525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39144877e-13,  9.27632515e-14,  1.00000000e+00,  1.29075313e-26,
        1.00000000e+00, -9.27632515e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39144877e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188483, -0.06197769,  0.06198546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.74054065e-06, 6.69109815e-06, 4.41950782e-06, 1.48562330e-05,
  1.56682973e-05, 2.93275549e-05,-3.50689821e-06, 1.21061055e-05,
 -3.75254588e-06, 5.68621890e-06,-6.80217267e-06,-1.90895986e-05,
 -2.99929198e-04,-8.75865736e-05,-2.28143565e-04,-3.94066207e-05,
  4.34932062e-05, 4.35681600e-06,-7.84725376e+00, 6.63970004e-04,
  9.44795148e-03, 9.34747090e-07]


--- Step 471 ---
qpos:
[ 7.18203681e-03, 4.02999162e-03,-3.62819571e-03,-2.58478435e-02,
  6.06259984e-03,-2.90844630e-03,-1.78321891e-02, 1.16626027e-02,
  1.56853329e-02, 2.34363283e-03,-8.97587579e-03, 2.40365816e-02,
  8.75598625e-01,-9.67785425e-03, 6.17097758e-01, 6.29887083e-02,
  9.50449063e-02,-7.01120601e-02, 1.21403478e-01, 9.99983437e-01,
 -9.42593673e-06, 3.95525574e-04, 5.74195937e-03]

qacc:
[ -2.2869757 , -0.92462607,  1.41302114,  2.39139584,  7.70269447,
   0.05468856, -1.01059185,  3.66947483,  2.6325253 , -2.63566997,
  13.38152987,-30.12485264, -0.78868291,  0.58904623,-14.12864385,
  44.46863597, -1.02781264, -1.50137739,  0.07371816, 25.30091204,
 -18.61199708,  1.34447006]

qfrc_actuator:
[ 2.76415510e-05,-3.62876729e-05,-1.44049860e-04,-8.34201550e-05,
  4.01290843e-05,-3.41914264e-04,-2.25373715e-04, 1.51101018e-08,
  4.70084798e-05,-3.68439798e-05,-9.68725810e-05,-9.54655576e-07,
  4.52837786e-02,-9.94354322e-04, 2.19350706e-02,-4.29463391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006022616222360749
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.91283686e-14,  1.26735342e-13,  1.00000000e+00, -8.76100747e-27,
        1.00000000e+00, -1.26735342e-13, -1.00000000e+00,  0.00000000e+00,
        6.91283686e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892274, -0.0517388 ,  0.06198537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.34891515e-05,-5.39457639e-05, 2.67720284e-06, 9.15149905e-06,
  4.52855760e-05,-6.64991373e-06, 1.80631890e-06, 7.61749223e-06,
  1.53554891e-05, 1.27879249e-06, 1.24044795e-05,-4.77084974e-05,
 -3.15043875e-04,-7.88317923e-05,-1.65770535e-04, 1.67346663e-04,
  6.14762411e-05, 1.19961575e-05,-7.84697082e+00, 6.64073421e-04,
  9.52825803e-03, 1.60483389e-06]


--- Step 472 ---
qpos:
[ 7.18326082e-03, 4.02958302e-03,-3.62847272e-03,-2.58478455e-02,
  6.06356340e-03,-2.90841208e-03,-1.78307090e-02, 1.16635394e-02,
  1.56855895e-02, 2.34450143e-03,-8.97533547e-03, 2.40360747e-02,
  8.76582325e-01,-9.67663934e-03, 6.17889963e-01, 6.29813889e-02,
  9.50661400e-02,-7.01240440e-02, 1.21403838e-01, 9.99983331e-01,
  9.21707743e-05, 5.73931294e-04, 5.74453849e-03]

qacc:
[  4.58248619, -1.04586885,  4.06812082, -8.08049367,  1.64678177,
  -1.50452469,  5.54104333, -9.61352809, -4.48296214, -1.93420524,
   8.92086751,-18.62324522, -1.65918046,  3.55851044, -2.8300014 ,
   6.09909694, -1.01399329, -1.48546907, -0.05299971, 24.90381089,
 -18.2538082 ,  1.39657045]

qfrc_actuator:
[ 5.47793197e-05,-5.37535027e-05,-1.43946499e-04,-9.63509195e-05,
  4.84346514e-05,-3.91250216e-04,-2.28464025e-04,-1.45482105e-05,
  2.02906912e-05,-5.47889481e-05,-8.95022023e-05,-2.88076282e-05,
  4.51998994e-02,-9.68821141e-04, 2.18348311e-02,-4.29885563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006058371101223953
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14533986e-14,  1.60347580e-13,  1.00000000e+00, -1.83652475e-27,
        1.00000000e+00, -1.60347580e-13, -1.00000000e+00,  0.00000000e+00,
        1.14533986e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892195, -0.05173967,  0.06198528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.67357544e-05,-4.66892825e-05,-1.03889722e-05,-1.49692374e-05,
  9.59666298e-06,-5.23743899e-05,-4.00320862e-06,-1.46460326e-05,
 -2.62760200e-05,-1.67451270e-05, 7.49600295e-06,-2.83010152e-05,
 -3.08432970e-04,-3.89484056e-05,-1.59098462e-04,-1.65646742e-05,
  4.60272945e-05,-9.98404279e-06,-7.84720755e+00, 6.81751796e-04,
  9.59665207e-03, 1.51632567e-06]


--- Step 473 ---
qpos:
[ 7.18411037e-03, 4.02895429e-03,-3.62855367e-03,-2.58476869e-02,
  6.06427432e-03,-2.90851015e-03,-1.78293590e-02, 1.16639306e-02,
  1.56844894e-02, 2.34504934e-03,-8.97461738e-03, 2.40352627e-02,
  8.77564358e-01,-9.67575119e-03, 6.18679812e-01, 6.29767541e-02,
  9.50831776e-02,-7.01386102e-02, 1.21405269e-01, 9.99983195e-01,
  2.15130405e-04, 7.16005464e-04, 5.74892963e-03]

qacc:
[ -3.28610657, -0.50189493,  0.70142255,  1.91263148, -2.21287219,
  -0.92943862,  5.37101126,-14.51462362,-11.92806488, -1.52556707,
   6.15320062,-11.52590765, -0.65639881,  0.23496173,-11.5681443 ,
  35.44830253, -1.04901602, -0.64560306,  0.26784513, 10.57640922,
 -18.22673987,  0.91388894]

qfrc_actuator:
[ 3.47552119e-05,-4.61032867e-05,-1.26033677e-04,-8.62081254e-05,
  3.51678560e-05,-3.85100581e-04,-2.31004029e-04,-4.12697776e-05,
 -4.87942276e-05,-8.35635094e-05,-8.54282244e-05,-4.49891424e-05,
  4.51142600e-02,-9.89750168e-04, 2.17356150e-02,-4.15647691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006070223166049113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03319037e-06, -5.16595262e-07,  1.00000000e+00, -5.33741252e-13,
        1.00000000e+00,  5.16595262e-07, -1.00000000e+00,  0.00000000e+00,
       -1.03319037e-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([ 0.108862  , -0.06247917,  0.06198526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92784440e-05,-2.12214055e-05, 6.47801932e-06, 7.49287066e-06,
 -1.30101263e-05,-2.46096919e-05,-1.43782032e-05,-2.93952616e-05,
 -6.98331968e-05,-3.78479559e-05, 5.45049637e-07,-1.71913932e-05,
 -2.98635314e-04,-7.97069359e-05,-1.76828609e-04, 1.20329737e-04,
  2.85123635e-05,-2.57374274e-05,-7.84731472e+00, 7.15097861e-04,
  9.65304471e-03, 1.86717491e-07]


--- Step 474 ---
qpos:
[ 7.18436843e-03, 4.02834318e-03,-3.62823773e-03,-2.58477989e-02,
  6.06482062e-03,-2.90852064e-03,-1.78281844e-02, 1.16639729e-02,
  1.56832596e-02, 2.34534601e-03,-8.97416411e-03, 2.40346306e-02,
  8.78544629e-01,-9.67477356e-03, 6.19467955e-01, 6.29724318e-02,
  9.50960069e-02,-7.01538046e-02, 1.21407913e-01, 9.99983047e-01,
  3.42892762e-04, 8.22175133e-04, 5.75433318e-03]

qacc:
[ -5.19462531, -1.63331036,  7.01305004,-12.35233583, -1.44787475,
  -0.1099076 ,  2.03833956, -7.86846972, -1.14488678,  0.78074828,
  -4.02137769,  7.73935424, -1.22219563,  2.10852306, -3.42694937,
   8.40623204, -1.05206521, -0.15701116,  0.30312898,  2.29775528,
 -17.9656416 ,  0.51181285]

qfrc_actuator:
[ 4.87296830e-06,-2.33769534e-05,-9.76186146e-05,-9.80348915e-05,
  2.70749878e-05,-3.63539572e-04,-2.32989926e-04,-5.71319625e-05,
 -5.34858261e-05,-1.00854993e-04,-1.01130360e-04,-3.64375341e-05,
  4.50276131e-02,-9.84714150e-04, 2.16584296e-02,-4.14181710e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000609265904342654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.97225924e-14,  1.36667301e-13,  1.00000000e+00, -1.08954715e-26,
        1.00000000e+00, -1.36667301e-13, -1.00000000e+00,  0.00000000e+00,
        7.97225924e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088289 , -0.06838666,  0.0619852 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.04357269e-05, 1.25321978e-05, 2.50968144e-05,-1.23635963e-05,
 -8.47135035e-06, 3.55228320e-06,-9.87253837e-06,-1.79895128e-05,
 -6.68580573e-06,-3.91347247e-05,-2.40591830e-05, 6.61563064e-06,
 -3.00374381e-04,-5.66533606e-05,-1.45954087e-04,-1.63944849e-06,
  1.27213913e-05,-2.82980892e-05,-7.84742633e+00, 7.54771389e-04,
  9.69781622e-03,-2.06123448e-06]


--- Step 475 ---
qpos:
[ 7.18461094e-03, 4.02804320e-03,-3.62769960e-03,-2.58484235e-02,
  6.06492057e-03,-2.90833191e-03,-1.78274110e-02, 1.16638254e-02,
  1.56830174e-02, 2.34552405e-03,-8.97401361e-03, 2.40347821e-02,
  8.79523063e-01,-9.67311153e-03, 6.20254999e-01, 6.29635874e-02,
  9.51046727e-02,-7.01696274e-02, 1.21411359e-01, 9.99982895e-01,
  4.75465798e-04, 8.92913541e-04, 5.76078290e-03]

qacc:
[ -0.13538392, -1.26529018,  7.26654733,-16.70865844, -3.92189635,
   1.0010722 , -2.37346831, -0.42894906,  8.68277028,  2.28560372,
 -11.71475744, 25.87930178, -2.01372625,  4.77908383, 12.09083001,
 -44.52173534, -1.04088524, -0.15712885,  0.20047085,  2.3029278 ,
 -17.72899008,  0.5311404 ]

qfrc_actuator:
[ 4.94793531e-06, 8.24535566e-06,-8.09340827e-05,-1.22676446e-04,
  4.34689858e-06,-3.50651318e-04,-2.52298718e-04,-6.64567711e-05,
 -2.47318289e-06,-9.34451784e-05,-1.10574054e-04, 4.34357647e-06,
  4.49457562e-02,-9.46632024e-04, 2.15838374e-02,-4.38001664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006091286246485972
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.55660340e-14,  1.25306593e-13,  1.00000000e+00, -5.70972450e-27,
        1.00000000e+00, -1.25306593e-13, -1.00000000e+00,  0.00000000e+00,
        4.55660340e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882903, -0.0683866 ,  0.06198521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.83953514e-07, 4.32915942e-05, 2.19406149e-05,-2.34753638e-05,
 -2.29677274e-05, 1.20481982e-05,-2.04271883e-05,-9.86671097e-06,
  5.08110076e-05,-1.91816960e-05,-2.02703717e-05, 3.84000653e-05,
 -2.92511089e-04,-2.13871161e-05,-1.45035938e-04,-2.57859603e-04,
  1.28830057e-06,-2.39003817e-05,-7.84755185e+00, 7.95667842e-04,
  9.73128335e-03,-4.62814869e-06]


--- Step 476 ---
qpos:
[ 7.18554233e-03, 4.02791355e-03,-3.62746241e-03,-2.58492839e-02,
  6.06474751e-03,-2.90824336e-03,-1.78270490e-02, 1.16636069e-02,
  1.56830427e-02, 2.34636315e-03,-8.97462243e-03, 2.40350059e-02,
  8.80499946e-01,-9.67192790e-03, 6.21040151e-01, 6.29585124e-02,
  9.51137519e-02,-7.01781666e-02, 1.21414483e-01, 9.99982749e-01,
  5.46068219e-04, 9.68512805e-04, 5.76757766e-03]

qacc:
[  6.05130685,  0.56887077, -0.72792328, -2.97276937, -2.40026569,
   0.87514097, -3.00465979,  2.49785666,  2.31984953,  3.14043292,
 -10.24310042, 12.23129566, -0.40666572, -0.50714061,-14.16599084,
  45.51489498,  0.10335351,  1.82090736, -0.08025529,-30.97093235,
   2.60896516,  0.14367628]

qfrc_actuator:
[ 4.04104963e-05,-8.35321662e-06,-1.06777186e-04,-1.36903968e-04,
 -9.06213230e-06,-3.78618652e-04,-2.81705284e-04,-7.18788578e-05,
  9.88618496e-06,-1.79888031e-05,-1.33871447e-04, 1.05288818e-05,
  4.48615177e-02,-9.78116091e-04, 2.15587398e-02,-4.16163270e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
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       0., 0.])
  dim: 3
  dist: -0.00061001337757563
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.54999458e-14,  9.09998916e-14,  1.00000000e+00,  4.14049014e-27,
        1.00000000e+00, -9.09998916e-14, -1.00000000e+00,  0.00000000e+00,
       -4.54999458e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496136, -0.09306468,  0.06198518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54560193e-05, 1.11411873e-05,-1.50133125e-05,-1.20710528e-05,
 -1.40597756e-05,-2.58956906e-05,-2.97858476e-05,-5.80562165e-06,
  1.37962060e-05, 6.21967421e-05,-2.84341603e-05, 5.40599513e-06,
 -2.83402687e-04,-8.54859553e-05,-1.25037425e-04, 1.84244769e-04,
 -7.85604674e-06,-1.81006376e-05,-7.84763359e+00, 8.37962478e-04,
  9.75342039e-03,-7.33961338e-06]


--- Step 477 ---
qpos:
[ 7.18723659e-03, 4.02784736e-03,-3.62778238e-03,-2.58499303e-02,
  6.06475984e-03,-2.90834119e-03,-1.78269724e-02, 1.16626375e-02,
  1.56828713e-02, 2.34804955e-03,-8.97565382e-03, 2.40345629e-02,
  8.81475034e-01,-9.67070627e-03, 6.21824364e-01, 6.29568951e-02,
  9.51232494e-02,-7.01795020e-02, 1.21416846e-01, 9.99982621e-01,
  5.55535091e-04, 1.04885337e-03, 5.77478688e-03]

qacc:
[  6.69655816,  2.06928985, -8.17878447, 12.74274177,  1.61599927,
  -0.9972627 ,  6.36379949,-18.76193944, -1.75969616,  0.93143508,
   1.12554863,-12.62241191, -1.13542457,  1.79714371,-11.78870139,
  39.30957882,  0.10457065,  1.80095318, -0.19053168,-30.55377924,
   2.54701835,  0.17627246]

qfrc_actuator:
[ 7.86547789e-05,-1.83626989e-05,-1.39950000e-04,-1.27202167e-04,
  8.78109800e-07,-3.95374365e-04,-2.99247240e-04,-1.10507338e-04,
 -6.21545747e-07, 4.43053782e-05,-1.47150765e-04,-2.13981853e-05,
  4.47599132e-02,-9.79440308e-04, 2.15527986e-02,-3.97757607e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006101012111839887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.81973581e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.81973581e-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([ 0.09496172, -0.09306487,  0.06198518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.92566289e-05,-7.38386764e-06,-3.31399184e-05, 9.42447107e-06,
  9.53096349e-06,-3.76494049e-05,-2.67650968e-05,-4.08817863e-05,
 -1.00910634e-05, 9.14143171e-05,-3.75063758e-06,-3.01419064e-05,
 -3.05795241e-04,-6.11977785e-05,-4.60917795e-05, 1.77442079e-04,
 -1.50869552e-06,-1.40650704e-05,-7.84782642e+00, 8.60603655e-04,
  9.77794747e-03,-8.79730579e-06]


--- Step 478 ---
qpos:
[ 7.18834132e-03, 4.02788454e-03,-3.62800694e-03,-2.58501605e-02,
  6.06523574e-03,-2.90833150e-03,-1.78272556e-02, 1.16608347e-02,
  1.56825761e-02, 2.34968593e-03,-8.97593395e-03, 2.40337747e-02,
  8.82448209e-01,-9.66912490e-03, 6.22608120e-01, 6.29528475e-02,
  9.51331696e-02,-7.01737015e-02, 1.21418059e-01, 9.99982511e-01,
  5.04563437e-04, 1.13384355e-03, 5.78245711e-03]

qacc:
[ -5.1878755 ,  0.73695338, -4.16428764, 11.1081364 ,  4.04306156,
  -0.57613486,  5.76580483,-19.68017495, -1.06508811, -2.87457968,
  11.61491579,-18.75835087, -1.69040124,  3.5115521 ,  6.71260963,
 -24.35332208,  0.10567978,  1.78397435, -0.28721388,-30.20555977,
   2.49938925,  0.19746599]

qfrc_actuator:
[ 4.72080294e-05, 1.11252812e-05,-1.23886140e-04,-1.03498382e-04,
  2.44787293e-05,-3.69771564e-04,-3.09631711e-04,-1.50598732e-04,
 -6.73957067e-06, 9.48842256e-06,-1.18946984e-04,-3.99771056e-05,
  4.46586184e-02,-9.62993666e-04, 2.14944240e-02,-4.11710673e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006081273506190338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56410579e-14,  2.73846347e-13,  1.00000000e+00,  1.24986370e-26,
        1.00000000e+00, -2.73846347e-13, -1.00000000e+00,  0.00000000e+00,
       -4.56410579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496196, -0.09306568,  0.06198523])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03327644e-05, 1.89336891e-05, 1.07862265e-05, 2.24250359e-05,
  2.38625607e-05,-2.72253827e-06,-2.28707982e-05,-4.34247220e-05,
 -6.36720437e-06, 1.41839775e-05, 4.55753505e-05,-1.53778985e-05,
 -3.15710607e-04,-4.49592203e-05,-6.72999983e-05,-1.37376988e-04,
  5.51112112e-06,-1.02056618e-05,-7.84789361e+00, 8.63741378e-04,
  9.80398869e-03,-9.14854024e-06]


--- Step 479 ---
qpos:
[ 7.18871632e-03, 4.02748899e-03,-3.62726651e-03,-2.58497517e-02,
  6.06599104e-03,-2.90846832e-03,-1.78273928e-02, 1.16595984e-02,
  1.56822100e-02, 2.35117000e-03,-8.97576906e-03, 2.40331503e-02,
  8.83419712e-01,-9.66798850e-03, 6.23389896e-01, 6.29490098e-02,
  9.51389385e-02,-7.01685315e-02, 1.21420309e-01, 9.99982425e-01,
  4.58675921e-04, 1.18300686e-03, 5.79133332e-03]

qacc:
[ -6.38527337, -1.94106067,  3.41814963,  6.38697616,  2.45235537,
   0.55964514, -4.67701632, 14.36668132, -0.6069883 , -1.10640942,
   2.9627593 , -0.72702134, -0.59866569, -0.05002785, -3.54963974,
   8.18638585, -1.03783746, -0.15760632,  0.25896371,  2.43775111,
 -17.92752231,  0.61482824]

qfrc_actuator:
[ 1.04991738e-05,-2.45167212e-05,-7.87099791e-05,-7.16810099e-05,
  3.81705910e-05,-3.72230908e-04,-2.97780630e-04,-1.20174493e-04,
 -1.02180231e-05,-1.20262940e-05,-1.02363431e-04,-3.28493531e-05,
  4.45735622e-02,-9.89479331e-04, 2.13779507e-02,-4.10898460e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006070414183869943
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14306762e-14,  6.85840573e-14,  1.00000000e+00, -7.83962153e-28,
        1.00000000e+00, -6.85840573e-14, -1.00000000e+00,  0.00000000e+00,
        1.14306762e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882927, -0.06838667,  0.06198526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75649689e-05,-2.18786509e-05, 5.11936371e-05, 3.34398901e-05,
  1.43753912e-05,-1.05511488e-05, 6.97489628e-06, 2.86746219e-05,
 -3.65085387e-06,-4.88509369e-06, 2.45807948e-05, 9.01222857e-06,
 -3.03497653e-04,-8.77927262e-05,-1.70761365e-04,-1.01252585e-05,
  1.34320529e-05,-6.53433546e-06,-7.84783986e+00, 8.47597640e-04,
  9.83152875e-03,-8.40435562e-06]


--- Step 480 ---
qpos:
[ 7.18899334e-03, 4.02654439e-03,-3.62609319e-03,-2.58492577e-02,
  6.06690479e-03,-2.90871971e-03,-1.78274302e-02, 1.16594255e-02,
  1.56821502e-02, 2.35249571e-03,-8.97590354e-03, 2.40326695e-02,
  8.84389480e-01,-9.66686049e-03, 6.24169959e-01, 6.29439013e-02,
  9.51405912e-02,-7.01639853e-02, 1.21423210e-01, 9.99982368e-01,
  4.17773205e-04, 1.19682348e-03, 5.80137774e-03]

qacc:
[ -0.83918937, -1.75864654,  4.85973448, -3.67296803,  1.39222   ,
   1.75591815,-10.97575132, 29.31220463,  2.68860293,  0.91766801,
  -4.19084592,  7.28015962, -1.13805091,  1.78595515,  1.33774612,
  -8.29042492, -1.02902736, -0.1559828 ,  0.16298562,  2.38930627,
 -17.68722493,  0.59506681]

qfrc_actuator:
[ 6.51433938e-06,-8.09893263e-05,-7.02320813e-05,-7.08901706e-05,
  4.59159495e-05,-3.73563883e-04,-2.90702763e-04,-6.62601085e-05,
  5.63650018e-06,-4.31899931e-05,-1.28251519e-04,-2.84213033e-05,
  4.44929703e-02,-9.87805679e-04, 2.12960071e-02,-4.17371284e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006063059911925461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.03000871e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.03000871e-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([ 0.10882931, -0.06838672,  0.06198528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.06242721e-06,-5.67111120e-05, 1.14166310e-05, 2.27593173e-06,
  8.15090321e-06,-4.54939598e-06, 6.75544540e-06, 5.42645073e-05,
  1.57524749e-05,-2.84884578e-05,-2.35758030e-05, 5.24241820e-06,
 -2.98967926e-04,-6.22207143e-05,-1.63418246e-04,-8.77452598e-05,
  9.03790776e-06,-5.01313550e-06,-7.84792603e+00, 8.32937048e-04,
  9.84733454e-03,-7.35069564e-06]


--- Step 481 ---
qpos:
[ 7.18887478e-03, 4.02564870e-03,-3.62527061e-03,-2.58494703e-02,
  6.06721453e-03,-2.90901882e-03,-1.78273880e-02, 1.16598927e-02,
  1.56822811e-02, 2.35345544e-03,-8.97655639e-03, 2.40329793e-02,
  8.85357434e-01,-9.66537851e-03, 6.24948258e-01, 6.29383214e-02,
  9.51381577e-02,-7.01600573e-02, 1.21426428e-01, 9.99982343e-01,
  3.81771443e-04, 1.17568857e-03, 5.81255802e-03]

qacc:
[ -3.49440423, -0.4034611 ,  4.52143791,-16.22610327, -5.28178523,
   1.04193098, -6.4915873 , 17.45902507,  1.66886743,  2.58951753,
 -13.27875098, 28.06636185, -1.55269474,  3.20397531, -1.13277737,
   0.28555201, -1.02156357, -0.15452235,  0.07912815,  2.34836371,
 -17.48945001,  0.57805995]

qfrc_actuator:
[-1.36812236e-05,-6.09077277e-05,-8.36270436e-05,-1.06169743e-04,
  1.45973375e-05,-3.74194365e-04,-2.86500894e-04,-3.44803639e-05,
  1.49893654e-05,-8.00761156e-05,-1.61303596e-04, 9.84698142e-06,
  4.44044715e-02,-9.69495021e-04, 2.12241770e-02,-4.19199119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006039256922564656
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29792969e-14,  3.44689454e-14,  1.00000000e+00,  7.92072131e-28,
        1.00000000e+00, -3.44689454e-14, -1.00000000e+00,  0.00000000e+00,
       -2.29792969e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882967, -0.06838672,  0.06198533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03580006e-05,-9.15874989e-06,-2.36272626e-05,-3.72701285e-05,
 -3.10898617e-05, 5.58879238e-07, 5.97567920e-06, 3.28754013e-05,
  9.79515881e-06,-5.75023610e-05,-4.16728000e-05, 3.63314494e-05,
 -2.99185619e-04,-4.18624596e-05,-1.59383572e-04,-4.48630036e-05,
  6.97640777e-06,-1.79843798e-06,-7.84796928e+00, 8.19715447e-04,
  9.85183996e-03,-6.45128686e-06]


--- Step 482 ---
qpos:
[ 7.18851483e-03, 4.02512093e-03,-3.62485673e-03,-2.58494509e-02,
  6.06680147e-03,-2.90908357e-03,-1.78276647e-02, 1.16603832e-02,
  1.56821783e-02, 2.35415760e-03,-8.97765576e-03, 2.40337266e-02,
  8.86323724e-01,-9.66399480e-03, 6.25724495e-01, 6.29338693e-02,
  9.51316626e-02,-7.01567421e-02, 1.21429672e-01, 9.99982347e-01,
  3.50600031e-04, 1.11992250e-03, 5.82484621e-03]

qacc:
[-2.14397126e+00, 2.11081980e+00,-7.78890340e+00, 1.21694341e+01,
 -6.33900621e+00, 1.26115627e+00,-4.12473447e+00, 4.84333040e+00,
 -2.06677885e+00, 1.81228671e+00,-8.79607611e+00, 1.72640672e+01,
 -9.38205873e-01, 1.21417077e+00,-6.42291332e+00, 1.81028058e+01,
 -1.01540103e+00,-1.53227209e-01, 6.31088486e-03, 2.31382813e+00,
 -1.73291224e+01, 5.63316459e-01]

qfrc_actuator:
[-2.55137893e-05,-1.30245811e-05,-9.17826040e-05,-9.13231429e-05,
 -2.17079548e-05,-3.56671750e-04,-3.01797133e-04,-3.37360668e-05,
  2.68163830e-06,-8.46194630e-05,-1.80562677e-04, 3.22096564e-05,
  4.43219496e-02,-9.77066437e-04, 2.11371780e-02,-4.12943292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006002476418662112
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.93603115e-14,  1.15600519e-14,  1.00000000e+00,  8.01808802e-28,
        1.00000000e+00, -1.15600519e-14, -1.00000000e+00,  0.00000000e+00,
       -6.93603115e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088303 , -0.06838666,  0.06198542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24094266e-05, 3.63022901e-05,-1.42439832e-05, 1.29128432e-05,
 -3.71949391e-05, 2.04765965e-05,-1.33037786e-05, 1.61569935e-06,
 -1.20469102e-05,-4.37741666e-05,-3.50173367e-05, 1.91618248e-05,
 -2.89553420e-04,-6.55196491e-05,-1.67955916e-04, 3.88794362e-05,
  7.17888952e-06, 3.02432418e-06,-7.84797128e+00, 8.07911239e-04,
  9.84517228e-03,-5.70309270e-06]


--- Step 483 ---
qpos:
[ 7.18836061e-03, 4.02504810e-03,-3.62494191e-03,-2.58489145e-02,
  6.06630095e-03,-2.90870917e-03,-1.78285026e-02, 1.16605240e-02,
  1.56822739e-02, 2.35430988e-03,-8.97854054e-03, 2.40336918e-02,
  8.87288346e-01,-9.66268238e-03, 6.26499211e-01, 6.29294151e-02,
  9.51211256e-02,-7.01540354e-02, 1.21432689e-01, 9.99982375e-01,
  3.24199748e-04, 1.02977943e-03, 5.83821805e-03]

qacc:
[  1.78763149,  3.05799193,-12.2128633 , 21.61500021, -0.79065175,
   1.42947789, -2.77588744, -2.70556551,  1.76272563, -2.94021914,
  12.72568257,-26.19494424, -1.004754  ,  1.41080797, -2.21385   ,
   4.53780649, -1.01048002, -0.15209524, -0.05654   ,  2.28479082,
 -17.20191264,  0.55043754]

qfrc_actuator:
[-1.45718805e-05, 1.56956676e-05,-1.14348905e-04,-6.48094833e-05,
 -2.51395962e-05,-3.28520263e-04,-3.28425380e-04,-5.12523095e-05,
  1.32310605e-05,-1.22977048e-04,-1.73657842e-04,-8.19207783e-06,
  4.42377399e-02,-9.82103801e-04, 2.10784486e-02,-4.12629908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005955717898596113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16508102e-13, -1.16508102e-13,  1.00000000e+00, -1.35741379e-26,
        1.00000000e+00,  1.16508102e-13, -1.00000000e+00,  0.00000000e+00,
       -1.16508102e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883112, -0.06838657,  0.06198554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06034121e-05, 4.66422889e-05,-1.63737108e-05, 2.78276088e-05,
 -4.48667934e-06, 3.69147586e-05,-2.39773239e-05,-1.70665537e-05,
  1.01937446e-05,-6.92673125e-05,-5.78409657e-06,-4.31166731e-05,
 -2.89043060e-04,-6.40117467e-05,-1.33334794e-04,-1.67589597e-05,
  9.57949756e-06, 9.38807030e-06,-7.84793330e+00, 7.97505773e-04,
  9.82743457e-03,-5.10359907e-06]


--- Step 484 ---
qpos:
[ 7.18902842e-03, 4.02559993e-03,-3.62564918e-03,-2.58487686e-02,
  6.06576290e-03,-2.90807613e-03,-1.78293490e-02, 1.16604384e-02,
  1.56828402e-02, 2.35379545e-03,-8.97929134e-03, 2.40335396e-02,
  8.88251156e-01,-9.66105723e-03, 6.27271356e-01, 6.29287847e-02,
  9.51065616e-02,-7.01519331e-02, 1.21435264e-01, 9.99982417e-01,
  3.02521201e-04, 9.05454735e-04, 5.85265225e-03]

qacc:
[  7.2053301 ,  1.74621146, -3.40539441, -2.79002812, -0.3331796 ,
  -0.09993998,  1.8089858 , -5.90404651,  4.15723583, -1.50548482,
   4.57103039, -6.31119027, -1.39989525,  2.75483853,-15.28848926,
  48.08214116, -1.0067332 , -0.15112147, -0.11046029,  2.26049736,
 -17.1041299 ,  0.53909906]

qfrc_actuator:
[ 2.74367793e-05, 5.04366218e-05,-1.45307810e-04,-8.49314010e-05,
 -2.69458966e-05,-3.12042622e-04,-3.25977830e-04,-6.16085238e-05,
  3.71559667e-05,-1.63475219e-04,-1.69289773e-04,-1.41972469e-05,
  4.41419261e-02,-9.67855785e-04, 2.09621455e-02,-3.92735682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005901554825739758
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.40619089e-14,  1.29335125e-13,  1.00000000e+00, -1.21655087e-26,
        1.00000000e+00, -1.29335125e-13, -1.00000000e+00,  0.00000000e+00,
        9.40619089e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883209, -0.06838645,  0.06198567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.23258129e-05, 5.86394274e-05,-2.23787830e-05,-1.81505132e-05,
 -1.91992371e-06, 3.14307254e-05, 6.53332682e-06,-9.93543063e-06,
  2.41919397e-05,-8.22666465e-05,-1.21360839e-05,-1.00115189e-05,
 -2.99892267e-04,-4.45669194e-05,-1.83279315e-04, 1.79912527e-04,
  1.41132172e-05, 1.72398989e-05,-7.84785626e+00, 7.88482991e-04,
  9.79870841e-03,-4.65073565e-06]


--- Step 485 ---
qpos:
[ 7.18950488e-03, 4.02637377e-03,-3.62633481e-03,-2.58485124e-02,
  6.06555233e-03,-2.90733267e-03,-1.78298671e-02, 1.16609154e-02,
  1.56829988e-02, 2.35283980e-03,-8.98011511e-03, 2.40339924e-02,
  8.89212048e-01,-9.65860399e-03, 6.28041608e-01, 6.29275017e-02,
  9.50879813e-02,-7.01504320e-02, 1.21437213e-01, 9.99982463e-01,
  2.85523541e-04, 7.47091271e-04, 5.86813002e-03]

qacc:
[ -1.68744973,  0.46363655, -1.68660265,  3.39050652,  2.87437661,
   0.38116002, -3.53221058, 12.67319808, -3.58217285,  0.87352014,
  -6.5035571 , 17.40472163, -2.1225704 ,  5.10660756, -0.75195846,
  -1.26933183, -1.00409036, -0.15029924, -0.15642942,  2.24032052,
 -17.03262734,  0.52903727]

qfrc_actuator:
[ 1.63763689e-05, 5.29330338e-05,-1.45474356e-04,-7.90758633e-05,
 -1.00393134e-05,-3.02564433e-04,-3.06413101e-04,-3.21469963e-05,
  1.54967344e-05,-1.69415700e-04,-1.66449006e-04, 1.78362573e-05,
  4.40498746e-02,-9.24639415e-04, 2.08540536e-02,-3.96980732e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005842178330710407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.75089496e-14,  3.56317122e-14,  1.00000000e+00,  1.69282522e-27,
        1.00000000e+00, -3.56317122e-14, -1.00000000e+00,  0.00000000e+00,
       -4.75089496e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883318, -0.0683863 ,  0.06198581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.83720781e-06, 2.98885460e-05, 8.56011373e-06, 7.23700385e-06,
  1.68628497e-05, 2.79642877e-05, 2.65205363e-05, 3.08417928e-05,
 -2.10021589e-05,-5.48424482e-05,-1.59790752e-05, 2.78955279e-05,
 -2.99859043e-04,-1.53718642e-05,-1.72595872e-04,-5.61170927e-05,
  2.07140641e-05, 2.65378600e-05,-7.84774081e+00, 7.80829122e-04,
  9.75905636e-03,-4.34281150e-06]


--- Step 486 ---
qpos:
[ 7.18777596e-03, 4.02690091e-03,-3.62651399e-03,-2.58481612e-02,
  6.06520135e-03,-2.90676488e-03,-1.78299836e-02, 1.16617735e-02,
  1.56828964e-02, 2.35176453e-03,-8.98050637e-03, 2.40347479e-02,
  8.90171058e-01,-9.65530541e-03, 6.28811018e-01, 6.29238307e-02,
  9.50653911e-02,-7.01495294e-02, 1.21438381e-01, 9.99982494e-01,
  2.73173383e-04, 5.54784742e-04, 5.88463463e-03]

qacc:
[-19.39254686, -1.50834516,  4.56860483, -3.62098482, -1.2129159 ,
  -0.56724307,  0.08110026,  5.996599  , -2.281052  , -0.73931338,
   1.13634543,  3.49072899, -2.17441475,  5.27614841,  6.0366096 ,
 -22.76685879, -1.00248153, -0.14962091, -0.19536093,  2.22373788,
 -16.9847194 ,  0.52003709]

qfrc_actuator:
[-9.68514403e-05, 1.84828749e-05,-1.27560382e-04,-7.57312637e-05,
 -1.77602516e-05,-3.32746427e-04,-2.94663952e-04,-1.49983920e-05,
  2.68238843e-06,-1.36827723e-04,-1.28865993e-04, 3.65121606e-05,
  4.39601552e-02,-8.82435106e-04, 2.08414585e-02,-4.08313603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005779438280894417
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.60185207e-14,  1.68086430e-13,  1.00000000e+00, -6.05422454e-27,
        1.00000000e+00, -1.68086430e-13, -1.00000000e+00,  0.00000000e+00,
        3.60185207e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883434, -0.06838615,  0.06198596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.13499220e-04,-1.56842677e-05, 2.53900259e-05, 5.06101709e-06,
 -7.23176461e-06,-7.76122417e-06, 2.18550841e-05, 1.98626086e-05,
 -1.34344681e-05,-1.49134552e-07, 2.52723888e-05, 1.63195292e-05,
 -2.92282128e-04,-1.30057277e-05,-1.00281428e-04,-1.39198840e-04,
  2.93134144e-05, 3.72484476e-05,-7.84758735e+00, 7.74532413e-04,
  9.70852393e-03,-4.17846219e-06]


--- Step 487 ---
qpos:
[ 7.18539336e-03, 4.02717034e-03,-3.62640958e-03,-2.58477551e-02,
  6.06441607e-03,-2.90667607e-03,-1.78297138e-02, 1.16621808e-02,
  1.56826407e-02, 2.35088837e-03,-8.98085416e-03, 2.40353608e-02,
  8.91128320e-01,-9.65178046e-03, 6.29579482e-01, 6.29233210e-02,
  9.50431500e-02,-7.01415430e-02, 1.21437979e-01, 9.99982502e-01,
  2.01107056e-04, 3.67575823e-04, 5.90088640e-03]

qacc:
[ -5.74057756, -1.00929328,  2.89201749, -2.22678149, -3.78038159,
  -2.63218989, 10.38320444,-18.4639642 , -1.35084264, -0.14926991,
   1.52073763, -4.20978128, -1.31169213,  2.46531531,-10.89551593,
  36.18913165,  0.08729553,  1.77096774, -0.39253766,-29.84248993,
   2.72443637, -0.14361583]

qfrc_actuator:
[-1.27268067e-04,-2.25005834e-06,-1.17044205e-04,-7.39220105e-05,
 -3.99208036e-05,-3.86482594e-04,-2.87808785e-04,-4.07863303e-05,
 -4.80863494e-06,-1.16773059e-04,-1.24171813e-04, 2.94812643e-05,
  4.38665749e-02,-8.76691787e-04, 2.08595060e-02,-3.89969515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000573837968583929
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83683150e-14,  1.93473260e-13,  1.00000000e+00,  9.35797558e-27,
        1.00000000e+00, -1.93473260e-13, -1.00000000e+00,  0.00000000e+00,
       -4.83683150e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949675 , -0.0930785 ,  0.06198606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36484749e-05,-2.40946197e-05, 1.05801284e-05, 2.11803757e-06,
 -2.23715798e-05,-5.27346378e-05, 8.62477757e-06,-2.49802488e-05,
 -7.87811450e-06, 2.59278143e-05, 8.35679026e-06,-5.84309737e-06,
 -2.90345458e-04,-4.79639997e-05,-4.98260392e-05, 1.61267733e-04,
  3.98384517e-05, 4.93446391e-05,-7.84739609e+00, 7.69582898e-04,
  9.64714140e-03,-4.15660634e-06]


--- Step 488 ---
qpos:
[ 7.18438827e-03, 4.02753365e-03,-3.62631067e-03,-2.58473557e-02,
  6.06406083e-03,-2.90669306e-03,-1.78297600e-02, 1.16622776e-02,
  1.56822972e-02, 2.34999657e-03,-8.98077192e-03, 2.40358855e-02,
  8.92083989e-01,-9.64851397e-03, 6.30347215e-01, 6.29236644e-02,
  9.50212567e-02,-7.01265150e-02, 1.21435757e-01, 9.99982473e-01,
  6.97154812e-05, 1.85177978e-04, 5.91722472e-03]

qacc:
[ 12.12369172,  0.10210364, -0.19701008,  0.06608177,  3.75483491,
   0.09638936,  0.7520147 , -5.53069758, -0.75930564, -1.40270435,
   5.34638606, -7.55158153, -0.75521954,  0.60855598, -3.63569801,
  11.1918738 ,  0.08693313,  1.76037121, -0.45497122,-29.64792293,
   2.58054567,  0.03199872]

qfrc_actuator:
[-5.54096381e-05, 2.08622932e-05,-1.10946410e-04,-7.30317753e-05,
 -1.71371831e-05,-3.82967167e-04,-3.01788066e-04,-5.61516307e-05,
 -9.10901219e-06,-1.22261899e-04,-1.03489639e-04, 2.51031194e-05,
  4.37867114e-02,-8.92544231e-04, 2.08160920e-02,-3.86233410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
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       0., 0.])
  dim: 3
  dist: -0.0005709987920953646
  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([ 0.09496827, -0.09307974,  0.06198613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.08927930e-05, 1.18986142e-05, 2.49602086e-06, 2.65880613e-07,
  2.21267578e-05,-2.52775998e-05,-2.46778680e-05,-1.78134569e-05,
 -4.51825527e-06, 1.05168388e-05, 2.68780742e-05,-3.08994457e-06,
 -2.81214660e-04,-7.35130758e-05,-5.56760138e-05, 3.81760386e-05,
  5.42982794e-05, 3.61929183e-05,-7.84734461e+00, 7.46554995e-04,
  9.58835071e-03,-2.33876182e-06]


--- Step 489 ---
qpos:
[ 7.18390663e-03, 4.02832889e-03,-3.62653437e-03,-2.58480068e-02,
  6.06329112e-03,-2.90648889e-03,-1.78301828e-02, 1.16624964e-02,
  1.56819046e-02, 2.34903445e-03,-8.98010512e-03, 2.40363500e-02,
  8.93038118e-01,-9.64574955e-03, 6.31113301e-01, 6.29242859e-02,
  9.49997078e-02,-7.01044795e-02, 1.21431497e-01, 9.99982387e-01,
 -1.20693987e-04, 7.35252910e-06, 5.93393365e-03]

qacc:
[  4.58948784, -0.6996267 ,  7.7322228 ,-25.67523377, -3.64239384,
   1.60268413, -5.79393155,  8.33348786, -0.41130461, -1.85000634,
   6.71727992, -8.64441391, -0.46284158, -0.37303024, -3.26779184,
   7.90543952,  0.08612508,  1.75188478, -0.50947838,-29.49493438,
   2.46078727,  0.17985205]

qfrc_actuator:
[-3.04716787e-05, 5.22806948e-05,-1.25076624e-04,-1.25911309e-04,
 -3.90881966e-05,-3.45282377e-04,-3.09967576e-04,-4.74705478e-05,
 -1.14991087e-05,-1.25189095e-04,-7.36186221e-05, 2.23192797e-05,
  4.37044751e-02,-9.20959850e-04, 2.07038609e-02,-3.85831927e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005672257485269255
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.93592902e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.93592902e-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([ 0.09496885, -0.09308125,  0.06198622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.69541622e-05, 3.86116831e-05,-1.13642034e-05,-5.22831888e-05,
 -2.13259400e-05, 1.76978063e-05,-1.70574226e-05, 6.39626175e-06,
 -2.51838727e-06, 8.40101572e-06, 3.52552425e-05,-1.46250791e-06,
 -2.82275724e-04,-8.73790740e-05,-1.41121992e-04,-2.84612898e-06,
  6.89738622e-05, 2.44591099e-05,-7.84717626e+00, 7.04532737e-04,
  9.53108627e-03, 5.48404836e-07]


--- Step 490 ---
qpos:
[ 7.18303845e-03, 4.02930384e-03,-3.62688176e-03,-2.58489224e-02,
  6.06191954e-03,-2.90611037e-03,-1.78304782e-02, 1.16631329e-02,
  1.56818311e-02, 2.34844074e-03,-8.97954304e-03, 2.40371139e-02,
  8.93990702e-01,-9.64390010e-03, 6.31876903e-01, 6.29263936e-02,
  9.49741256e-02,-7.00883719e-02, 1.21426988e-01, 9.99982227e-01,
 -2.61124552e-04,-2.07432258e-04, 5.95263734e-03]

qacc:
[-3.40955587e+00, 4.53012012e-02, 1.30891964e+00,-5.82808047e+00,
 -5.26548470e+00, 7.44094730e-01,-4.06436372e+00, 1.09411969e+01,
  2.79781258e+00, 1.39073422e+00,-5.52628693e+00, 1.06162355e+01,
  9.90962804e-03,-2.03306212e+00,-8.16793294e+00, 2.32116103e+01,
 -1.00835392e+00,-1.48196105e+00,-6.21967302e-02, 2.48793431e+01,
 -1.86277499e+01, 9.95525391e-01]

qfrc_actuator:
[-5.11355798e-05, 5.28018474e-05,-1.33271716e-04,-1.38995679e-04,
 -6.94548732e-05,-3.22885867e-04,-2.96727507e-04,-2.46700361e-05,
  5.00585209e-06,-9.10131126e-05,-7.40660999e-05, 3.82520074e-05,
  4.36102164e-02,-9.74319018e-04, 2.05717516e-02,-3.78531531e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005709718710188577
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72222172e-14, -1.94444434e-13,  1.00000000e+00, -1.89043190e-26,
        1.00000000e+00,  1.94444434e-13, -1.00000000e+00,  0.00000000e+00,
       -9.72222172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10892131, -0.05173185,  0.06198613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98844030e-05, 1.75128705e-05,-3.43421365e-06,-1.28430791e-05,
 -3.09693563e-05, 2.90335091e-05, 1.50185913e-05, 2.30939478e-05,
  1.64327063e-05, 4.61175666e-05, 5.58182340e-06, 1.74838155e-05,
 -2.97955256e-04,-1.14025869e-04,-2.00551776e-04, 5.38679991e-05,
  8.45865770e-05, 1.39902380e-05,-7.84689313e+00, 6.43627824e-04,
  9.47532016e-03, 4.50295895e-06]


--- Step 491 ---
qpos:
[ 7.18261964e-03, 4.03026224e-03,-3.62700625e-03,-2.58492958e-02,
  6.06122923e-03,-2.90551339e-03,-1.78311680e-02, 1.16637225e-02,
  1.56823009e-02, 2.34829255e-03,-8.97931740e-03, 2.40380687e-02,
  8.94941643e-01,-9.64267234e-03, 6.32638652e-01, 6.29266128e-02,
  9.49534518e-02,-7.00749954e-02, 1.21424798e-01, 9.99982050e-01,
 -3.77156313e-04,-3.80364791e-04, 5.96759569e-03]

qacc:
[  3.96305198,  0.46366188, -3.98193006, 13.02270836,  5.94543502,
   1.2822522 , -3.97609557,  3.65875531,  4.76244   ,  1.91286878,
  -6.78821951, 10.31946092, -0.45244588, -0.59597787,  2.96656106,
 -14.35560534,  1.227103  , -0.68279709,  0.57962792, 12.32336079,
  20.85362447, -1.86964429]

qfrc_actuator:
[-2.74494710e-05, 5.26167245e-05,-1.20222964e-04,-1.10816112e-04,
 -3.35072370e-05,-3.27456606e-04,-3.24247016e-04,-2.92474846e-05,
  3.24994522e-05,-7.04910824e-05,-9.22492145e-05, 4.73263798e-05,
  4.35247772e-02,-1.00652531e-03, 2.04757821e-02,-3.88526881e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005809464844575146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.77764757e-14,  4.77764757e-14,  1.00000000e+00,  2.28259163e-27,
        1.00000000e+00, -4.77764757e-14, -1.00000000e+00,  0.00000000e+00,
       -4.77764757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818787 , -0.06198737,  0.06198589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.31255888e-05, 8.31534402e-06, 1.57950494e-05, 2.85622185e-05,
  3.50714120e-05, 1.57338094e-05,-1.88744936e-05,-2.36450061e-06,
  2.79744480e-05, 4.82322541e-05,-7.36646111e-06, 1.15817754e-05,
 -3.04710968e-04,-9.88676124e-05,-1.82001765e-04,-1.22775589e-04,
  8.88230736e-05, 3.59230089e-05,-7.84692664e+00, 5.97427760e-04,
  9.40684508e-03, 6.77137199e-06]


--- Step 492 ---
qpos:
[ 7.18283278e-03, 4.03107322e-03,-3.62688837e-03,-2.58493133e-02,
  6.06063026e-03,-2.90506090e-03,-1.78322807e-02, 1.16639573e-02,
  1.56827519e-02, 2.34835343e-03,-8.97917953e-03, 2.40384477e-02,
  8.95890813e-01,-9.64151231e-03, 6.33399012e-01, 6.29225225e-02,
  9.49376137e-02,-7.00643220e-02, 1.21424365e-01, 9.99981884e-01,
 -4.69406382e-04,-5.12144197e-04, 5.97905713e-03]

qacc:
[  5.57323244, -0.15017834, -1.26590263,  7.16116294,  0.78832785,
   0.25901298,  0.2948885 , -5.65103803, -0.17216165, -0.66354963,
   5.19885204,-15.17954306, -1.18039223,  1.78204079, 10.98430099,
 -41.35371216,  1.20895396, -0.6757601 ,  0.43935942, 12.01276173,
  20.50589662, -1.74522256]

qfrc_actuator:
[ 4.41274054e-06, 3.43795953e-05,-1.12477662e-04,-9.40842346e-05,
 -2.98239194e-05,-3.66074182e-04,-3.57998866e-04,-4.99543957e-05,
  3.07291202e-05,-7.61385322e-05,-1.03047478e-04, 1.67692632e-05,
  4.34393687e-02,-1.00821454e-03, 2.04068548e-02,-4.10396921e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005895905427398956
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41228057e-13,  4.70760190e-14,  1.00000000e+00,  6.64845471e-27,
        1.00000000e+00, -4.70760190e-14, -1.00000000e+00,  0.00000000e+00,
       -1.41228057e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187992, -0.06198891,  0.06198568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.25172641e-05,-9.12490098e-06, 1.23865903e-05, 1.81886120e-05,
  4.69165137e-06,-3.38218417e-05,-3.29105879e-05,-2.07344796e-05,
 -9.58964313e-07, 2.03108651e-05,-1.34548071e-06,-2.85230261e-05,
 -3.06451179e-04,-6.78739141e-05,-1.68013231e-04,-2.49423894e-04,
  5.79007866e-05, 2.26413396e-05,-7.84729309e+00, 5.61129538e-04,
  9.35115119e-03, 8.05041390e-06]


--- Step 493 ---
qpos:
[ 7.18308135e-03, 4.03172648e-03,-3.62665367e-03,-2.58487744e-02,
  6.06008046e-03,-2.90489579e-03,-1.78331766e-02, 1.16639168e-02,
  1.56828332e-02, 2.34893874e-03,-8.97936033e-03, 2.40391238e-02,
  8.96838126e-01,-9.64004088e-03, 6.34157678e-01, 6.29157678e-02,
  9.49265473e-02,-7.00563253e-02, 1.21425186e-01, 9.99981749e-01,
 -5.38393189e-04,-6.03376666e-04, 5.98722203e-03]

qacc:
[  0.31847901,  0.61021164, -4.82285796, 14.37061303,  0.44172458,
  -1.55324458,  6.14869192,-11.04909543, -3.27177769,  2.20184281,
  -8.0884333 , 13.34164663, -1.5913987 ,  3.18393115,  5.58953218,
 -23.0864963 ,  1.1929039 , -0.66917626,  0.31340751, 11.75180045,
  20.20433634, -1.64477516]

qfrc_actuator:
[ 5.31299946e-06, 2.32013751e-05,-1.08023044e-04,-6.64990461e-05,
 -2.74291488e-05,-3.71586403e-04,-3.42045762e-04,-6.22595572e-05,
  1.17451862e-05,-2.64189003e-05,-1.09528926e-04, 3.41341623e-05,
  4.33487233e-02,-9.91898831e-04, 2.03382005e-02,-4.23096762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
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       0., 0.])
  dim: 3
  dist: -0.0005949972502268808
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39944725e-13, -9.32964837e-14,  1.00000000e+00, -1.30563508e-26,
        1.00000000e+00,  9.32964837e-14, -1.00000000e+00,  0.00000000e+00,
       -1.39944725e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188056, -0.06198994,  0.06198555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81668146e-06,-1.29636762e-05, 4.71223894e-06, 2.79737061e-05,
  2.51919875e-06,-3.21136837e-05, 4.20252666e-06,-1.52960952e-05,
 -1.90024376e-05, 5.95737670e-05,-3.44127985e-06, 1.76324866e-05,
 -3.07161702e-04,-4.66034995e-05,-1.76849650e-04,-1.63305860e-04,
  3.43435013e-05, 1.28450838e-05,-7.84757820e+00, 5.32231691e-04,
  9.30872078e-03, 9.08432708e-06]


--- Step 494 ---
qpos:
[ 7.18264905e-03, 4.03227009e-03,-3.62634441e-03,-2.58482577e-02,
  6.06025317e-03,-2.90466625e-03,-1.78337475e-02, 1.16633300e-02,
  1.56826866e-02, 2.34971560e-03,-8.97950657e-03, 2.40400204e-02,
  8.97783739e-01,-9.63842189e-03, 6.34914348e-01, 6.29123933e-02,
  9.49201966e-02,-7.00509813e-02, 1.21426812e-01, 9.99981661e-01,
 -5.84550386e-04,-6.54582530e-04, 5.99225240e-03]

qacc:
[ -5.98905063, -0.38719399,  1.28343326, -1.72548768,  6.33132348,
  -1.95923426,  9.39494031,-19.39427816, -2.00747105,  0.61457576,
  -2.74856466,  6.36265837, -1.1744419 ,  2.04205662,-13.11056199,
  41.67490855,  1.17891523, -0.66317987,  0.20128044, 11.53348716,
  19.94545239, -1.56348212]

qfrc_actuator:
[-2.97727864e-05, 1.63277741e-05,-1.05514259e-04,-6.82499813e-05,
  9.70340475e-06,-3.39282082e-04,-3.14493097e-04,-8.72138586e-05,
  5.44097575e-07,-3.26411682e-05,-1.13154262e-04, 4.41044131e-05,
  4.32763103e-02,-9.82884805e-04, 2.03017422e-02,-4.03657659e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005977002889579197
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28745598e-14, -9.28745598e-14,  1.00000000e+00, -8.62568386e-27,
        1.00000000e+00,  9.28745598e-14, -1.00000000e+00,  0.00000000e+00,
       -9.28745598e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188072, -0.06199056,  0.06198548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.50424833e-05,-1.19794727e-05, 1.36737548e-06,-1.60161657e-06,
  3.71937870e-05, 1.45645790e-05, 2.09164943e-05,-2.64810079e-05,
 -1.17189592e-05, 2.71095819e-05, 8.86132702e-06, 1.27457200e-05,
 -2.85414720e-04,-5.16045320e-05,-1.38266159e-04, 1.61958399e-04,
  1.73656575e-05, 6.05255698e-06,-7.84778671e+00, 5.10601948e-04,
  9.27933755e-03, 9.87195663e-06]


--- Step 495 ---
qpos:
[ 7.18145476e-03, 4.03243659e-03,-3.62529925e-03,-2.58481226e-02,
  6.06052452e-03,-2.90419037e-03,-1.78338495e-02, 1.16631049e-02,
  1.56827522e-02, 2.35008603e-03,-8.97905728e-03, 2.40400325e-02,
  8.98727847e-01,-9.63705757e-03, 6.35669514e-01, 6.29132419e-02,
  9.49185135e-02,-7.00482687e-02, 1.21428847e-01, 9.99981627e-01,
 -6.08238615e-04,-6.66203227e-04, 5.99427963e-03]

qacc:
[ -6.67793352, -3.32890675, 12.77372767,-20.28817342,  0.87394884,
  -0.24167359, -0.19555765,  5.52665933,  1.89228884, -4.02657202,
  17.30646963,-33.26337123, -0.6132519 ,  0.30453864,-14.94991178,
  49.11793078,  1.16690577, -0.65784691,  0.10218935, 11.3519133 ,
  19.72579657, -1.49749524]

qfrc_actuator:
[-6.79954550e-05,-5.70067691e-06,-6.86721520e-05,-8.72466121e-05,
  1.37277115e-05,-3.02277332e-04,-2.80175516e-04,-6.61187206e-05,
  1.17714466e-05,-9.00580924e-05,-9.75390793e-05,-3.66234121e-06,
  4.32095639e-02,-9.95965161e-04, 2.02633864e-02,-3.81410454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005981727254520952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.28012075e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.28012075e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08188049, -0.06199085,  0.06198547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92242478e-05,-2.85487831e-05, 3.44715771e-05,-1.94949865e-05,
  5.09226602e-06, 4.83474615e-05, 3.89899718e-05, 2.19281959e-05,
  1.09054665e-05,-3.99134071e-05, 2.27384831e-05,-4.60532760e-05,
 -2.65653243e-04,-7.04656122e-05,-8.64892210e-05, 2.13058914e-04,
  6.37210633e-06, 1.89863632e-06,-7.84792249e+00, 4.96126884e-04,
  9.26281835e-03, 1.04126877e-05]


--- Step 496 ---
qpos:
[ 7.18015603e-03, 4.03261690e-03,-3.62399163e-03,-2.58475434e-02,
  6.06084242e-03,-2.90353828e-03,-1.78335114e-02, 1.16634898e-02,
  1.56829517e-02, 2.35027173e-03,-8.97905356e-03, 2.40402077e-02,
  8.99670307e-01,-9.63577190e-03, 6.36423883e-01, 6.29130558e-02,
  9.49214574e-02,-7.00481690e-02, 1.21430942e-01, 9.99981650e-01,
 -6.09755423e-04,-6.38607938e-04, 5.99341058e-03]

qacc:
[-9.11110722e-01, 2.01051245e-01,-2.55852317e+00, 9.80343995e+00,
  4.18381732e-01, 2.58331493e-01,-3.16056231e+00, 1.28884862e+01,
  1.16794412e+00, 1.33485206e+00,-5.80672636e+00, 9.48355475e+00,
 -1.02602679e+00, 1.44994786e+00, 1.97187006e+00,-8.55231849e+00,
  1.15676786e+00,-6.53212811e-01, 1.51793694e-02, 1.12020951e+01,
  1.95420807e+01,-1.44374082e+00]

qfrc_actuator:
[-7.22415128e-05, 1.67471864e-05,-4.74265020e-05,-6.29642988e-05,
  1.59745641e-05,-2.98165268e-04,-2.59825467e-04,-3.58359085e-05,
  1.83543200e-05,-1.06659942e-04,-1.24212266e-04, 3.70886368e-06,
  4.31143063e-02,-1.00420630e-03, 2.02026166e-02,-3.87877358e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005968306319959898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.16262362e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.16262362e-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([ 0.08187994, -0.06199086,  0.06198551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37226119e-06, 1.27400937e-05, 1.89083239e-05, 2.38716023e-05,
  2.40672349e-06, 4.01269445e-05, 3.58940594e-05, 3.41299895e-05,
  6.88140910e-06,-3.62129852e-05,-3.37206316e-05, 5.54896078e-06,
 -2.84144434e-04,-6.43398015e-05,-8.17535582e-05,-6.51360852e-05,
  9.20720756e-07, 1.02207050e-07,-7.84798863e+00, 4.88710128e-04,
  9.25900946e-03, 1.07063164e-05]


--- Step 497 ---
qpos:
[ 7.17950578e-03, 4.03323709e-03,-3.62318309e-03,-2.58466805e-02,
  6.06118497e-03,-2.90287270e-03,-1.78328022e-02, 1.16642607e-02,
  1.56828835e-02, 2.35054084e-03,-8.97953418e-03, 2.40407832e-02,
  9.00611008e-01,-9.63422466e-03, 6.37177323e-01, 6.29097815e-02,
  9.49289949e-02,-7.00506664e-02, 1.21432795e-01, 9.99981724e-01,
 -5.89343618e-04,-5.72099770e-04, 5.98973254e-03]

qacc:
[  5.68516388,  2.54998597, -9.46101775, 14.85609889,  0.22743514,
  -0.22508547, -0.80199605,  6.88012802, -2.37248969,  2.29277746,
  -9.69745466, 17.33067467, -1.50027594,  2.94739206,  7.99497856,
 -29.8674911 ,  1.14838133, -0.64928542, -0.06078039, 11.07983461,
  19.39124228, -1.39976229]

qfrc_actuator:
[-3.87017208e-05, 4.78881319e-05,-7.08648893e-05,-4.88930653e-05,
  1.71675964e-05,-3.13817231e-04,-2.48014693e-04,-1.81862409e-05,
  4.39123074e-06,-8.10792200e-05,-1.39950321e-04, 2.57162194e-05,
  4.30233122e-02,-9.91865426e-04, 2.01390405e-02,-4.04114818e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005940373131767401
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.34472465e-14, -4.67236232e-14,  1.00000000e+00, -4.36619394e-27,
        1.00000000e+00,  4.67236232e-14, -1.00000000e+00,  0.00000000e+00,
       -9.34472465e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187913, -0.06199066,  0.06198557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33878838e-05, 4.31717806e-05,-1.76697921e-05, 1.57315723e-05,
  1.27292592e-06, 1.56355483e-05, 2.56892143e-05, 2.12723061e-05,
 -1.37784677e-05,-1.40161742e-06,-2.71824610e-05, 1.93956240e-05,
 -2.91285939e-04,-4.64666674e-05,-1.15098114e-04,-1.78141562e-04,
  6.93985978e-07, 4.41679661e-07,-7.84798758e+00, 4.88270675e-04,
  9.26778336e-03, 1.07529480e-05]


--- Step 498 ---
qpos:
[ 7.17960753e-03, 4.03415575e-03,-3.62288881e-03,-2.58459815e-02,
  6.06119430e-03,-2.90213893e-03,-1.78321819e-02, 1.16649174e-02,
  1.56826486e-02, 2.35071901e-03,-8.97987506e-03, 2.40412511e-02,
  9.01549947e-01,-9.63221312e-03, 6.37929424e-01, 6.29035831e-02,
  9.49410989e-02,-7.00557480e-02, 1.21434140e-01, 9.99981841e-01,
 -5.47198302e-04,-4.66921407e-04, 5.98331716e-03]

qacc:
[  6.59797686,  1.48160935, -4.04040098,  1.82886383, -2.91996389,
   0.10937695,  0.23268923, -2.12738376, -1.46093311, -0.72960261,
   2.88674902, -4.91260212, -1.70381318,  3.67596688,  6.90276904,
 -26.90603368,  1.14162223, -0.64605424, -0.12673685, 10.98159852,
  19.27047455, -1.36359462]

qfrc_actuator:
[-9.54208788e-07, 4.83080540e-05,-1.02704532e-04,-5.87184142e-05,
 -2.10339870e-08,-3.23482730e-04,-2.59187259e-04,-2.58890281e-05,
 -3.79869909e-06,-8.36411116e-05,-1.31157679e-04, 2.06975571e-05,
  4.29402712e-02,-9.67484114e-04, 2.00684953e-02,-4.18866815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005901077819271405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.05521342e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.05521342e-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([ 0.08187813, -0.0619903 ,  0.06198567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.87079583e-05, 2.15653135e-05,-2.45740750e-05,-8.28804287e-06,
 -1.71487289e-05, 5.26166403e-06,-4.06022560e-06,-5.73466315e-06,
 -8.58111078e-06,-8.13985909e-06, 5.82780519e-06,-5.64206094e-06,
 -2.85016300e-04,-3.36028171e-05,-1.48867944e-04,-1.73605792e-04,
  5.47742810e-06, 2.73653962e-06,-7.84792122e+00, 4.94741342e-04,
  9.28903594e-03, 1.05529185e-05]


--- Step 499 ---
qpos:
[ 7.17947142e-03, 4.03505237e-03,-3.62285498e-03,-2.58453814e-02,
  6.06134264e-03,-2.90149532e-03,-1.78318929e-02, 1.16655148e-02,
  1.56830077e-02, 2.35015848e-03,-8.98003921e-03, 2.40410461e-02,
  9.02487222e-01,-9.63019459e-03, 6.38679799e-01, 6.28959593e-02,
  9.49577483e-02,-7.00634036e-02, 1.21434751e-01, 9.99981985e-01,
 -4.83472789e-04,-3.23260233e-04, 5.97422358e-03]

qacc:
[ -2.10165995,  0.49934412, -1.39818315,  0.11154826,  1.20752835,
   0.68170711, -2.35745983,  1.93149566,  5.24528419, -2.86581332,
  11.62499675,-22.99030707, -1.11843147,  1.76219842,  1.78516876,
  -9.88258155,  1.13636838, -0.64349703, -0.18371452, 10.90441229,
  19.17723425, -1.33366423]

qfrc_actuator:
[-1.43028609e-05, 3.02608366e-05,-1.21617465e-04,-6.47948422e-05,
  7.61461874e-06,-3.47369087e-04,-2.83838140e-04,-3.07048894e-05,
  2.69865781e-05,-1.73958109e-04,-1.43582206e-04,-1.79414208e-05,
  4.28514142e-02,-9.71691150e-04, 1.99938391e-02,-4.25519371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005853132503061687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42260109e-13, -9.48400727e-14,  1.00000000e+00, -1.34919591e-26,
        1.00000000e+00,  9.48400727e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42260109e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187697, -0.0619898 ,  0.06198578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.22437598e-05,-1.14435277e-05,-1.77892708e-05,-6.17039076e-06,
  7.14795677e-06,-2.20698334e-05,-2.42793693e-05,-4.84630819e-06,
  3.05389483e-05,-9.39140778e-05,-1.35823704e-05,-3.88963283e-05,
 -2.84389712e-04,-5.94876254e-05,-1.66204619e-04,-9.62759567e-05,
  1.51432683e-05, 6.83339583e-06,-7.84779096e+00, 5.08067365e-04,
  9.32268413e-03, 1.01067345e-05]


--- Step 500 ---
qpos:
[ 7.17952185e-03, 4.03561466e-03,-3.62261199e-03,-2.58451961e-02,
  6.06158118e-03,-2.90104339e-03,-1.78313242e-02, 1.16663661e-02,
  1.56833877e-02, 2.34915245e-03,-8.98017302e-03, 2.40406985e-02,
  9.03422780e-01,-9.62817092e-03, 6.39428381e-01, 6.28934103e-02,
  9.49789278e-02,-7.00736255e-02, 1.21434430e-01, 9.99982135e-01,
 -3.98283591e-04,-1.41252944e-04, 5.96250097e-03]

qacc:
[  1.65421912, -1.88418448,  7.81754782,-15.06722081,  0.80151029,
  -0.51371689,  0.38990349,  3.69981757,  0.19202289, -0.96734269,
   3.19578049, -5.38182673, -1.00251414,  1.42948996,-17.93128029,
  58.96537883,  1.13250281, -0.64158446, -0.23269201, 10.84577001,
  19.10923445, -1.3087091 ]

qfrc_actuator:
[-4.36225946e-06, 1.33444539e-06,-1.15069864e-04,-8.63740229e-05,
  1.20532718e-05,-3.44151611e-04,-2.63040264e-04,-1.60451520e-05,
  2.72050318e-05,-1.74222983e-04,-1.33324675e-04,-2.28864482e-05,
  4.27591221e-02,-9.75026981e-04, 1.99807088e-02,-3.97165694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005798854863415664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.67523618e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.67523618e-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([ 0.0818757 , -0.06198921,  0.06198592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.58684412e-06,-3.93020153e-05, 1.76823093e-06,-2.28076139e-05,
  4.63634778e-06,-1.43720838e-05, 1.30681523e-05, 1.27758041e-05,
  1.05348859e-06,-5.72202624e-05,-1.21525215e-05,-1.01957267e-05,
 -2.92181651e-04,-6.16241063e-05,-1.02662206e-04, 2.56190056e-04,
  2.96380841e-05, 1.25953749e-05,-7.84759779e+00, 5.28205149e-04,
  9.36866375e-03, 9.41502797e-06]


--- Step 501 ---
qpos:
[ 7.17969076e-03, 4.03601420e-03,-3.62235445e-03,-2.58452794e-02,
  6.06152612e-03,-2.90065539e-03,-1.78305413e-02, 1.16670284e-02,
  1.56834221e-02, 2.34838617e-03,-8.98031055e-03, 2.40412430e-02,
  9.04356477e-01,-9.62553379e-03, 6.40175770e-01, 6.28958331e-02,
  9.50007985e-02,-7.00879322e-02, 1.21434092e-01, 9.99982261e-01,
 -2.77823331e-04, 4.62927596e-05, 5.94968441e-03]

qacc:
[ 1.04596836e+00,-8.10956402e-01, 3.70665488e+00,-8.24723151e+00,
 -2.56149815e+00,-1.06672798e+00, 4.48762510e+00,-8.06312682e+00,
 -3.04558526e+00, 2.16956432e+00,-1.10318562e+01, 2.62880833e+01,
 -1.74596139e+00, 3.86701223e+00,-1.67033114e+01, 5.60284792e+01,
  1.72832163e-01,-1.02119507e+00,-4.60736163e-03, 1.76516452e+01,
  2.66422224e+00,-5.48278987e-01]

qfrc_actuator:
[ 1.46999831e-06, 1.70692320e-06,-1.11363983e-04,-9.91467403e-05,
 -3.18570281e-06,-3.42286895e-04,-2.50956840e-04,-2.54947277e-05,
  9.41896222e-06,-1.02701659e-04,-1.09382202e-04, 2.76289293e-05,
  4.26701596e-02,-9.42335761e-04, 1.99513042e-02,-3.71479699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005740366547351894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.20830339e-08,  7.25273605e-14,  1.00000000e+00, -3.05217137e-21,
        1.00000000e+00, -7.25273605e-14, -1.00000000e+00,  0.00000000e+00,
        4.20830339e-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([ 0.0940658 , -0.05736544,  0.06198606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08963498e-06,-2.22368275e-05,-4.99308916e-06,-1.48411900e-05,
 -1.51125905e-05,-2.94880533e-06, 1.11527319e-05,-9.36891786e-06,
 -1.77785862e-05, 3.66165217e-05, 1.02876334e-05, 4.74476756e-05,
 -2.93801336e-04,-2.75938284e-05,-5.20465971e-05, 2.56961830e-04,
  4.89735557e-05, 1.98939958e-05,-7.84734234e+00, 5.55121156e-04,
  9.42692772e-03, 8.47852288e-06]


--- Step 502 ---
qpos:
[ 7.17889338e-03, 4.03622507e-03,-3.62179753e-03,-2.58451866e-02,
  6.06163384e-03,-2.90027623e-03,-1.78301696e-02, 1.16672636e-02,
  1.56839328e-02, 2.34787694e-03,-8.98045361e-03, 2.40416941e-02,
  9.05288541e-01,-9.62312877e-03, 6.40922345e-01, 6.28996639e-02,
  9.50186772e-02,-7.01080126e-02, 1.21432685e-01, 9.99982333e-01,
 -1.08114359e-04, 1.98430673e-04, 5.93988691e-03]

qacc:
[ -8.49296418, -0.70715016,  1.4458973 ,  1.22825502,  1.41145527,
   0.25521702,  0.87157754, -7.59501273,  4.18795299,  0.15490054,
   0.32050067, -2.10075986, -0.80298027,  0.72203491, -5.43322769,
  17.30564184, -0.99802703, -1.44341757, -0.2669848 , 24.51850978,
 -17.85050633,  1.50587843]

qfrc_actuator:
[-4.84271892e-05, 1.86824213e-06,-9.14995817e-05,-8.88633035e-05,
  5.62172394e-06,-3.59037537e-04,-2.79653762e-04,-4.90686639e-05,
  3.44462630e-05,-9.51314758e-05,-1.12712113e-04, 2.16799272e-05,
  4.25832694e-02,-9.59649231e-04, 1.98961683e-02,-3.65339636e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005752618090020117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64971955e-14, -9.64971955e-14,  1.00000000e+00, -9.31170873e-27,
        1.00000000e+00,  9.64971955e-14, -1.00000000e+00,  0.00000000e+00,
       -9.64971955e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891664, -0.05173452,  0.06198603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.97326872e-05,-1.39558687e-05, 1.41353596e-05, 8.86797167e-06,
  8.37457623e-06,-1.65274999e-05,-2.82709606e-05,-2.35001633e-05,
  2.45301288e-05, 3.22268143e-05, 7.15275918e-06,-3.09890556e-06,
 -2.86224468e-04,-7.39992518e-05,-5.71689217e-05, 6.74079073e-05,
  6.05472793e-05, 1.69726595e-05,-7.84719059e+00, 5.93812294e-04,
  9.48692926e-03, 6.87333685e-06]


--- Step 503 ---
qpos:
[ 7.17784924e-03, 4.03620655e-03,-3.62095381e-03,-2.58453110e-02,
  6.06150134e-03,-2.90002763e-03,-1.78301259e-02, 1.16675703e-02,
  1.56847395e-02, 2.34740166e-03,-8.98052450e-03, 2.40420945e-02,
  9.06219053e-01,-9.62124566e-03, 6.41667931e-01, 6.29025978e-02,
  9.50325986e-02,-7.01338421e-02, 1.21429903e-01, 9.99982343e-01,
  1.10302117e-04, 3.15592927e-04, 5.93310856e-03]

qacc:
[ -2.15921577, -1.54789609,  5.99968234,-10.04671285, -2.11023145,
   0.89534421, -3.73814992,  5.59024444,  2.60600591, -0.26656141,
   1.22136356, -2.23192223, -0.49659271, -0.30810678,  1.25352063,
  -6.49713772, -0.98932903, -1.43727104, -0.34390115, 24.24914351,
 -17.6323365 ,  1.5126782 ]

qfrc_actuator:
[-5.97141456e-05,-1.57587414e-05,-7.99833247e-05,-1.00588599e-04,
 -6.98720835e-06,-3.69234283e-04,-2.96773870e-04,-4.52981961e-05,
  4.89724734e-05,-1.08292530e-04,-1.14649510e-04, 1.79860642e-05,
  4.25029950e-02,-9.88612679e-04, 1.98256025e-02,-3.70769628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000574712008886008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20736887e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.20736887e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891676, -0.05173469,  0.06198604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27065186e-05,-2.21609637e-05, 1.06750035e-05,-1.16609046e-05,
 -1.23733222e-05,-2.63009539e-05,-2.48394059e-05, 1.62400558e-06,
  1.52325435e-05, 6.23437580e-06, 5.49945401e-06,-2.12609363e-06,
 -2.83339313e-04,-8.97658655e-05,-9.66196882e-05,-5.96601189e-05,
  5.13537579e-05,-2.17764572e-06,-7.84715362e+00, 6.49105479e-04,
  9.53501286e-03, 3.95661309e-06]


--- Step 504 ---
qpos:
[ 7.17771233e-03, 4.03615860e-03,-3.62058004e-03,-2.58458929e-02,
  6.06087381e-03,-2.89974675e-03,-1.78307218e-02, 1.16689564e-02,
  1.56857142e-02, 2.34703835e-03,-8.98065396e-03, 2.40427921e-02,
  9.07147902e-01,-9.61939343e-03, 6.42412068e-01, 6.29006492e-02,
  9.50469597e-02,-7.01521424e-02, 1.21428088e-01, 9.99982298e-01,
  2.64316984e-04, 4.36737133e-04, 5.92808185e-03]

qacc:
[  7.97127585,  0.31684558,  0.71552317, -7.82583949, -4.35176765,
   4.05881843,-18.95368501, 38.61907332,  1.47454392,  0.92083714,
  -4.32891303,  9.49112309, -1.16723439,  1.83469041, 12.62536371,
 -47.22326588,  0.1099541 ,  1.88228586,  0.24169576,-32.18869721,
   2.18209673,  0.86558686]

qfrc_actuator:
[-1.26627131e-05,-2.61898842e-05,-1.09088407e-04,-1.25196417e-04,
 -3.21080569e-05,-3.57620797e-04,-3.24619178e-04, 1.00563378e-05,
  5.71879403e-05,-9.82667956e-05,-1.15826893e-04, 3.33927538e-05,
  4.24214157e-02,-9.88678213e-04, 1.97032174e-02,-3.97169580e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005749023099530931
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.65575373e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.65575373e-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([ 0.0949655 , -0.0930817 ,  0.06198603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.66820873e-05,-2.11279719e-05,-3.27787640e-05,-2.54153565e-05,
 -2.54825931e-05,-8.16944827e-06,-3.62850983e-05, 5.33987449e-05,
  8.64877723e-06, 1.45819342e-05, 7.19931121e-07, 1.58226193e-05,
 -2.85925334e-04,-6.21547959e-05,-1.79253264e-04,-2.81174905e-04,
  3.95398575e-05,-1.49477023e-05,-7.84699949e+00, 7.19625932e-04,
  9.57148256e-03,-1.50735556e-07]


--- Step 505 ---
qpos:
[ 7.17745022e-03, 4.03623670e-03,-3.62093914e-03,-2.58467665e-02,
  6.06029481e-03,-2.89949275e-03,-1.78313613e-02, 1.16706152e-02,
  1.56871250e-02, 2.34663055e-03,-8.98072595e-03, 2.40436810e-02,
  9.08075125e-01,-9.61783118e-03, 6.43154340e-01, 6.28951754e-02,
  9.50617575e-02,-7.01630162e-02, 1.21426681e-01, 9.99982228e-01,
  3.55049994e-04, 5.61920703e-04, 5.92460895e-03]

qacc:
[ -1.12751622,  1.61695509, -4.28906616,  0.31715871,  0.4239672 ,
   0.64687783, -3.51167241,  8.32534771,  3.84013993,  0.16692115,
  -1.50111333,  4.76668425, -0.83422905,  0.74195347,  7.90499603,
 -31.6253048 ,  0.10913871,  1.85661777,  0.10211354,-31.62873217,
   2.20742716,  0.7626084 ]

qfrc_actuator:
[-2.04266865e-05,-1.46591040e-05,-1.44171633e-04,-1.39453775e-04,
 -2.88799114e-05,-3.50784431e-04,-3.22951653e-04, 2.43144427e-05,
  7.93791926e-05,-1.09925833e-04,-1.16446405e-04, 4.21793398e-05,
  4.23337936e-02,-1.00719253e-03, 1.96190531e-02,-4.14413930e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005837792557751159
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50892836e-14,  1.90178567e-13,  1.00000000e+00,  1.80839437e-26,
        1.00000000e+00, -1.90178567e-13, -1.00000000e+00,  0.00000000e+00,
       -9.50892836e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496526, -0.09307931,  0.06198582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.44322923e-06,-8.12690453e-06,-4.43672284e-05,-1.67922309e-05,
  2.49650852e-06,-2.95375861e-06,-2.64021504e-06, 1.36903151e-05,
  2.24402264e-05,-2.65872813e-06, 3.03360782e-06, 9.74370078e-06,
 -2.89114986e-04,-7.76075274e-05,-2.00541674e-04,-2.11848080e-04,
  2.84994162e-05,-9.86732944e-06,-7.84737483e+00, 7.69023822e-04,
  9.60961906e-03,-3.28684587e-06]


--- Step 506 ---
qpos:
[ 7.17640765e-03, 4.03621128e-03,-3.62114364e-03,-2.58474913e-02,
  6.06010376e-03,-2.89955865e-03,-1.78309575e-02, 1.16713579e-02,
  1.56881008e-02, 2.34623900e-03,-8.98053731e-03, 2.40446463e-02,
  9.09000641e-01,-9.61616954e-03, 6.43894226e-01, 6.28945164e-02,
  9.50769901e-02,-7.01665546e-02, 1.21425180e-01, 9.99982149e-01,
  3.83462102e-04, 6.91191943e-04, 5.92252115e-03]

qacc:
[-6.86320680e+00,-2.49177083e-01, 8.59252357e-02, 2.29114792e+00,
  3.43243505e+00,-5.22922336e+00, 2.18904024e+01,-3.91716596e+01,
 -3.81965838e+00,-5.42033066e-01, 1.65370821e+00,-7.72193979e-01,
 -1.08850166e+00, 1.74423632e+00,-1.80184759e+01, 5.80056865e+01,
  1.08717512e-01, 1.83386321e+00,-2.33943908e-02,-3.11481756e+01,
  2.22866092e+00, 6.74334950e-01]

qfrc_actuator:
[-6.04103710e-05,-7.84750686e-06,-1.29132933e-04,-1.29731131e-04,
 -8.98791444e-06,-3.64520712e-04,-2.68411314e-04,-2.12158418e-05,
  5.63627217e-05,-9.89788170e-05,-9.90711568e-05, 4.69809671e-05,
  4.22532539e-02,-1.00099941e-03, 1.95792138e-02,-3.87049543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005893161398185659
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.4195878e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.4195878e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496504, -0.09307795,  0.06198569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01667419e-05,-7.61370279e-06, 7.32113116e-06, 7.51574071e-06,
  1.99618269e-05,-1.53512940e-05, 5.40794681e-05,-4.54847259e-05,
 -2.23815752e-05, 1.05303589e-05, 1.75410138e-05, 4.98071174e-06,
 -2.87041666e-04,-5.53914389e-05,-1.56772167e-04, 2.35726925e-04,
  2.14525821e-05,-4.59020107e-06,-7.84761098e+00, 7.98219122e-04,
  9.64922842e-03,-5.26709718e-06]


--- Step 507 ---
qpos:
[ 7.17523901e-03, 4.03591532e-03,-3.62083617e-03,-2.58477526e-02,
  6.06049737e-03,-2.89959214e-03,-1.78303080e-02, 1.16719042e-02,
  1.56881033e-02, 2.34609086e-03,-8.98077165e-03, 2.40453345e-02,
  9.09924445e-01,-9.61441115e-03, 6.44632080e-01, 6.29003696e-02,
  9.50926572e-02,-7.01628370e-02, 1.21423138e-01, 9.99982065e-01,
  3.50369560e-04, 8.24593399e-04, 5.92167284e-03]

qacc:
[ -1.0887153 , -0.83218283,  0.49851987,  6.8924039 ,  5.12327745,
  -1.05726845,  4.64360227, -8.4388732 , -8.58217024,  0.94991536,
  -1.72061671, -2.61201847, -1.05656458,  1.65556636,-22.61996584,
  74.86576736,  0.10863795,  1.81400995, -0.13536987,-30.73997323,
   2.24744114,  0.5976956 ]

qfrc_actuator:
[-6.57626518e-05,-2.14408994e-05,-1.02368048e-04,-1.05944288e-04,
  2.05435700e-05,-3.54791548e-04,-2.54227221e-04,-3.05286838e-05,
  6.91823589e-06,-9.22637428e-05,-1.24383114e-04, 3.16772622e-05,
  4.21663779e-02,-9.98007819e-04, 1.95181517e-02,-3.53140806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005920631079905092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.68794209e-14,  1.87517683e-13,  1.00000000e+00,  8.79072040e-27,
        1.00000000e+00, -1.87517683e-13, -1.00000000e+00,  0.00000000e+00,
       -4.68794209e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496484, -0.09307743,  0.06198562])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.49592012e-06,-1.60227883e-05, 2.63609404e-05, 2.38644428e-05,
  3.00961395e-05, 1.03688937e-05, 1.60947025e-05,-8.98768329e-06,
 -5.00784537e-05, 1.64456069e-05,-2.08017501e-05,-1.41491370e-05,
 -2.87220812e-04,-5.58079037e-05,-1.08104124e-04, 3.31730119e-04,
  1.77467254e-05, 7.38700961e-07,-7.84771506e+00, 8.07519663e-04,
  9.69029221e-03,-6.10969219e-06]


--- Step 508 ---
qpos:
[ 7.17435974e-03, 4.03560404e-03,-3.62028198e-03,-2.58477415e-02,
  6.06124189e-03,-2.89925433e-03,-1.78302149e-02, 1.16726920e-02,
  1.56878582e-02, 2.34585353e-03,-8.98090277e-03, 2.40458407e-02,
  9.10846457e-01,-9.61227058e-03, 6.45368418e-01, 6.29082667e-02,
  9.51040898e-02,-7.01597379e-02, 1.21422770e-01, 9.99981987e-01,
  3.22620544e-04, 9.21461561e-04, 5.92218503e-03]

qacc:
[  2.55540091, -0.15399479, -0.63679906,  4.97242793,  3.0471677 ,
   2.5351553 , -9.35746342, 14.16352121, -2.17452089, -0.77672016,
   3.37413148, -6.63093659, -1.52155181,  3.07206788, -8.35327251,
  26.09327469, -1.05862947, -0.15464743,  0.41852939,  2.56298417,
 -18.28190437,  0.68882477]

qfrc_actuator:
[-5.06782871e-05,-1.15635921e-05,-8.67392800e-05,-9.18457435e-05,
  3.77542220e-05,-3.31207474e-04,-2.81629201e-04,-1.84645524e-05,
 -4.41288767e-06,-1.06074110e-04,-1.21470133e-04, 2.23861027e-05,
  4.20757620e-02,-9.79221641e-04, 1.94231067e-02,-3.44072007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005939431847905019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16827570e-13, -2.33655140e-14,  1.00000000e+00, -2.72973623e-27,
        1.00000000e+00,  2.33655140e-14, -1.00000000e+00,  0.00000000e+00,
       -1.16827570e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882713, -0.06838978,  0.06198557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48928984e-05, 7.39307087e-06, 1.63932608e-05, 1.47901217e-05,
  1.80738291e-05, 3.23244377e-05,-2.35983108e-05, 1.28866230e-05,
 -1.27472854e-05,-9.52802911e-06, 3.26325509e-06,-9.58012446e-06,
 -2.90810697e-04,-4.02788198e-05,-1.11090735e-04, 9.44460529e-05,
  1.68799037e-05, 6.07812706e-06,-7.84769281e+00, 7.97186722e-04,
  9.73279669e-03,-5.83019523e-06]


--- Step 509 ---
qpos:
[ 7.17470284e-03, 4.03545943e-03,-3.61985074e-03,-2.58482500e-02,
  6.06218720e-03,-2.89860060e-03,-1.78304254e-02, 1.16729170e-02,
  1.56878234e-02, 2.34590186e-03,-8.98088655e-03, 2.40461798e-02,
  9.11766743e-01,-9.60962400e-03, 6.46103421e-01, 6.29106342e-02,
  9.51113324e-02,-7.01572540e-02, 1.21423629e-01, 9.99981926e-01,
  3.00064714e-04, 9.82358995e-04, 5.92398439e-03]

qacc:
[ 10.7528559 , -0.52712897,  4.35134404,-13.21935597,  1.74177795,
   0.10445638,  2.6032669 ,-12.08279738,  1.84992229, -0.38192541,
   2.60885959, -5.93998655, -1.78795509,  3.9097571 , 14.77566463,
 -54.43900472, -1.04751259, -0.15378991,  0.30672091,  2.4894378 ,
 -18.00021798,  0.65172083]

qfrc_actuator:
[ 1.18083112e-05,-5.50351291e-06,-9.54843649e-05,-1.19059740e-04,
  4.75722546e-05,-3.17414927e-04,-2.97773907e-04,-4.71912479e-05,
  6.78769314e-06,-6.09539966e-05,-1.01979186e-04, 1.67181162e-05,
  4.19989484e-02,-9.51282839e-04, 1.92917213e-02,-3.74574510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005970849332206096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.81064227e-14,  4.64851382e-14,  1.00000000e+00, -2.70108509e-27,
        1.00000000e+00, -4.64851382e-14, -1.00000000e+00,  0.00000000e+00,
        5.81064227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882658, -0.06839011,  0.0619855 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.29113080e-05, 1.42261803e-05,-4.69018337e-06,-2.60433414e-05,
  1.03460905e-05, 2.75373393e-05,-1.19366817e-05,-2.79109159e-05,
  1.08345774e-05, 4.00592730e-05, 1.75966933e-05,-6.14965866e-06,
 -2.76695482e-04,-2.99082459e-05,-1.76322754e-04,-3.15138439e-04,
  9.39020616e-06, 1.77769305e-06,-7.84783486e+00, 7.88720887e-04,
  9.76380660e-03,-5.10078763e-06]


--- Step 510 ---
qpos:
[ 7.17510248e-03, 4.03536013e-03,-3.61974165e-03,-2.58493960e-02,
  6.06289831e-03,-2.89790632e-03,-1.78307524e-02, 1.16731641e-02,
  1.56882681e-02, 2.34611586e-03,-8.98084428e-03, 2.40457809e-02,
  9.12685499e-01,-9.60698492e-03, 6.46836608e-01, 6.29063457e-02,
  9.51144237e-02,-7.01553819e-02, 1.21425319e-01, 9.99981887e-01,
  2.82578384e-04, 1.00775835e-03, 5.92701147e-03]

qacc:
[  0.48643058, -0.35319907,  4.02994368,-14.56522454, -2.0537794 ,
   0.42805178, -1.53486979,  2.06570272,  4.21680512, -1.38129675,
   8.34438858,-21.26453948, -1.14167617,  1.86860278, 17.4376222 ,
 -64.84936528, -1.03782711, -0.15294108,  0.20769933,  2.42895306,
 -17.76356118,  0.62159663]

qfrc_actuator:
[ 1.29243484e-05,-1.96622462e-05,-1.18582777e-04,-1.52625590e-04,
  3.52118480e-05,-3.27343082e-04,-3.07194249e-04,-4.64270438e-05,
  3.11484471e-05,-6.95779176e-05,-1.08132152e-04,-2.22233137e-05,
  4.19251489e-02,-9.53634421e-04, 1.91811762e-02,-4.08616301e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005979858730134208
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32075513e-14, -8.12264295e-14,  1.00000000e+00, -1.88506653e-27,
        1.00000000e+00,  8.12264295e-14, -1.00000000e+00,  0.00000000e+00,
       -2.32075513e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882646, -0.06839032,  0.06198548])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.90918630e-06,-8.26521728e-06,-2.16437661e-05,-3.36282525e-05,
 -1.20535695e-05, 1.79091551e-06,-6.17493128e-06, 9.85947693e-07,
  2.46823339e-05, 1.71497645e-05, 4.07448677e-06,-3.67368899e-05,
 -2.63002657e-04,-5.60882216e-05,-2.29691755e-04,-3.81422886e-04,
  4.27982338e-06,-4.64390770e-07,-7.84793137e+00, 7.81739944e-04,
  9.78331311e-03,-4.53113857e-06]


--- Step 511 ---
qpos:
[ 7.17482319e-03, 4.03501393e-03,-3.61927887e-03,-2.58502535e-02,
  6.06311114e-03,-2.89743245e-03,-1.78311057e-02, 1.16741368e-02,
  1.56890016e-02, 2.34615409e-03,-8.98043288e-03, 2.40449395e-02,
  9.13602547e-01,-9.60398964e-03, 6.47567756e-01, 6.29001612e-02,
  9.51133968e-02,-7.01541184e-02, 1.21427491e-01, 9.99981876e-01,
  2.70060087e-04, 9.98052445e-04, 5.93121798e-03]

qacc:
[ -5.96072596, -0.70951104,  0.86072063,  3.72106799, -4.35692736,
   1.28437548, -8.0513243 , 20.79857341,  2.55624362, -2.18027349,
   9.29712426,-17.40938504, -1.52082528,  3.08742101,  2.76033302,
 -13.9277537 , -1.0295525 , -0.15214136,  0.1206107 ,  2.37933817,
 -17.56688301,  0.59708959]

qfrc_actuator:
[-2.21050754e-05,-2.81449585e-05,-9.67869032e-05,-1.36419010e-04,
  9.89904959e-06,-3.51354638e-04,-3.12645852e-04,-1.05753419e-05,
  4.52993570e-05,-9.26899057e-05,-9.41038356e-05,-4.49858706e-05,
  4.18318993e-02,-9.38343874e-04, 1.91311587e-02,-4.16043632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005970572322412243
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.32436474e-14,  3.48654712e-14,  1.00000000e+00,  8.10400719e-28,
        1.00000000e+00, -3.48654712e-14, -1.00000000e+00,  0.00000000e+00,
       -2.32436474e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882668, -0.06839044,  0.0619855 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.49469855e-05,-1.90102273e-05, 1.62619016e-05, 1.44514435e-05,
 -2.56563303e-05,-2.42694295e-05,-5.81261872e-06, 3.57330693e-05,
  1.48601450e-05,-1.42517494e-05, 1.67989107e-05,-2.26022142e-05,
 -2.78523946e-04,-3.89604058e-05,-1.98477280e-04,-1.25221048e-04,
  1.49365479e-06,-8.31418789e-07,-7.84798448e+00, 7.76214767e-04,
  9.79146936e-03,-4.11712273e-06]


--- Step 512 ---
qpos:
[ 7.17412626e-03, 4.03449665e-03,-3.61859049e-03,-2.58505663e-02,
  6.06267378e-03,-2.89701690e-03,-1.78315530e-02, 1.16751701e-02,
  1.56895540e-02, 2.34634872e-03,-8.98031577e-03, 2.40448711e-02,
  9.14518037e-01,-9.60112661e-03, 6.48297343e-01, 6.28945677e-02,
  9.51082792e-02,-7.01534605e-02, 1.21429841e-01, 9.99981889e-01,
  2.62426948e-04, 9.53563030e-04, 5.93656462e-03]

qacc:
[ -3.66592924,  0.27237482, -3.58194037, 12.75147017, -5.69166108,
   0.32103268, -1.49326571,  2.71454673, -1.60441514,  2.62405405,
 -12.3152848 , 26.04574109, -0.86589121,  1.02557628, -4.06357782,
  10.92134959, -1.02264145, -0.15141789,  0.04450459,  2.33880854,
 -17.40578499,  0.57711123]

qfrc_actuator:
[-4.26036552e-05,-3.29479639e-05,-8.41067003e-05,-1.08772452e-04,
 -2.28274319e-05,-3.48066255e-04,-3.15759611e-04,-7.64135097e-06,
  3.55705602e-05,-7.09616611e-05,-1.03825512e-04,-4.78332553e-06,
  4.17536795e-02,-9.48334018e-04, 1.91068919e-02,-4.11262573e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005946592776758935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.16808198e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.16808198e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882716, -0.06839048,  0.06198556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14982387e-05,-1.14581427e-05, 1.12586651e-05, 2.76796643e-05,
 -3.34691935e-05,-9.97663215e-06,-7.60865479e-06, 2.38698157e-06,
 -9.31094235e-06, 1.62632211e-05,-1.13817299e-05, 3.97335864e-05,
 -2.70198028e-04,-6.52888249e-05,-1.30266035e-04, 1.50749594e-05,
  9.75543835e-07, 5.37431933e-07,-7.84799587e+00, 7.72120762e-04,
  9.78840235e-03,-3.85539682e-06]


--- Step 513 ---
qpos:
[ 7.17284375e-03, 4.03394551e-03,-3.61808899e-03,-2.58501889e-02,
  6.06184728e-03,-2.89655577e-03,-1.78323702e-02, 1.16762363e-02,
  1.56899857e-02, 2.34667687e-03,-8.98000954e-03, 2.40445631e-02,
  9.15432264e-01,-9.59936770e-03, 6.49025470e-01, 6.28908273e-02,
  9.50990936e-02,-7.01534057e-02, 1.21432105e-01, 9.99981924e-01,
  2.59611740e-04, 8.74548417e-04, 5.94301933e-03]

qacc:
[-5.15947217e+00, 1.90890435e+00,-9.75910135e+00, 2.19883171e+01,
 -3.41767623e+00, 1.16813917e+00,-4.20562825e+00, 5.32201926e+00,
 -1.05946747e+00,-8.43334436e-01, 4.27822429e+00,-8.82953225e+00,
  3.69722837e-01,-2.89458403e+00,-7.77781949e+00, 2.40135193e+01,
 -1.01703080e+00,-1.50788172e-01,-2.16021440e-02, 2.30591011e+00,
 -1.72764520e+01, 5.60791573e-01]

qfrc_actuator:
[-7.21260780e-05,-3.55202088e-05,-9.46619268e-05,-7.46336860e-05,
 -4.18982605e-05,-3.46224441e-04,-3.35145257e-04,-6.33062186e-06,
  2.96209010e-05,-5.80964108e-05,-9.17761566e-05,-1.66036011e-05,
  4.16898516e-02,-1.00865185e-03, 1.90608251e-02,-4.01104608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005911054088316298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.52165306e-14,  4.69553741e-14,  1.00000000e+00, -1.65360537e-27,
        1.00000000e+00, -4.69553741e-14, -1.00000000e+00,  0.00000000e+00,
        3.52165306e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882786, -0.06839047,  0.06198564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.01376192e-05,-5.46288076e-06,-1.05774637e-05, 3.45779420e-05,
 -2.00303009e-05,-5.23021387e-06,-2.23016022e-05, 6.65538771e-07,
 -6.20898264e-06, 2.13016785e-05, 1.53791369e-05,-1.07439200e-05,
 -2.54719775e-04,-1.17475015e-04,-1.07843934e-04, 8.47896823e-05,
  2.66789289e-06, 3.53643512e-06,-7.84796684e+00, 7.69437275e-04,
  9.77421587e-03,-3.74326576e-06]


--- Step 514 ---
qpos:
[ 7.17121734e-03, 4.03320791e-03,-3.61764135e-03,-2.58493947e-02,
  6.06148825e-03,-2.89629060e-03,-1.78330114e-02, 1.16766125e-02,
  1.56906876e-02, 2.34718181e-03,-8.97953984e-03, 2.40434214e-02,
  9.16345082e-01,-9.59803764e-03, 6.49752554e-01, 6.28839923e-02,
  9.50858574e-02,-7.01539521e-02, 1.21434054e-01, 9.99981971e-01,
  2.61560468e-04, 7.61210059e-04, 5.95055593e-03]

qacc:
[ -3.02552866,  0.76857066, -4.84305949, 12.25953955,  4.09921987,
  -2.17865411, 10.29244086,-22.35811662,  2.37940865, -1.94440278,
  10.78441807,-25.59798681, -0.55700906,  0.03552627,  7.80695277,
 -29.54176166, -1.01264915, -0.15026271, -0.07868359,  2.27945685,
 -17.17558353,  0.54743474]

qfrc_actuator:
[-8.89751846e-05,-5.45754064e-05,-1.01083537e-04,-5.47153996e-05,
 -1.72714085e-05,-3.63083790e-04,-3.28475151e-04,-4.14957068e-05,
  4.37035425e-05,-5.05886227e-05,-8.47825106e-05,-5.89340857e-05,
  4.16240366e-02,-1.02713101e-03, 1.89804223e-02,-4.18049821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005866663386518423
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.54830000e-14,  4.73106667e-14,  1.00000000e+00,  1.67872439e-27,
        1.00000000e+00, -4.73106667e-14, -1.00000000e+00,  0.00000000e+00,
       -3.54830000e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882873, -0.06839042,  0.06198575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77068254e-05,-2.28072703e-05,-7.65410824e-06, 1.99925422e-05,
  2.40536436e-05,-2.43785003e-05, 2.86816370e-06,-3.61487626e-05,
  1.39147970e-05, 2.21206042e-05, 1.29102884e-05,-4.10949564e-05,
 -2.56007807e-04,-7.91742067e-05,-1.24742786e-04,-1.79632503e-04,
  6.51094977e-06, 8.08525336e-06,-7.84789835e+00, 7.68147069e-04,
  9.74899304e-03,-3.77857530e-06]


--- Step 515 ---
qpos:
[ 7.16940159e-03, 4.03214654e-03,-3.61770836e-03,-2.58490081e-02,
  6.06177178e-03,-2.89616122e-03,-1.78329800e-02, 1.16754860e-02,
  1.56912083e-02, 2.34739887e-03,-8.97909014e-03, 2.40425453e-02,
  9.17256338e-01,-9.59659894e-03, 6.50478323e-01, 6.28748087e-02,
  9.50685835e-02,-7.01550978e-02, 1.21435492e-01, 9.99982020e-01,
  2.68230400e-04, 6.13698247e-04, 5.95915299e-03]

qacc:
[ -1.67753916,  0.1745088 ,  0.48087451, -6.47505246,  5.64539216,
  -5.16185238, 24.47213422,-51.43957893, -1.59037302,  0.225353  ,
  -2.47174269,  7.30707288, -1.19214585,  2.087864  ,  5.18252337,
 -20.87830855, -1.00942194, -0.14984702, -0.12767858,  2.25847991,
 -17.10032781,  0.53648359]

qfrc_actuator:
[-9.82277377e-05,-1.01106878e-04,-1.40588504e-04,-7.88375039e-05,
  1.51204637e-05,-3.55435260e-04,-2.88816979e-04,-1.15589163e-04,
  3.39576114e-05,-9.96499032e-05,-9.86249137e-05,-4.78701439e-05,
  4.15464365e-02,-1.02074060e-03, 1.89220393e-02,-4.29533140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005815741996083312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.9656136e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -5.9656136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882971, -0.06839033,  0.06198587])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.76221394e-06,-5.99913035e-05,-4.44626018e-05,-2.49742594e-05,
  3.30719543e-05,-6.93491807e-06, 3.37277465e-05,-7.57433603e-05,
 -9.33983282e-06,-3.57997366e-05,-9.11353314e-06, 1.16587759e-05,
 -2.61769970e-04,-4.98147029e-05,-1.40481241e-04,-1.42045089e-04,
  1.24419010e-05, 1.41228299e-05,-7.84779110e+00, 7.68235880e-04,
  9.71279846e-03,-3.95962563e-06]


--- Step 516 ---
qpos:
[ 7.16783387e-03, 4.03089375e-03,-3.61857910e-03,-2.58492547e-02,
  6.06209678e-03,-2.89632746e-03,-1.78321773e-02, 1.16745296e-02,
  1.56912631e-02, 2.34748752e-03,-8.97854838e-03, 2.40414354e-02,
  9.18165991e-01,-9.59531103e-03, 6.51202338e-01, 6.28688814e-02,
  9.50494065e-02,-7.01529669e-02, 1.21436820e-01, 9.99982063e-01,
  2.47081527e-04, 4.50815571e-04, 5.96742786e-03]

qacc:
[ 2.16087291e+00, 6.85531802e-01,-1.49573202e-01,-9.36626343e+00,
  3.92257779e-01,-2.19571588e+00, 6.54307546e+00,-4.61345213e+00,
 -4.09409952e+00,-9.00257485e-01, 3.96450986e+00,-8.07784177e+00,
 -8.10947335e-01, 8.36640525e-01,-1.23946919e+01, 3.96551802e+01,
 -4.75770074e-01, 8.19132384e-01,-2.77112480e-02,-1.39548511e+01,
 -7.60244703e+00,-1.67548163e-01]

qfrc_actuator:
[-8.51867351e-05,-1.10654322e-04,-1.81708517e-04,-1.10973456e-04,
  1.63040125e-05,-3.68569053e-04,-2.47685530e-04,-1.05435082e-04,
  1.02579009e-05,-9.34955023e-05,-8.93456061e-05,-5.87933331e-05,
  4.14511781e-02,-1.03529964e-03, 1.88875818e-02,-4.11061183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005762431364788314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63328632e-14, -5.39463263e-07,  1.00000000e+00, -5.19680407e-20,
        1.00000000e+00,  5.39463263e-07, -1.00000000e+00,  0.00000000e+00,
       -9.63328632e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10208068, -0.08041343,  0.061986  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27489916e-05,-5.33062829e-05,-5.98356598e-05,-3.67267825e-05,
  2.12776964e-06,-1.32818636e-05, 4.12320135e-05, 9.55072166e-06,
 -2.39766949e-05,-1.52607174e-05, 1.16031144e-06,-1.25448457e-05,
 -2.77762296e-04,-6.83020599e-05,-1.18675423e-04, 1.57806837e-04,
  2.03938542e-05, 2.16027469e-05,-7.84764553e+00, 7.69692031e-04,
  9.66568009e-03,-4.28510169e-06]


--- Step 517 ---
qpos:
[ 7.16677948e-03, 4.02949383e-03,-3.61975600e-03,-2.58499249e-02,
  6.06243368e-03,-2.89666388e-03,-1.78308887e-02, 1.16737056e-02,
  1.56913782e-02, 2.34775913e-03,-8.97833302e-03, 2.40401918e-02,
  9.19073949e-01,-9.59385111e-03, 6.51924640e-01, 6.28668447e-02,
  9.50305943e-02,-7.01437831e-02, 1.21436472e-01, 9.99982087e-01,
  1.66185283e-04, 2.92583138e-04, 5.97603782e-03]

qacc:
[  4.51124557, -0.2198541 ,  2.27148729, -8.98116084,  0.12243202,
  -1.3100512 ,  3.78598805, -2.14730223,  0.51647119,  0.87784469,
  -2.21638138,  0.29144546, -1.19058315,  2.06181291,-14.2304658 ,
  46.20761382,  0.09120062,  1.76324548, -0.41878755,-29.85934809,
   2.50339403,  0.15355547]

qfrc_actuator:
[-5.91312326e-05,-9.80141890e-05,-1.87797369e-04,-1.29776490e-04,
  1.68592583e-05,-3.76205459e-04,-2.23790527e-04,-9.90621700e-05,
  1.40482570e-05,-7.20086433e-05,-1.01802590e-04,-6.47630398e-05,
  4.13666881e-02,-1.02670713e-03, 1.88196344e-02,-3.91059976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005742451938827997
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83340147e-14, -9.66680293e-14,  1.00000000e+00, -4.67235394e-27,
        1.00000000e+00,  9.66680293e-14, -1.00000000e+00,  0.00000000e+00,
       -4.83340147e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949677 , -0.09308486,  0.06198605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64078444e-05,-3.10340715e-05,-2.57116603e-05,-2.38656246e-05,
  6.09338463e-07,-6.13831486e-06, 2.65559731e-05, 7.41715857e-06,
  3.10493308e-06, 1.26397833e-05,-1.59043264e-05,-6.82560813e-06,
 -2.80677753e-04,-5.06289953e-05,-1.08388468e-04, 1.92701678e-04,
  2.90517864e-05, 1.85978459e-05,-7.84756116e+00, 7.62627212e-04,
  9.61396587e-03,-3.79106816e-06]


--- Step 518 ---
qpos:
[ 7.16604571e-03, 4.02795164e-03,-3.62078321e-03,-2.58508485e-02,
  6.06277445e-03,-2.89690015e-03,-1.78293673e-02, 1.16722564e-02,
  1.56915380e-02, 2.34763129e-03,-8.97779737e-03, 2.40396072e-02,
  9.19980249e-01,-9.59200457e-03, 6.52645208e-01, 6.28672607e-02,
  9.50121424e-02,-7.01275832e-02, 1.21434213e-01, 9.99982079e-01,
  2.59466141e-05, 1.38809164e-04, 5.98519400e-03]

qacc:
[  2.82922066, -1.13383641,  4.82668657, -9.32808577,  0.03900592,
  -1.8045275 ,  9.26619833,-20.53299584,  0.41093788, -0.06732665,
  -3.30977856, 14.49851122, -1.42387737,  2.88569946, -9.91175873,
  31.07254366,  0.09006389,  1.75403266, -0.47793238,-29.65743664,
   2.40655614,  0.2641464 ]

qfrc_actuator:
[-4.33841754e-05,-8.97818588e-05,-1.73043579e-04,-1.40536046e-04,
  1.70504973e-05,-3.62797995e-04,-2.10260520e-04,-1.30493475e-04,
  1.62403057e-05,-1.12592848e-04,-9.14144520e-05,-3.22619678e-05,
  4.12940505e-02,-1.00448615e-03, 1.87263266e-02,-3.79211227e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005709255007503439
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.86150567e-14,  9.72301135e-14,  1.00000000e+00,  4.72684748e-27,
        1.00000000e+00, -9.72301135e-14, -1.00000000e+00,  0.00000000e+00,
       -4.86150567e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949681 , -0.09308611,  0.06198613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64940587e-05,-1.53756740e-05, 4.38360356e-06,-1.34362605e-05,
  2.05124967e-07, 1.57770843e-05, 1.57808089e-05,-3.06312986e-05,
  2.28643764e-06,-3.71018590e-05, 1.08010045e-05, 3.23611737e-05,
 -2.67329396e-04,-3.54748950e-05,-1.25553561e-04, 1.14342196e-04,
  3.66476897e-05, 9.42600809e-06,-7.84748578e+00, 7.36676566e-04,
  9.56402347e-03,-1.88265588e-06]


--- Step 519 ---
qpos:
[ 7.16481646e-03, 4.02666549e-03,-3.62184717e-03,-2.58515877e-02,
  6.06276995e-03,-2.89688664e-03,-1.78283574e-02, 1.16711651e-02,
  1.56917226e-02, 2.34744996e-03,-8.97722824e-03, 2.40390467e-02,
  9.20885005e-01,-9.58992012e-03, 6.53364631e-01, 6.28644177e-02,
  9.49917819e-02,-7.01106840e-02, 1.21432712e-01, 9.99982024e-01,
 -1.19993680e-04,-3.12764044e-05, 5.99476343e-03]

qacc:
[ -4.3667905 ,  0.82943071, -3.22785177,  6.26822935, -3.04153649,
   2.50110278, -9.94055429, 16.75929033,  0.22032452, -0.11511883,
   0.20551921,  0.19774132, -1.34152841,  2.5955497 ,  8.18700164,
 -31.01199442, -0.47713754,  0.17481171,  0.18965324, -2.89960361,
  -8.13857973,  0.20657916]

qfrc_actuator:
[-6.93400614e-05,-4.86349581e-05,-1.63870241e-04,-1.28717718e-04,
 -7.26016444e-07,-3.54719099e-04,-2.38395985e-04,-1.12892235e-04,
  1.74647823e-05,-1.01147293e-04,-8.55880102e-05,-3.06754862e-05,
  4.12232566e-02,-9.92124165e-04, 1.86391693e-02,-3.97119456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005666626391484625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.89807757e-14, -2.41389214e-07,  1.00000000e+00,  1.18234309e-20,
        1.00000000e+00,  2.41389214e-07, -1.00000000e+00, -3.00926554e-36,
        4.89807757e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10198283, -0.07229213,  0.06198623])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54862898e-05, 3.29569577e-05, 6.10486454e-06, 1.10571986e-05,
 -1.77645090e-05, 1.88424160e-05,-2.40045679e-05, 1.82275833e-05,
  1.27473144e-06,-5.68315176e-06, 6.09246988e-07, 1.00036794e-06,
 -2.53901837e-04,-4.09361422e-05,-1.35503382e-04,-1.89690159e-04,
  4.53365681e-05, 1.00498716e-06,-7.84729440e+00, 6.91759291e-04,
  9.51554716e-03, 1.09757000e-06]


--- Step 520 ---
qpos:
[ 7.16294080e-03, 4.02585463e-03,-3.62294589e-03,-2.58518635e-02,
  6.06289725e-03,-2.89656519e-03,-1.78277445e-02, 1.16702778e-02,
  1.56919203e-02, 2.34749316e-03,-8.97704715e-03, 2.40391934e-02,
  9.21788427e-01,-9.58832231e-03, 6.54082750e-01, 6.28587283e-02,
  9.49699122e-02,-7.00987896e-02, 1.21431737e-01, 9.99981922e-01,
 -2.22921056e-04,-2.15245969e-04, 6.00489355e-03]

qacc:
[ -5.69913757,  1.69094824, -7.04965454, 14.74282528,  1.13588933,
   1.93350259, -7.16922873, 11.11303539,  0.099443  ,  2.83714139,
 -12.67198871, 25.36808536, -0.43907872, -0.26842362,  6.66969456,
 -26.13098902, -0.37730853, -1.25119328,  0.13145882, 21.46446287,
  -7.07083408,  0.27897633]

qfrc_actuator:
[-1.01877250e-04,-5.83335137e-06,-1.57918605e-04,-1.03689034e-04,
  6.56967461e-06,-3.32274404e-04,-2.55374395e-04,-1.02109727e-04,
  1.81107390e-05,-7.64227044e-05,-1.00092511e-04, 5.99144077e-06,
  4.11536182e-02,-1.02118876e-03, 1.85823407e-02,-4.11105667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005685265867704825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.63627177e-07, -2.31813686e-07,  1.00000000e+00,  1.07475125e-13,
        1.00000000e+00,  2.31813686e-07, -1.00000000e+00,  1.26217745e-29,
        4.63627177e-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([ 0.10085319, -0.05479383,  0.06198619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.32449375e-05, 6.30209854e-05, 1.39243334e-05, 2.68745831e-05,
  6.79495382e-06, 2.87880762e-05,-1.54216230e-05, 1.11148515e-05,
  6.80021641e-07, 2.17174435e-05,-1.55719273e-05, 3.64642976e-05,
 -2.45163287e-04,-8.04190820e-05,-1.44545135e-04,-1.68916760e-04,
  5.22320573e-05, 1.59741028e-06,-7.84718183e+00, 6.44719116e-04,
  9.46163920e-03, 3.87251037e-06]


--- Step 521 ---
qpos:
[ 7.16034464e-03, 4.02550476e-03,-3.62399257e-03,-2.58514965e-02,
  6.06311088e-03,-2.89606592e-03,-1.78270363e-02, 1.16695089e-02,
  1.56924690e-02, 2.34789951e-03,-8.97715399e-03, 2.40400983e-02,
  9.22690400e-01,-9.58702300e-03, 6.54799633e-01, 6.28522659e-02,
  9.49528262e-02,-7.00895912e-02, 1.21432101e-01, 9.99981819e-01,
 -3.02433580e-04,-3.58202610e-04, 6.01180286e-03]

qacc:
[ -6.34811401,  1.80000372, -8.21933644, 18.88225174,  0.75541027,
   0.21103709, -0.9138521 ,  2.6823513 ,  3.07431779,  2.83965148,
 -12.64022462, 25.96668173, -0.6615053 ,  0.40737162,  0.52124169,
  -4.4482388 ,  1.19593177, -0.67399975,  0.33463096, 11.83000681,
  20.43614881, -1.60832382]

qfrc_actuator:
[-1.38014078e-04, 1.98867748e-05,-1.53887282e-04,-7.10869089e-05,
  1.08170791e-05,-3.19120925e-04,-2.47815742e-04,-9.54076921e-05,
  3.61640220e-05,-4.39873199e-05,-1.08634829e-04, 4.52611882e-05,
  4.10740582e-02,-1.03897465e-03, 1.85544163e-02,-4.13773237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005757732331604232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64114829e-14,  4.82057415e-14,  1.00000000e+00,  4.64758702e-27,
        1.00000000e+00, -4.82057415e-14, -1.00000000e+00,  0.00000000e+00,
       -9.64114829e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187363, -0.06199409,  0.06198601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.70569753e-05, 6.50249821e-05, 1.97184141e-05, 3.63122996e-05,
  4.45173862e-06, 2.65280447e-05, 1.19804873e-05, 7.61785322e-06,
  1.80796437e-05, 4.29228193e-05,-4.71534773e-06, 4.03704573e-05,
 -2.56726075e-04,-7.23712848e-05,-1.16760403e-04,-5.55657348e-05,
  5.05418256e-05, 1.19108843e-05,-7.84727633e+00, 6.11205232e-04,
  9.40298371e-03, 5.26869701e-06]


--- Step 522 ---
qpos:
[ 7.15699052e-03, 4.02540160e-03,-3.62486901e-03,-2.58507222e-02,
  6.06302880e-03,-2.89518197e-03,-1.78266334e-02, 1.16691725e-02,
  1.56932299e-02, 2.34865631e-03,-8.97791277e-03, 2.40411483e-02,
  9.23590762e-01,-9.58557247e-03, 6.55515191e-01, 6.28431921e-02,
  9.49404698e-02,-7.00830651e-02, 1.21433369e-01, 9.99981735e-01,
 -3.58964174e-04,-4.60729433e-04, 6.01562404e-03]

qacc:
[ -6.67067153,  0.70230552, -3.7245944 , 10.28874135, -2.60362083,
   2.25608647, -9.12466493, 16.80740248,  1.84078623,  2.58027431,
  -9.14664531, 12.44757355, -1.28054971,  2.30243591,  5.9655831 ,
 -23.62965713,  1.18239388, -0.66807439,  0.22604951, 11.61173446,
  20.14593   , -1.54209255]

qfrc_actuator:
[-1.75978044e-04, 1.74295843e-05,-1.51081043e-04,-5.20580583e-05,
 -4.52435474e-06,-2.93782606e-04,-2.61373581e-04,-7.33972910e-05,
  4.65658671e-05,-4.26591570e-05,-1.49049981e-04, 5.02535324e-05,
  4.09886036e-02,-1.03223419e-03, 1.84746402e-02,-4.27495746e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005804760673826376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.56303875e-14, -7.17227906e-14,  1.00000000e+00, -6.85887825e-27,
        1.00000000e+00,  7.17227906e-14, -1.00000000e+00,  0.00000000e+00,
       -9.56303875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818743 , -0.06199489,  0.0619859 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89939464e-05, 3.95513420e-05, 1.99407291e-05, 2.32067700e-05,
 -1.52057930e-05, 4.29504986e-05,-6.35162047e-06, 2.37088059e-05,
  1.09303440e-05, 2.60794663e-05,-3.07384441e-05, 7.45095147e-06,
 -2.68510695e-04,-4.91926091e-05,-1.44156144e-04,-1.56434965e-04,
  2.90848169e-05, 5.08532426e-06,-7.84756430e+00, 5.86198031e-04,
  9.35711728e-03, 6.06844116e-06]


--- Step 523 ---
qpos:
[ 7.15424212e-03, 4.02542971e-03,-3.62527817e-03,-2.58507670e-02,
  6.06241878e-03,-2.89414814e-03,-1.78263245e-02, 1.16694634e-02,
  1.56937650e-02, 2.34947454e-03,-8.97880363e-03, 2.40429423e-02,
  9.24489545e-01,-9.58403094e-03, 6.56228232e-01, 6.28366030e-02,
  9.49327955e-02,-7.00791899e-02, 1.21435154e-01, 9.99981687e-01,
 -3.92874962e-04,-5.23323598e-04, 6.01646439e-03]

qacc:
[  5.34400633, -2.83035201, 13.77363886,-28.75176433, -4.62506762,
   1.76050739, -8.62333525, 19.50478641, -1.99216618,  1.98610916,
 -10.09888355, 23.13598797, -1.0482024 ,  1.68570405,-11.18112187,
  33.79572025,  1.17054193, -0.66273525,  0.12924811, 11.42912561,
  19.8984721 , -1.48854159]

qfrc_actuator:
[-1.43702096e-04, 1.58485051e-05,-1.31396231e-04,-9.44528189e-05,
 -3.12715858e-05,-2.96916636e-04,-2.69486307e-04,-4.25633714e-05,
  3.46226522e-05,-4.23752423e-05,-1.54851766e-04, 8.82471939e-05,
  4.09103306e-02,-1.02886085e-03, 1.83691312e-02,-4.13906461e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005828297604904414
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.52441948e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.52441948e-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([ 0.08187452, -0.06199534,  0.06198584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11815673e-05, 2.56573667e-05, 3.11270399e-05,-3.95567329e-05,
 -2.71673940e-05, 2.05462670e-05, 7.83011943e-07, 3.29144687e-05,
 -1.16208167e-05, 8.82291104e-06,-3.94496698e-06, 3.81900470e-05,
 -2.64968805e-04,-5.19048347e-05,-1.92883241e-04, 1.07741689e-04,
  1.38304528e-05, 7.95482635e-07,-7.84777686e+00, 5.68393648e-04,
  9.32423963e-03, 6.62345592e-06]


--- Step 524 ---
qpos:
[ 7.15259151e-03, 4.02564499e-03,-3.62570334e-03,-2.58516379e-02,
  6.06183797e-03,-2.89327926e-03,-1.78262283e-02, 1.16701710e-02,
  1.56941527e-02, 2.35056352e-03,-8.97957520e-03, 2.40451326e-02,
  9.25386651e-01,-9.58209612e-03, 6.56939339e-01, 6.28338648e-02,
  9.49297626e-02,-7.00779469e-02, 1.21437113e-01, 9.99981682e-01,
 -4.04466652e-04,-5.46404326e-04, 6.01441078e-03]

qacc:
[ 9.65909163e+00,-1.42789525e+00, 8.89608804e+00,-2.32488748e+01,
  2.52062620e-01, 1.23356318e+00,-6.47533124e+00, 1.41507566e+01,
 -1.29747918e+00, 8.42852127e-01,-4.15487522e+00, 1.06188279e+01,
 -1.40490707e+00, 2.81646015e+00,-1.44269048e+01, 4.64429915e+01,
  1.16033732e+00,-6.58038217e-01, 4.35665510e-02, 1.12774620e+01,
  1.96897955e+01,-1.44516236e+00]

qfrc_actuator:
[-8.80953435e-05, 1.48098455e-05,-1.37454680e-04,-1.37132832e-04,
 -2.90065189e-05,-3.34805782e-04,-2.92173789e-04,-2.45557637e-05,
  2.73781966e-05,-7.06377712e-06,-1.40144624e-04, 1.09879316e-04,
  4.08257701e-02,-1.00975543e-03, 1.83175728e-02,-3.93211569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000583244425881882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.42764719e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.42764719e-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([ 0.08187437, -0.06199552,  0.06198583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.65020616e-05, 1.80674429e-05, 1.71188527e-06,-4.12746484e-05,
  1.49467841e-06,-2.48789980e-05,-1.72234689e-05, 1.95531757e-05,
 -7.57092871e-06, 4.10414347e-05, 1.73630238e-05, 2.26137053e-05,
 -2.69385713e-04,-3.58665019e-05,-1.27996368e-04, 1.88168817e-04,
  4.30112731e-06,-1.18405592e-06,-7.84791754e+00, 5.57693756e-04,
  9.30418128e-03, 6.93284160e-06]


--- Step 525 ---
qpos:
[ 7.15162054e-03, 4.02599759e-03,-3.62649629e-03,-2.58522914e-02,
  6.06197845e-03,-2.89259620e-03,-1.78266264e-02, 1.16707669e-02,
  1.56944504e-02, 2.35216609e-03,-8.98024557e-03, 2.40468436e-02,
  9.26282223e-01,-9.58023918e-03, 6.57649567e-01, 6.28327930e-02,
  9.49313366e-02,-7.00793199e-02, 1.21438945e-01, 9.99981724e-01,
 -3.93986461e-04,-5.30320180e-04, 6.00953373e-03]

qacc:
[  5.96862895,  1.64576701, -6.53921541, 10.80234344,  6.2995794 ,
   0.89296395, -3.09029355,  2.1074707 , -0.79872872, -0.58936287,
   5.11301087,-13.95227216, -0.8968492 ,  1.16086778, -6.30006418,
  20.21764866,  1.1517137 , -0.65400698, -0.03179235, 11.15275288,
  19.51628684, -1.40994448]

qfrc_actuator:
[-5.47297205e-05, 1.39882374e-05,-1.58662708e-04,-1.26391600e-04,
  8.07257893e-06,-3.57787852e-04,-3.23449703e-04,-3.20368875e-05,
  2.29648592e-05, 3.12776882e-05,-1.31083276e-04, 8.62394337e-05,
  4.07481543e-02,-1.01705471e-03, 1.82984229e-02,-3.84466681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005820810742919597
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.15250251e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.15250251e-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([ 0.08187391, -0.06199547,  0.06198586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49782709e-05, 7.89187583e-06,-1.86895736e-05, 1.07707639e-05,
  3.71129988e-05,-3.96477378e-05,-3.78727156e-05,-8.76646289e-06,
 -4.61266019e-06, 6.58110594e-05, 2.04522376e-05,-2.08454044e-05,
 -2.61918792e-04,-6.13394638e-05,-5.98479015e-05, 8.07822040e-05,
  1.42246967e-07,-1.02965102e-06,-7.84798917e+00, 5.54015254e-04,
  9.29680035e-03, 6.99612085e-06]


--- Step 526 ---
qpos:
[ 7.15105745e-03, 4.02654008e-03,-3.62759947e-03,-2.58524765e-02,
  6.06221716e-03,-2.89185423e-03,-1.78275345e-02, 1.16712384e-02,
  1.56943480e-02, 2.35402491e-03,-8.98039912e-03, 2.40479167e-02,
  9.27176247e-01,-9.57871959e-03, 6.58358803e-01, 6.28350765e-02,
  9.49374889e-02,-7.00832954e-02, 1.21440386e-01, 9.99981810e-01,
 -3.61634825e-04,-4.75355602e-04, 6.00189062e-03]

qacc:
[  3.5775851 ,  2.07585635, -9.02069075, 17.48161547,  0.84249714,
   1.24478877, -3.803115  ,  2.42455272, -3.50837207, -2.41209376,
  11.79690538,-23.86393267, -0.5947396 ,  0.13827105,-11.57878517,
  38.41464941,  1.14458889, -0.65064323, -0.09769152, 11.05162479,
  19.37469895, -1.38127514]

qfrc_actuator:
[-3.47297382e-05, 3.10244812e-05,-1.70849674e-04,-1.02063291e-04,
  1.20784362e-05,-3.36233551e-04,-3.41759455e-04,-3.66969052e-05,
  2.49923120e-06, 3.55807567e-05,-1.07686406e-04, 5.39061023e-05,
  4.06587756e-02,-1.03988295e-03, 1.82720638e-02,-3.66850019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005796551879772988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57658145e-14,  4.78829073e-14,  1.00000000e+00,  4.58554562e-27,
        1.00000000e+00, -4.78829073e-14, -1.00000000e+00,  0.00000000e+00,
       -9.57658145e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187323, -0.06199524,  0.06198592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09963158e-05, 1.80636291e-05,-1.24798333e-05, 2.42306039e-05,
  5.05420835e-06,-8.82334545e-06,-3.14739920e-05,-7.84365416e-06,
 -2.05689372e-05, 4.43817437e-05, 3.87747055e-05,-2.92167038e-05,
 -2.73290753e-04,-7.87590624e-05,-5.17079376e-05, 1.71330425e-04,
  1.10155357e-06, 1.11589365e-06,-7.84799396e+00, 5.57288731e-04,
  9.30197949e-03, 6.81313855e-06]


--- Step 527 ---
qpos:
[ 7.15073872e-03, 4.02726243e-03,-3.62884104e-03,-2.58527249e-02,
  6.06250206e-03,-2.89070571e-03,-1.78288629e-02, 1.16712529e-02,
  1.56940015e-02, 2.35584079e-03,-8.98037457e-03, 2.40486566e-02,
  9.28068522e-01,-9.57708420e-03, 6.59067107e-01, 6.28391390e-02,
  9.49481967e-02,-7.00898628e-02, 1.21441207e-01, 9.99981930e-01,
 -3.07571059e-04,-3.81736737e-04, 5.99152830e-03]

qacc:
[  2.14348579,  0.49020597, -1.14338064,  0.14594156,  0.38379554,
   0.76999018, -0.03845451, -7.4942944 , -2.14177318, -1.23637947,
   5.74021292,-11.76831061, -1.23886839,  2.06485222, -6.70368962,
  21.54812605,  1.138873  , -0.64793404, -0.15501138, 10.97122654,
  19.26213545, -1.35785869]

qfrc_actuator:
[-2.27492427e-05, 4.09152854e-05,-1.77534450e-04,-1.05425905e-04,
  1.43275308e-05,-2.88127847e-04,-3.52076014e-04,-5.73594380e-05,
 -9.49920073e-06, 1.76004810e-06,-1.11649591e-04, 3.44595701e-05,
  4.05623954e-02,-1.03623270e-03, 1.82201178e-02,-3.58347947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005762405029115514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44499955e-13,  2.40833259e-13,  1.00000000e+00,  3.48003951e-26,
        1.00000000e+00, -2.40833259e-13, -1.00000000e+00,  0.00000000e+00,
       -1.44499955e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187235, -0.06199487,  0.061986  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25820781e-05, 1.84546240e-05,-3.64588993e-06,-2.54812802e-06,
  2.39200735e-06, 3.63190573e-05,-1.62869602e-05,-2.22833394e-05,
 -1.25617230e-05,-2.32015950e-06, 8.94788380e-06,-1.67768935e-05,
 -2.90971436e-04,-5.67082854e-05,-6.34459327e-05, 8.62788495e-05,
  7.01329427e-06, 5.13158032e-06,-7.84793363e+00, 5.67457085e-04,
  9.31962331e-03, 6.38398449e-06]


--- Step 528 ---
qpos:
[ 7.15091123e-03, 4.02804513e-03,-3.62983494e-03,-2.58530231e-02,
  6.06281186e-03,-2.88945864e-03,-1.78296815e-02, 1.16709939e-02,
  1.56935139e-02, 2.35763121e-03,-8.98038311e-03, 2.40495162e-02,
  9.28959128e-01,-9.57542157e-03, 6.59774114e-01, 6.28426285e-02,
  9.49634424e-02,-7.00990135e-02, 1.21441209e-01, 9.99982071e-01,
 -2.31918155e-04,-2.49636604e-04, 5.97848514e-03]

qacc:
[  4.33092132, -0.72360022,  2.88995264, -4.17295755,  0.23206801,
  -1.85729013,  7.96631974,-13.58948072, -1.24265872,  0.30781173,
  -1.64773429,  3.7873717 , -1.14348645,  1.78781281, -0.1523278 ,
  -2.17689228,  1.13447395, -0.64585713, -0.20461813, 10.90914674,
  19.17602616, -1.33865249]

qfrc_actuator:
[ 2.17256211e-06, 4.64529161e-05,-1.63213015e-04,-1.07306185e-04,
  1.55353152e-05,-2.77720397e-04,-3.21977205e-04,-6.94886867e-05,
 -1.64132242e-05,-1.48032232e-06,-1.14144183e-04, 4.04482603e-05,
  4.04831915e-02,-1.03476618e-03, 1.81262210e-02,-3.62392258e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005720728122100421
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.21293894e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.21293894e-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([ 0.08187133, -0.06199439,  0.06198611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52848853e-05, 1.49895362e-05, 1.76023634e-05,-1.26454751e-06,
  1.29038199e-06, 2.63726346e-05, 3.48250431e-05,-1.15700312e-05,
 -7.26546009e-06,-3.48164333e-06,-2.47525533e-06, 5.86706261e-06,
 -2.81435822e-04,-5.95282667e-05,-1.20209656e-04,-4.54210035e-05,
  1.77861421e-05, 1.09092538e-05,-7.84780943e+00, 5.84474284e-04,
  9.34965617e-03, 5.70893421e-06]


--- Step 529 ---
qpos:
[ 7.15138118e-03, 4.02882769e-03,-3.63033271e-03,-2.58533511e-02,
  6.06313427e-03,-2.88878110e-03,-1.78295233e-02, 1.16706452e-02,
  1.56929470e-02, 2.35972593e-03,-8.98090892e-03, 2.40514678e-02,
  9.29848173e-01,-9.57405861e-03, 6.60479399e-01, 6.28440129e-02,
  9.49832133e-02,-7.01107418e-02, 1.21440223e-01, 9.99982210e-01,
 -1.34766832e-04,-7.91796735e-05, 5.96279278e-03]

qacc:
[  2.63384033, -1.45392404,  5.29924764, -6.59591134,  0.15053263,
  -3.66604915, 12.35887641,-15.0557113 , -0.71853988,  4.09734695,
 -18.63385352, 38.13271915, -0.76448102,  0.58441185,  3.82813347,
 -17.05508368,  1.13130105, -0.64438466, -0.24734381, 10.86334358,
  19.11409825, -1.32281565]

qfrc_actuator:
[ 1.67618936e-05, 4.94262107e-05,-1.36618562e-04,-1.08285215e-04,
  1.61211216e-05,-3.43044411e-04,-2.86143703e-04,-7.64984712e-05,
 -2.02819012e-05, 3.13798155e-05,-1.33370301e-04, 9.68836659e-05,
  4.04036974e-02,-1.05232029e-03, 1.80178719e-02,-3.73800351e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005673536699244558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.78422352e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.78422352e-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([ 0.08187021, -0.06199383,  0.06198622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.53106395e-05, 1.49290415e-05, 3.18163535e-05, 2.47173403e-07,
  6.30951694e-07,-4.39138829e-05, 4.51658926e-05,-4.90019898e-06,
 -4.07062332e-06, 3.05825763e-05,-2.00701354e-05, 5.63090493e-05,
 -2.76318048e-04,-7.69693834e-05,-1.73067616e-04,-1.33153660e-04,
  3.33940294e-05, 1.83467037e-05,-7.84762224e+00, 6.08304276e-04,
  9.39202016e-03, 4.78840423e-06]


--- Step 530 ---
qpos:
[ 7.15202263e-03, 4.02950255e-03,-3.63042475e-03,-2.58536683e-02,
  6.06380640e-03,-2.88889173e-03,-1.78290001e-02, 1.16702873e-02,
  1.56926833e-02, 2.36198652e-03,-8.98159282e-03, 2.40533821e-02,
  9.30735593e-01,-9.57287459e-03, 6.61182889e-01, 6.28446084e-02,
  9.50075013e-02,-7.01250440e-02, 1.21438100e-01, 9.99982323e-01,
 -1.61789833e-05, 1.29554099e-04, 5.94447741e-03]

qacc:
[ 1.52426936,-1.25699873, 4.22259656,-4.59340343, 3.08537305,-2.08568604,
  5.95428327,-6.10675475, 2.659615  , 0.57914344,-1.59858429, 1.09410245,
 -0.89730601, 0.99546653,-0.2447492 ,-2.94431956, 1.12926725,-0.64348579,
 -0.28397457,10.83208526,19.0743461 ,-1.30966824]

qfrc_actuator:
[ 2.51490496e-05, 3.31446079e-05,-1.20760463e-04,-1.08723434e-04,
  3.40887185e-05,-4.17673377e-04,-2.83045632e-04,-8.05110151e-05,
 -4.57614851e-06, 3.23228011e-05,-1.44385278e-04, 9.38038533e-05,
  4.03187539e-02,-1.06321815e-03, 1.79488682e-02,-3.77023757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005622539209274441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87296827e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.87296827e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186902, -0.06199321,  0.06198634])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.82401756e-06,-1.36933886e-06, 2.28646397e-05, 1.30586150e-06,
  1.79686791e-05,-9.00918221e-05,-5.87142652e-07,-4.42772973e-06,
  1.56057192e-05, 1.62349927e-05,-5.24452534e-06,-1.37560854e-06,
 -2.82000835e-04,-7.14217560e-05,-1.65387732e-04,-6.24336606e-05,
  5.38692537e-05, 2.73422918e-05,-7.84737262e+00, 6.38920021e-04,
  9.44667349e-03, 3.62291851e-06]


--- Step 531 ---
qpos:
[ 7.15241489e-03, 4.02997678e-03,-3.63053445e-03,-2.58536008e-02,
  6.06399861e-03,-2.88937563e-03,-1.78288437e-02, 1.16698825e-02,
  1.56926102e-02, 2.36391515e-03,-8.98156294e-03, 2.40542126e-02,
  9.31621259e-01,-9.57146978e-03, 6.61884779e-01, 6.28486303e-02,
  9.50277733e-02,-7.01451487e-02, 1.21435163e-01, 9.99982362e-01,
  1.52485628e-04, 3.02698089e-04, 5.92965433e-03]

qacc:
[ -2.19036766,  0.58045262, -4.06637099, 10.88025792, -4.2048846 ,
   0.4431078 , -2.08387715,  2.11885901,  1.70540622, -4.66835768,
  20.57926886,-40.22820151, -1.29650817,  2.30371121,-12.65877866,
  40.95961317, -1.00399104, -1.45060595, -0.20364345, 24.93193086,
 -17.9434404 ,  1.74929213]

qfrc_actuator:
[ 1.20692341e-05, 5.41769056e-06,-1.29204864e-04,-9.11134668e-05,
  8.88532152e-06,-4.26428345e-04,-2.99367668e-04,-8.27698461e-05,
  4.77093247e-06,-3.62042221e-06,-1.15120597e-04, 3.79546896e-05,
  4.02306025e-02,-1.05237047e-03, 1.79301694e-02,-3.57631133e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005639668008613624
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.15186381e-14,  1.23037276e-14,  1.00000000e+00,  7.56908567e-28,
        1.00000000e+00, -1.23037276e-14, -1.00000000e+00,  0.00000000e+00,
       -6.15186381e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089152, -0.0517382,  0.0619863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28326351e-05,-2.37358544e-05,-5.87335573e-06, 1.83666452e-05,
 -2.47212782e-05,-5.94399556e-05,-3.51608765e-05,-6.22659600e-06,
  9.80321702e-06,-2.80803165e-05, 3.19010664e-05,-5.53701573e-05,
 -2.87785786e-04,-5.01621033e-05,-1.03744598e-04, 1.68646103e-04,
  7.92973665e-05, 3.77907009e-05,-7.84706080e+00, 6.76302649e-04,
  9.51358896e-03, 2.21308364e-06]


--- Step 532 ---
qpos:
[ 7.15195738e-03, 4.03043095e-03,-3.63109747e-03,-2.58529700e-02,
  6.06354229e-03,-2.89004927e-03,-1.78287091e-02, 1.16690604e-02,
  1.56926501e-02, 2.36536469e-03,-8.98106339e-03, 2.40544038e-02,
  9.32505288e-01,-9.56996671e-03, 6.62585839e-01, 6.28515383e-02,
  9.50485139e-02,-7.01577889e-02, 1.21432776e-01, 9.99982345e-01,
  2.57702750e-04, 4.79208173e-04, 5.91730690e-03]

qacc:
[ -7.49378249,  2.41569349,-10.99738885, 21.44258281, -5.6729559 ,
  -1.03742003,  5.11644501,-12.18541933,  1.01728333, -3.26391073,
  13.41449794,-24.87227575, -1.22009926,  2.06036908,  2.17422572,
  -9.30486871,  0.11716242,  1.86610908,  0.13754288,-31.71357623,
   1.87132498,  1.2281074 ]

qfrc_actuator:
[-3.12913110e-05, 6.46486279e-06,-1.51969653e-04,-6.30525661e-05,
 -2.37782824e-05,-4.13511173e-04,-2.91250780e-04,-1.01687748e-04,
  1.02940178e-05,-4.35112653e-05,-9.80020000e-05, 4.76331352e-06,
  4.01565740e-02,-1.04655626e-03, 1.78777911e-02,-3.64114648e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005715971808776671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.71158590e-14,  9.71158590e-14,  1.00000000e+00,  9.43149007e-27,
        1.00000000e+00, -9.71158590e-14, -1.00000000e+00,  0.00000000e+00,
       -9.71158590e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496197, -0.09308891,  0.06198612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.37352331e-05,-1.26741780e-05,-2.77594505e-05, 2.71984913e-05,
 -3.33889366e-05,-2.78426592e-05,-8.70156479e-06,-2.28001635e-05,
  5.79911990e-06,-5.14456156e-05, 1.33063961e-05,-3.43751543e-05,
 -2.72904605e-04,-5.39023394e-05,-8.54898829e-05,-6.98051152e-05,
  7.21371620e-05, 1.17707146e-05,-7.84704752e+00, 7.31612035e-04,
  9.56855985e-03,-5.89875732e-07]


--- Step 533 ---
qpos:
[ 7.15098347e-03, 4.03096228e-03,-3.63168230e-03,-2.58527412e-02,
  6.06304286e-03,-2.89119202e-03,-1.78281265e-02, 1.16683661e-02,
  1.56924113e-02, 2.36614860e-03,-8.97995725e-03, 2.40542107e-02,
  9.33387910e-01,-9.56904764e-03, 6.63285379e-01, 6.28511108e-02,
  9.50697166e-02,-7.01630580e-02, 1.21430434e-01, 9.99982291e-01,
  3.00424025e-04, 6.59286687e-04, 5.90706104e-03]

qacc:
[-4.54775523e+00,-6.56114683e-01, 4.19578141e+00,-1.11823715e+01,
 -3.55126629e-01,-1.60747266e+00, 4.29413483e+00,-2.45550960e+00,
 -2.42260489e+00,-3.36166827e+00, 1.23408054e+01,-1.94814603e+01,
 -4.04599542e-01,-4.93878705e-01, 7.82391256e+00,-3.06402345e+01,
  1.15504310e-01, 1.84276236e+00, 1.13231291e-02,-3.12373130e+01,
  1.96936667e+00, 1.03544039e+00]

qfrc_actuator:
[-5.66147697e-05, 2.46761625e-05,-1.47378698e-04,-8.23116658e-05,
 -2.50521657e-05,-4.40882831e-04,-2.68668767e-04,-9.47066694e-05,
 -4.22855290e-06,-8.54907655e-05,-7.04598381e-05,-1.48444679e-05,
  4.00857461e-02,-1.07923319e-03, 1.77625872e-02,-3.82256349e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005787657394731582
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.59129877e-14,  2.87738963e-13,  1.00000000e+00,  2.75979036e-26,
        1.00000000e+00, -2.87738963e-13, -1.00000000e+00,  0.00000000e+00,
       -9.59129877e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949612 , -0.09308717,  0.06198594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65710421e-05, 6.53006288e-06,-5.02407002e-07,-2.02317400e-05,
 -2.23619470e-06,-4.57023452e-05, 1.49796736e-05, 5.04759740e-06,
 -1.43697355e-05,-6.95293232e-05, 1.73414624e-05,-2.20260315e-05,
 -2.60675913e-04,-9.00228358e-05,-1.68567785e-04,-1.97823488e-04,
  5.31079360e-05, 1.67357353e-05,-7.84731214e+00, 7.65637197e-04,
  9.62388477e-03,-2.99279819e-06]


--- Step 534 ---
qpos:
[ 7.15005815e-03, 4.03154803e-03,-3.63192763e-03,-2.58531129e-02,
  6.06253179e-03,-2.89279313e-03,-1.78275409e-02, 1.16681359e-02,
  1.56923449e-02, 2.36690469e-03,-8.97909601e-03, 2.40544514e-02,
  9.34269134e-01,-9.56882055e-03, 6.63982936e-01, 6.28475228e-02,
  9.50889913e-02,-7.01648848e-02, 1.21429753e-01, 9.99982224e-01,
  3.14410436e-04, 8.22340735e-04, 5.89719706e-03]

qacc:
[  0.43710748, -2.11483009, 10.17126696,-21.1286753 , -0.09362882,
   0.34127504, -4.05497145, 12.41921754,  1.51084499,  1.53795843,
  -7.37403049, 15.30051788, -0.27350814, -0.91774625,  6.60459856,
 -27.38349902, -0.48198832,  0.86058609,  0.41513862,-14.41758394,
  -8.42715144,  0.18405702]

qfrc_actuator:
[-5.33568180e-05, 3.53441168e-05,-1.26624477e-04,-1.11470071e-04,
 -2.55908570e-05,-4.74319894e-04,-2.73374026e-04,-7.25643495e-05,
  5.07331232e-06,-5.73347601e-05,-7.24935804e-05, 9.20399867e-06,
  4.00115510e-02,-1.11660920e-03, 1.76577118e-02,-3.98249926e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005826059898446311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.52807767e-14, -9.11893916e-07,  1.00000000e+00, -8.68859606e-20,
        1.00000000e+00,  9.11893916e-07, -1.00000000e+00, -1.20370622e-35,
       -9.52807767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207494, -0.08041739,  0.06198585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50529969e-06, 1.33303415e-05, 2.13433676e-05,-2.92892239e-05,
 -6.19341161e-07,-5.56477865e-05,-1.21169094e-05, 2.08035144e-05,
  8.87314008e-06,-8.13368438e-06,-1.50435110e-05, 2.12369799e-05,
 -2.63331532e-04,-9.67383172e-05,-2.06827278e-04,-1.93263289e-04,
  3.96531131e-05, 2.24275865e-05,-7.84744264e+00, 7.79676324e-04,
  9.68061875e-03,-4.24517557e-06]


--- Step 535 ---
qpos:
[ 7.15021373e-03, 4.03212201e-03,-3.63165091e-03,-2.58531451e-02,
  6.06201794e-03,-2.89448403e-03,-1.78271638e-02, 1.16681402e-02,
  1.56930802e-02, 2.36801324e-03,-8.97871912e-03, 2.40542544e-02,
  9.35148628e-01,-9.56834017e-03, 6.64678552e-01, 6.28396422e-02,
  9.51040496e-02,-7.01673108e-02, 1.21430519e-01, 9.99982154e-01,
  3.33922604e-04, 9.49149607e-04, 5.88887091e-03]

qacc:
[ 9.53142943e+00,-7.94287809e-01, 1.34565283e+00, 3.73563322e+00,
 -2.92770412e-02, 9.46519162e-01,-4.53728878e+00, 8.99553141e+00,
  7.03198895e+00, 9.04646733e-01,-7.25111439e-01,-6.31074994e+00,
 -1.49997730e+00, 2.83867521e+00, 1.01388216e+01,-3.95362848e+01,
 -1.05411125e+00,-1.49790166e-01, 3.61896522e-01, 2.65532549e+00,
 -1.81383165e+01, 7.76885284e-01]

qfrc_actuator:
[ 2.19682663e-06, 4.14779361e-05,-9.65248805e-05,-9.29508185e-05,
 -2.57026626e-05,-4.57961403e-04,-2.76433219e-04,-5.94652944e-05,
  4.60827384e-05,-2.29742702e-05,-9.16640151e-05,-1.22287965e-05,
  3.99194079e-02,-1.10320520e-03, 1.75591301e-02,-4.19939765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005873887243321163
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.08787243e-14,  3.54393621e-14,  1.00000000e+00,  2.51189678e-27,
        1.00000000e+00, -3.54393621e-14, -1.00000000e+00,  0.00000000e+00,
       -7.08787243e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882484, -0.06839663,  0.06198573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.56282823e-05, 1.67284801e-05, 3.44657978e-05, 1.92582142e-05,
 -1.49296425e-07,-1.63192103e-05,-1.53135466e-05, 1.07029597e-05,
  4.12617228e-05, 2.75796237e-05,-2.19885423e-05,-2.18931091e-05,
 -2.84476403e-04,-4.72794731e-05,-2.15559092e-04,-2.54404975e-04,
  2.87464865e-05, 2.39357280e-05,-7.84756442e+00, 7.84566718e-04,
  9.73235734e-03,-4.66819685e-06]


--- Step 536 ---
qpos:
[ 7.15068884e-03, 4.03277535e-03,-3.63100097e-03,-2.58533023e-02,
  6.06116157e-03,-2.89593371e-03,-1.78272890e-02, 1.16682785e-02,
  1.56929218e-02, 2.36899495e-03,-8.97837289e-03, 2.40531418e-02,
  9.36026123e-01,-9.56669310e-03, 6.65372248e-01, 6.28336592e-02,
  9.51149348e-02,-7.01703386e-02, 1.21432323e-01, 9.99982096e-01,
  3.58786394e-04, 1.04023814e-03, 5.88198377e-03]

qacc:
[  2.8230452 , -1.20141632,  4.95153698, -7.75371426, -3.01701503,
   2.00373392, -7.23872075, 10.1760534 , -7.86285382, -1.95169319,
  10.60836929,-26.34221394, -2.4671673 ,  5.96214957, -8.4648481 ,
  25.71561727, -1.04326892, -0.15044403,  0.25924645,  2.56990196,
 -17.87537276,  0.72796302]

qfrc_actuator:
[ 1.70656157e-05, 4.49357002e-05,-7.88890355e-05,-9.97827407e-05,
 -4.33151608e-05,-4.29663450e-04,-2.96047072e-04,-5.17482465e-05,
 -1.09716071e-06,-5.62707646e-05,-1.03026413e-04,-6.02523035e-05,
  3.98219021e-02,-1.04224902e-03, 1.75389531e-02,-4.07527201e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000590063158489626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.23170480e-14,  3.52787348e-14,  1.00000000e+00,  2.90404131e-27,
        1.00000000e+00, -3.52787348e-14, -1.00000000e+00,  0.00000000e+00,
       -8.23170480e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882443, -0.06839711,  0.06198567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.64502888e-05, 2.07504372e-05, 2.59894049e-05,-4.55248448e-06,
 -1.76222860e-05, 1.65248922e-05,-2.44852278e-05, 6.69908662e-06,
 -4.59923464e-05,-2.33814320e-05,-9.14917008e-06,-4.80329613e-05,
 -2.94466954e-04, 2.42179904e-06,-1.48014901e-04, 8.20997979e-05,
  1.88280669e-05, 1.47327315e-05,-7.84773221e+00, 7.91533282e-04,
  9.77279538e-03,-4.90901837e-06]


--- Step 537 ---
qpos:
[ 7.14995901e-03, 4.03361092e-03,-3.63041972e-03,-2.58538678e-02,
  6.05975581e-03,-2.89707586e-03,-1.78280081e-02, 1.16685059e-02,
  1.56915100e-02, 2.36963522e-03,-8.97835723e-03, 2.40518572e-02,
  9.36901836e-01,-9.56433485e-03, 6.66064482e-01, 6.28339895e-02,
  9.51216847e-02,-7.01739701e-02, 1.21434799e-01, 9.99982057e-01,
  3.88863524e-04, 1.09604884e-03, 5.87645865e-03]

qacc:
[-10.61191747, -0.38714691,  3.4851008 ,-10.604072  , -4.83155205,
   2.25777586, -7.82054482, 10.06702394,-11.03477769,  0.14005264,
  -0.39039727, -1.84773489, -1.74907975,  3.87770336,-21.14330957,
  71.00081845, -1.03381563, -0.15092965,  0.16838561,  2.50215899,
 -17.65370012,  0.68997303]

qfrc_actuator:
[-4.54054016e-05, 4.67014029e-05,-8.65440689e-05,-1.21496630e-04,
 -7.10872424e-05,-4.12249535e-04,-3.25216546e-04,-4.72538608e-05,
 -6.43108570e-05,-9.43178721e-05,-1.27716590e-04,-7.03193484e-05,
  3.97425684e-02,-1.00703416e-03, 1.75392581e-02,-3.73325253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005906919798486232
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.34941192e-14,  3.52411789e-14,  1.00000000e+00,  8.27960458e-28,
        1.00000000e+00, -3.52411789e-14, -1.00000000e+00,  0.00000000e+00,
       -2.34941192e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088244 , -0.06839745,  0.06198565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.20001193e-05, 1.85154955e-05,-3.42113783e-07,-2.00182732e-05,
 -2.82690624e-05, 2.19318747e-05,-2.85218010e-05, 4.48947601e-06,
 -6.45229060e-05,-5.51241329e-05,-3.23202212e-05,-1.23190057e-05,
 -2.72736382e-04,-1.92866221e-05,-6.10037433e-05, 3.26982323e-04,
  1.12475912e-05, 7.94395846e-06,-7.84785489e+00, 8.00018813e-04,
  9.80181018e-03,-5.31135392e-06]


--- Step 538 ---
qpos:
[ 7.14917627e-03, 4.03461014e-03,-3.63022484e-03,-2.58543188e-02,
  6.05837288e-03,-2.89806092e-03,-1.78287517e-02, 1.16684198e-02,
  1.56900413e-02, 2.36968470e-03,-8.97856811e-03, 2.40511781e-02,
  9.37776036e-01,-9.56217786e-03, 6.66755692e-01, 6.28387258e-02,
  9.51243318e-02,-7.01782068e-02, 1.21437630e-01, 9.99982045e-01,
  4.24045155e-04, 1.11695085e-03, 5.87223598e-03]

qacc:
[ -0.48078042,  1.53318661, -5.63191941,  8.10264911,  0.19622068,
  -0.36975955,  2.94279377, -8.44495418, -0.49708416,  1.09994538,
  -7.61005446, 18.88592845, -0.68816854,  0.52517108,-14.78965242,
  49.59672751, -1.02572372, -0.15132145,  0.08851461,  2.44891665,
 -17.46878925,  0.66072723]

qfrc_actuator:
[-4.63678613e-05, 4.73172633e-05,-1.09081012e-04,-1.16301203e-04,
 -6.91059131e-05,-4.01528841e-04,-3.24321611e-04,-6.24541811e-05,
 -6.54170159e-05,-1.34950017e-04,-1.42338612e-04,-4.02372360e-05,
  3.96635387e-02,-1.02278051e-03, 1.74932965e-02,-3.51420835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005896535650156409
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.35354938e-14,  1.17677469e-14,  1.00000000e+00, -2.76959734e-28,
        1.00000000e+00, -1.17677469e-14, -1.00000000e+00,  0.00000000e+00,
        2.35354938e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882467, -0.06839768,  0.06198568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71919770e-06, 9.98666304e-06,-1.94594351e-05, 5.58744303e-06,
  1.18231767e-06, 1.73256530e-05, 2.08929720e-06,-1.51553503e-05,
 -2.95492031e-06,-7.87095326e-05,-3.04195245e-05, 2.63655516e-05,
 -2.61521327e-04,-6.91279044e-05,-4.31843184e-05, 2.28086390e-04,
  5.96685566e-06, 3.30736174e-06,-7.84793449e+00, 8.09993154e-04,
  9.81954526e-03,-5.87096725e-06]


--- Step 539 ---
qpos:
[ 7.14838750e-03, 4.03567704e-03,-3.63027600e-03,-2.58547012e-02,
  6.05736902e-03,-2.89890313e-03,-1.78289340e-02, 1.16681128e-02,
  1.56892600e-02, 2.36931670e-03,-8.97906889e-03, 2.40515374e-02,
  9.38648921e-01,-9.56085594e-03, 6.67446174e-01, 6.28414740e-02,
  9.51229031e-02,-7.01830503e-02, 1.21440536e-01, 9.99982059e-01,
  4.64246736e-04, 1.10324780e-03, 5.86927019e-03]

qacc:
[-6.19386552e-02, 9.18552234e-01,-3.43303440e+00, 4.95916574e+00,
  3.33210418e+00,-1.84013471e+00, 7.75672186e+00,-1.25698109e+01,
  6.04725575e+00, 2.38459098e+00,-1.37081134e+01, 3.24739670e+01,
 -7.01929132e-02,-1.50170889e+00, 4.91120378e+00,-1.87808579e+01,
 -1.01894306e+00,-1.51674269e-01, 1.87532791e-02, 2.40761754e+00,
 -1.73167088e+01, 6.38488058e-01]

qfrc_actuator:
[-4.66004881e-05, 4.71888922e-05,-1.22449300e-04,-1.13072245e-04,
 -4.96250169e-05,-3.77044026e-04,-2.87967291e-04,-7.13518143e-05,
 -2.99538480e-05,-1.41241984e-04,-1.50891556e-04, 1.32255967e-05,
  3.95953830e-02,-1.06847563e-03, 1.74089365e-02,-3.63585681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005872792620119222
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.90766127e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.90766127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882519, -0.06839781,  0.06198574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.09093339e-07, 1.64027932e-06,-1.35208509e-05, 3.09082369e-06,
  1.95212671e-05, 3.40005232e-05, 3.96862902e-05,-8.37388045e-06,
  3.53516777e-05,-5.54640456e-05,-2.76440340e-05, 4.95520626e-05,
 -2.52730316e-04,-1.03271212e-04,-8.56724045e-05,-1.16143409e-04,
  2.94251174e-06, 6.28398706e-07,-7.84797263e+00, 8.21431887e-04,
  9.82611993e-03,-6.58457376e-06]


--- Step 540 ---
qpos:
[ 7.14622215e-03, 4.03670188e-03,-3.63015447e-03,-2.58554023e-02,
  6.05660627e-03,-2.89935512e-03,-1.78287788e-02, 1.16676845e-02,
  1.56895992e-02, 2.36884440e-03,-8.97925848e-03, 2.40521062e-02,
  9.39520373e-01,-9.55978899e-03, 6.68135582e-01, 6.28375210e-02,
  9.51174207e-02,-7.01885018e-02, 1.21443275e-01, 9.99982099e-01,
  5.09403841e-04, 1.05518460e-03, 5.86752690e-03]

qacc:
[-1.21114293e+01,-1.17094399e+00, 5.47665086e+00,-1.12716936e+01,
  2.11388471e+00,-6.80895003e-01, 3.68160870e+00,-6.60139182e+00,
  9.87272260e+00,-5.95810343e-01, 1.00686270e+00, 2.23262329e+00,
 -8.58494057e-01, 9.31861845e-01, 1.86588768e+01,-6.75538164e+01,
 -1.01341047e+00,-1.52028098e-01,-4.18047703e-02, 2.37620301e+00,
 -1.71940435e+01, 6.21874887e-01]

qfrc_actuator:
[-1.17431468e-04, 4.66445104e-05,-1.12549560e-04,-1.28775673e-04,
 -3.77623677e-05,-3.44349328e-04,-2.66418575e-04,-7.64351284e-05,
  2.67294398e-05,-1.09114215e-04,-1.20143803e-04, 2.67838497e-05,
  3.95284625e-02,-1.07816779e-03, 1.73015477e-02,-3.99279438e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005838571812167015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.30730315e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.30730315e-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([ 0.10882589, -0.06839786,  0.06198582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.08420203e-05,-2.32219454e-06, 8.67012791e-06,-1.60419862e-05,
  1.24309731e-05, 5.95862991e-05, 3.31825232e-05,-2.41384222e-06,
  5.76657282e-05,-2.44658865e-06, 1.76076097e-05, 1.11887327e-05,
 -2.52726518e-04,-6.97360689e-05,-1.65954722e-04,-3.75948834e-04,
  2.12690758e-06,-2.36602882e-07,-7.84797054e+00, 8.34315522e-04,
  9.82163204e-03,-7.44966341e-06]


--- Step 541 ---
qpos:
[ 7.14322456e-03, 4.03784360e-03,-3.63000640e-03,-2.58559513e-02,
  6.05599215e-03,-2.89970933e-03,-1.78287528e-02, 1.16669237e-02,
  1.56892357e-02, 2.36809119e-03,-8.97873056e-03, 2.40528265e-02,
  9.40390263e-01,-9.55823791e-03, 6.68823338e-01, 6.28328616e-02,
  9.51100669e-02,-7.01906754e-02, 1.21446118e-01, 9.99982167e-01,
  5.26628601e-04, 9.91556445e-04, 5.86554846e-03]

qacc:
[ -7.32675936,  0.40770054, -1.84508101,  4.31754954,  1.29460833,
  -0.19678379,  2.28845985, -7.90321241, -6.15691319, -2.05248684,
   6.16014502, -4.49845731, -1.54105373,  3.26074991, -0.25190865,
  -2.54139037, -0.46784452,  0.81949385,  0.02595529,-14.01146958,
  -7.70045917, -0.12842884]

qfrc_actuator:
[-1.58237960e-04, 6.36858095e-05,-1.06761937e-04,-1.19973472e-04,
 -3.04843569e-05,-3.78043742e-04,-2.89259128e-04,-9.69936093e-05,
 -1.10791688e-05,-1.25091314e-04,-8.40533948e-05, 3.45656779e-05,
  3.94623411e-02,-1.04875162e-03, 1.72709374e-02,-4.00607603e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005796045831784737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78870879e-14,  7.83512250e-08,  1.00000000e+00,  3.75201200e-21,
        1.00000000e+00, -7.83512250e-08, -1.00000000e+00,  7.52316385e-37,
       -4.78870879e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207485, -0.08041916,  0.06198592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.28222548e-05, 1.67917244e-05, 5.81401533e-06, 8.69269844e-06,
  7.65271253e-06, 6.39631847e-06,-6.52489973e-06,-1.69028004e-05,
 -3.61739058e-05,-1.31894065e-05, 3.81454218e-05, 8.50185133e-06,
 -2.46139149e-04,-2.61614980e-05,-1.52192098e-04,-5.64252343e-05,
  3.46824805e-06, 6.07070752e-07,-7.84792919e+00, 8.48628804e-04,
  9.80616019e-03,-8.46436113e-06]


--- Step 542 ---
qpos:
[ 7.14114023e-03, 4.03934327e-03,-3.63020680e-03,-2.58560507e-02,
  6.05581534e-03,-2.90024399e-03,-1.78291197e-02, 1.16659785e-02,
  1.56880776e-02, 2.36692529e-03,-8.97792856e-03, 2.40536827e-02,
  9.41258732e-01,-9.55664619e-03, 6.69509363e-01, 6.28309550e-02,
  9.51031348e-02,-7.01858081e-02, 1.21447368e-01, 9.99982253e-01,
  4.83886077e-04, 9.32361826e-04, 5.86425458e-03]

qacc:
[  8.02195789,  2.35767633, -9.63924148, 17.72973266,  3.81755319,
   0.4719737 , -1.26282569, -1.15592589, -6.97629761, -1.01823287,
   2.28921616, -0.0982029 , -0.90069644,  1.34278828,-10.83373247,
  34.25895218,  0.10541385,  1.76024143, -0.39807159,-29.97044918,
   2.39276736,  0.31132079]

qfrc_actuator:
[-1.10012958e-04, 9.11364088e-05,-1.21117154e-04,-9.68111183e-05,
 -8.20843958e-06,-4.15930004e-04,-3.20649015e-04,-1.08824937e-04,
 -5.09498726e-05,-1.69713016e-04,-8.07934611e-05, 3.88556745e-05,
  3.93914366e-02,-1.04976546e-03, 1.72279012e-02,-3.85198375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005775612573035993
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61130106e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.61130106e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495924, -0.09308879,  0.06198597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.70103847e-05, 3.83661889e-05,-9.87939080e-06, 2.42524818e-05,
  2.24977509e-05,-3.63645267e-05,-3.14521924e-05,-1.21098979e-05,
 -4.09066254e-05,-4.37477645e-05, 5.53019058e-06, 5.21044886e-06,
 -2.37844160e-04,-4.99711864e-05,-1.21890577e-04, 1.30731418e-04,
  4.52991531e-06,-1.00404252e-06,-7.84792929e+00, 8.54050753e-04,
  9.78582495e-03,-8.79245351e-06]


--- Step 543 ---
qpos:
[ 7.13895975e-03, 4.04106792e-03,-3.63081881e-03,-2.58558503e-02,
  6.05590698e-03,-2.90101610e-03,-1.78295793e-02, 1.16652313e-02,
  1.56867949e-02, 2.36569682e-03,-8.97716356e-03, 2.40538700e-02,
  9.42125810e-01,-9.55532904e-03, 6.70194105e-01, 6.28291900e-02,
  9.50966200e-02,-7.01739371e-02, 1.21446779e-01, 9.99982351e-01,
  3.81658546e-04, 8.77524817e-04, 5.86369303e-03]

qacc:
[ -0.86301087,  2.06728496, -8.19788753, 13.86580344,  2.35039271,
   0.34831549, -2.54185815,  6.30254175, -1.09612351, -1.35405546,
   7.53569481,-19.0101855 , -0.63380998,  0.39228351, -2.3075333 ,
   5.35136317,  0.10430602,  1.75089945, -0.45975719,-29.72954247,
   2.35335616,  0.33734581]

qfrc_actuator:
[-1.16297436e-04, 8.90394973e-05,-1.47193665e-04,-8.31437102e-05,
  4.96544197e-06,-4.20587002e-04,-3.21347791e-04,-9.76822707e-05,
 -5.61796714e-05,-1.60266790e-04,-7.93227466e-05, 5.50045578e-06,
  3.93123799e-02,-1.06878747e-03, 1.71614987e-02,-3.84918058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005743742042333827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83231583e-14,  1.93292633e-13,  1.00000000e+00,  9.34051053e-27,
        1.00000000e+00, -1.93292633e-13, -1.00000000e+00,  0.00000000e+00,
       -4.83231583e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495927, -0.09308985,  0.06198605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.94103445e-06, 1.83265144e-05,-1.85447483e-05, 1.54365065e-05,
  1.38057151e-05,-3.19735439e-05,-1.24916758e-05, 8.26354688e-06,
 -6.41039503e-06,-1.36391914e-05,-6.70174945e-06,-3.49368623e-05,
 -2.44726658e-04,-6.95777834e-05,-1.11025938e-04,-6.36234859e-06,
  2.82474139e-06,-3.88497427e-06,-7.84791335e+00, 8.40329658e-04,
  9.76693150e-03,-7.83230304e-06]


--- Step 544 ---
qpos:
[ 7.13603164e-03, 4.04262862e-03,-3.63186428e-03,-2.58550899e-02,
  6.05615610e-03,-2.90218701e-03,-1.78297060e-02, 1.16646143e-02,
  1.56854590e-02, 2.36468095e-03,-8.97683768e-03, 2.40539938e-02,
  9.42991431e-01,-9.55419710e-03, 6.70877237e-01, 6.28278285e-02,
  9.50860123e-02,-7.01626672e-02, 1.21446360e-01, 9.99982453e-01,
  2.84525863e-04, 7.87799880e-04, 5.86443280e-03]

qacc:
[ -6.59153372,  2.16122403,-10.35492158, 20.81928095,  1.39532261,
  -1.19165074,  2.93001033, -0.91055527, -0.48679978,  1.37829697,
  -4.23650999,  3.67941875, -0.75662152,  0.73947547, -3.57342221,
   9.09273424, -1.02320545, -0.15026174,  0.04225512,  2.44452092,
 -17.45834764,  0.65952331]

qfrc_actuator:
[-1.54643508e-04, 5.14512309e-05,-1.80100436e-04,-5.74507141e-05,
  1.26720473e-05,-4.40682514e-04,-3.03774977e-04,-9.08166712e-05,
 -5.87297990e-05,-1.36317495e-04,-9.64767436e-05, 3.56630892e-06,
  3.92338062e-02,-1.08056280e-03, 1.70810985e-02,-3.82912508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005716601772513402
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.09243302e-13, -4.85525785e-14,  1.00000000e+00, -5.30404397e-27,
        1.00000000e+00,  4.85525785e-14, -1.00000000e+00,  0.00000000e+00,
       -1.09243302e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882838, -0.06839829,  0.06198612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.84847733e-05,-3.05599951e-05,-3.08824373e-05, 2.61344937e-05,
  8.09003039e-06,-4.01610979e-05, 9.73138278e-06, 5.22794928e-06,
 -2.73836168e-06, 1.34694563e-05,-2.20017458e-05,-3.42982770e-06,
 -2.52591205e-04,-6.61776906e-05,-1.36527683e-04, 4.35517632e-06,
  2.63876900e-06,-6.79793920e-06,-7.84778119e+00, 8.07627179e-04,
  9.74948389e-03,-5.79612712e-06]


--- Step 545 ---
qpos:
[ 7.13370174e-03, 4.04373742e-03,-3.63315341e-03,-2.58540026e-02,
  6.05684047e-03,-2.90348130e-03,-1.78297042e-02, 1.16637177e-02,
  1.56841029e-02, 2.36369114e-03,-8.97670098e-03, 2.40544451e-02,
  9.43855522e-01,-9.55315787e-03, 6.71559365e-01, 6.28213388e-02,
  9.50713283e-02,-7.01519935e-02, 1.21445871e-01, 9.99982554e-01,
  1.92351716e-04, 6.63415355e-04, 5.86639124e-03]

qacc:
[ 5.26596195e+00, 7.46658528e-01,-4.92225000e+00, 1.13103349e+01,
  3.81490190e+00,-1.10482725e+00, 4.87123249e+00,-9.81381667e+00,
 -1.83752938e-01, 1.23784444e+00,-5.74590912e+00, 1.16970524e+01,
 -1.05577186e+00, 1.50874429e+00, 1.40220364e+01,-5.11593059e+01,
 -1.01906412e+00,-1.49057716e-01,-1.71089626e-02, 2.37711532e+00,
 -1.73438553e+01, 6.16213885e-01]

qfrc_actuator:
[-1.22773439e-04, 1.06197398e-05,-1.99166235e-04,-4.26751050e-05,
  3.48545156e-05,-4.34279544e-04,-2.93380397e-04,-1.04281290e-04,
 -5.96935010e-05,-1.39421761e-04,-1.06636029e-04, 2.01470979e-05,
  3.91502525e-02,-1.08796964e-03, 1.70030267e-02,-4.10083127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005699278455433693
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.21750393e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.21750393e-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([ 0.10882877, -0.06839845,  0.06198616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07625084e-05,-6.32300182e-05,-2.82799884e-05, 1.29069302e-05,
  2.23989713e-05,-1.37726447e-05, 3.49526182e-06,-1.47430453e-05,
 -1.03863347e-06,-2.36305455e-07,-1.01991042e-05, 1.63310891e-05,
 -2.62200692e-04,-6.28877258e-05,-1.43372388e-04,-2.89770240e-04,
  9.91698414e-06,-8.12112253e-06,-7.84771557e+00, 7.76417702e-04,
  9.72118661e-03,-3.84944497e-06]


--- Step 546 ---
qpos:
[ 7.13280631e-03, 4.04440172e-03,-3.63408561e-03,-2.58531345e-02,
  6.05744027e-03,-2.90451159e-03,-1.78297858e-02, 1.16629763e-02,
  1.56827453e-02, 2.36300236e-03,-8.97628688e-03, 2.40553684e-02,
  9.44717913e-01,-9.55155516e-03, 6.72239950e-01, 6.28132427e-02,
  9.50525806e-02,-7.01419111e-02, 1.21445107e-01, 9.99982642e-01,
  1.05020409e-04, 5.04545079e-04, 5.86949752e-03]

qacc:
[ 1.26456600e+01,-2.06161523e+00, 7.37759375e+00,-1.13608183e+01,
 -7.47200941e-01, 9.02549218e-01,-3.36520374e+00, 5.98945245e+00,
 -8.46993282e-03, 5.94345293e-01,-3.53489783e+00, 1.10393460e+01,
 -1.74140384e+00, 3.72358227e+00, 2.63536594e+00,-1.23896397e+01,
 -1.01594831e+00,-1.47835320e-01,-6.89631703e-02, 2.31984470e+00,
 -1.72566651e+01, 5.78867765e-01]

qfrc_actuator:
[-4.98204660e-05, 3.70109115e-06,-1.74438603e-04,-5.21934028e-05,
  2.98764530e-05,-3.94340752e-04,-2.87221400e-04,-9.40809274e-05,
 -5.97171676e-05,-8.76461384e-05,-7.71675069e-05, 4.74711739e-05,
  3.90690957e-02,-1.05726855e-03, 1.69529844e-02,-4.16941907e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005672827675631126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.11590401e-14,  4.89272321e-14,  1.00000000e+00,  2.99234255e-27,
        1.00000000e+00, -4.89272321e-14, -1.00000000e+00,  0.00000000e+00,
       -6.11590401e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882934, -0.06839854,  0.06198622])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.38028194e-05,-4.75742026e-05, 8.63266099e-06,-1.29556213e-05,
 -4.34246650e-06, 3.23842537e-05, 3.25090086e-06, 9.44819852e-06,
 -5.64382216e-08, 5.02651437e-05, 2.87361739e-05, 2.72795502e-05,
 -2.65796611e-04,-2.61507925e-05,-1.52400834e-04,-1.04186762e-04,
  1.91226621e-05,-7.76995934e-06,-7.84761006e+00, 7.46642642e-04,
  9.68179960e-03,-2.05470612e-06]


--- Step 547 ---
qpos:
[ 7.13279227e-03, 4.04473029e-03,-3.63446535e-03,-2.58527609e-02,
  6.05797612e-03,-2.90552507e-03,-1.78297091e-02, 1.16623774e-02,
  1.56813977e-02, 2.36310503e-03,-8.97607812e-03, 2.40572714e-02,
  9.45578575e-01,-9.54924348e-03, 6.72918185e-01, 6.28093572e-02,
  9.50297776e-02,-7.01324153e-02, 1.21443887e-01, 9.99982701e-01,
  2.24332622e-05, 3.11313809e-04, 5.87369019e-03]

qacc:
[  7.78146492, -3.02173779, 12.18431167,-21.33277583, -0.55481854,
  -0.12532687, -0.1208913 ,  2.32089029,  0.0674015 ,  3.63691995,
 -15.58711003, 32.29057006, -1.74475907,  3.85776837,-16.10891408,
  51.47559869, -1.01381914, -0.14662519, -0.11400772,  2.27092523,
 -17.194058  ,  0.54627467]

qfrc_actuator:
[-6.55118471e-06,-4.49119515e-07,-1.41690674e-04,-7.58726968e-05,
  2.67004477e-05,-4.05629029e-04,-2.83443392e-04,-8.77573202e-05,
 -5.91875166e-05,-2.09806109e-05,-7.75711014e-05, 9.87183638e-05,
  3.89841215e-02,-1.02207444e-03, 1.68772381e-02,-3.94008002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005639348071015265
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.69132769e-14, -8.61309795e-14,  1.00000000e+00,  3.17937670e-27,
        1.00000000e+00,  8.61309795e-14, -1.00000000e+00,  0.00000000e+00,
        3.69132769e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883004, -0.06839857,  0.0619863 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.53476842e-05,-2.95116953e-05, 2.35360022e-05,-2.56742899e-05,
 -3.28929102e-06, 7.93572869e-06, 1.12093094e-05, 8.01197713e-06,
  5.41712802e-07, 1.01892749e-04, 1.44625392e-05, 5.49247701e-05,
 -2.64773495e-04,-1.77470348e-05,-1.60276299e-04, 2.03242641e-04,
  3.02209825e-05,-5.86992555e-06,-7.84746525e+00, 7.18271961e-04,
  9.63138078e-03,-4.08468211e-07]


--- Step 548 ---
qpos:
[ 7.13295259e-03, 4.04474842e-03,-3.63440444e-03,-2.58533604e-02,
  6.05915947e-03,-2.90629313e-03,-1.78304403e-02, 1.16608615e-02,
  1.56800670e-02, 2.36377946e-03,-8.97601216e-03, 2.40587614e-02,
  9.46437701e-01,-9.54682107e-03, 6.73595223e-01, 6.28064198e-02,
  9.50030481e-02,-7.01286457e-02, 1.21441006e-01, 9.99982704e-01,
 -1.19915862e-05, 8.34761932e-05, 5.88083472e-03]

qacc:
[  1.55356817, -3.64939087, 16.50790827,-33.79249781,  5.63608751,
   0.68256289,  1.88992932,-16.63180541,  0.13514152,  0.30410844,
   1.75586022, -9.09743399, -1.10824062,  1.83489929, -4.59097308,
  13.57856938, -0.98162799, -1.43156471, -0.41524759, 23.97864059,
 -17.44427706,  1.48395449]

qfrc_actuator:
[ 1.13452873e-06,-2.06218684e-05,-1.22221496e-04,-1.25438302e-04,
  6.01241362e-05,-4.12006693e-04,-3.34560101e-04,-1.37067053e-04,
 -5.83365887e-05,-1.70024931e-05,-9.55261948e-05, 7.48596878e-05,
  3.89075723e-02,-1.02006065e-03, 1.68341298e-02,-3.89221185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005618803472743072
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.70482467e-14,  4.93976622e-14,  1.00000000e+00,  1.83009678e-27,
        1.00000000e+00, -4.93976622e-14, -1.00000000e+00,  0.00000000e+00,
       -3.70482467e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891877, -0.0517426 ,  0.06198635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.96276349e-06,-3.29061695e-05, 1.53820930e-05,-5.05176394e-05,
  3.33316981e-05, 7.54689647e-07,-4.78070093e-05,-4.84222745e-05,
  8.99915744e-07, 6.62839144e-05, 6.76486271e-06,-1.79280180e-05,
 -2.53776014e-04,-4.97886039e-05,-9.50686079e-05, 3.83480286e-05,
  4.31649769e-05,-2.52125693e-06,-7.84728153e+00, 6.91279539e-04,
  9.56997169e-03, 1.09214925e-06]


--- Step 549 ---
qpos:
[ 7.13285920e-03, 4.04453022e-03,-3.63410573e-03,-2.58548898e-02,
  6.06073432e-03,-2.90694093e-03,-1.78320526e-02, 1.16587889e-02,
  1.56787575e-02, 2.36426563e-03,-8.97496448e-03, 2.40599748e-02,
  9.47295354e-01,-9.54438174e-03, 6.74271219e-01, 6.28027193e-02,
  9.49723996e-02,-7.01305734e-02, 1.21436243e-01, 9.99982633e-01,
  1.34078033e-06,-1.78785709e-04, 5.89079853e-03]

qacc:
[ -2.22228733, -2.88790125, 13.7661234 ,-30.04855722,  3.3959098 ,
   1.46789296, -2.66504343, -5.63577781,  0.2195023 , -3.56252411,
  13.50850481,-19.72568286, -1.01893829,  1.56020003,  0.79595747,
  -4.9524091 , -0.97973477, -1.42432047, -0.47067929, 23.77685477,
 -17.35228623,  1.41161508]

qfrc_actuator:
[-1.21754238e-05,-3.25465023e-05,-1.10828737e-04,-1.72106605e-04,
  7.93165056e-05,-4.15673311e-04,-3.82205500e-04,-1.65496230e-04,
 -5.73039858e-05,-5.07337163e-05,-5.29820625e-05, 6.01963286e-05,
  3.88361229e-02,-1.01988778e-03, 1.67786302e-02,-3.93389543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005596061888815673
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23996018e-14,  4.95984072e-14,  1.00000000e+00, -6.15000499e-28,
        1.00000000e+00, -4.95984072e-14, -1.00000000e+00,  0.00000000e+00,
        1.23996018e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891924, -0.05174206,  0.06198641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30654009e-05,-2.93091215e-05, 4.74292645e-06,-4.85281595e-05,
  2.01488552e-05,-1.51425187e-05,-5.50347619e-05,-3.09882872e-05,
  1.08426879e-06, 3.93183309e-06, 5.64355430e-05,-1.19429192e-05,
 -2.47388351e-04,-5.37422659e-05,-9.99592889e-05,-5.29798972e-05,
  5.47147296e-05, 1.91421890e-05,-7.84713632e+00, 6.78990779e-04,
  9.49731743e-03, 1.01851684e-06]


--- Step 550 ---
qpos:
[ 7.13260710e-03, 4.04418207e-03,-3.63401985e-03,-2.58566035e-02,
  6.06183799e-03,-2.90827944e-03,-1.78334233e-02, 1.16574547e-02,
  1.56771258e-02, 2.36439302e-03,-8.97326331e-03, 2.40613936e-02,
  9.48151540e-01,-9.54220524e-03, 6.74945818e-01, 6.27972548e-02,
  9.49465717e-02,-7.01352507e-02, 1.21433383e-01, 9.99982528e-01,
  3.84793080e-05,-3.98929570e-04, 5.89766923e-03]

qacc:
[ -1.40166123,  0.04637822,  0.36707916, -3.12345292, -4.10337647,
  -0.06002831, -4.21442146, 17.10193108, -2.80787047, -1.87223037,
   5.1294735 , -2.36428863, -0.74590453,  0.62536975,  3.27993658,
 -14.43618345,  1.20514957, -0.68740864,  0.47612738, 12.02665191,
  20.98853212, -1.54857776]

qfrc_actuator:
[-1.99718072e-05,-3.94721997e-05,-1.22007888e-04,-1.81185287e-04,
  5.44618229e-05,-4.70944219e-04,-3.74113890e-04,-1.28132836e-04,
 -7.39258784e-05,-8.88065946e-05,-2.84636772e-05, 6.88315807e-05,
  3.87518059e-02,-1.03852257e-03, 1.66944219e-02,-4.02797801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005666062930816257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79712931e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.79712931e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187188, -0.06199533,  0.06198624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.17518237e-06,-2.44100024e-05,-1.83242486e-05,-1.11107836e-05,
 -2.42808089e-05,-7.63796975e-05,-2.85767566e-06, 3.42157826e-05,
 -1.65886513e-05,-2.47647456e-05, 3.18465381e-05, 1.05176354e-05,
 -2.56895727e-04,-7.18215450e-05,-1.41250252e-04,-1.11138204e-04,
  6.34667121e-05, 4.62241760e-05,-7.84687870e+00, 6.81672319e-04,
  9.41324722e-03,-2.14054744e-07]


--- Step 551 ---
qpos:
[ 7.13364344e-03, 4.04351868e-03,-3.63404101e-03,-2.58577054e-02,
  6.06263524e-03,-2.91010596e-03,-1.78347568e-02, 1.16569121e-02,
  1.56756524e-02, 2.36443566e-03,-8.97123111e-03, 2.40611657e-02,
  9.49006304e-01,-9.54054496e-03, 6.75618971e-01, 6.27925994e-02,
  9.49255058e-02,-7.01426561e-02, 1.21431937e-01, 9.99982414e-01,
  9.90071188e-05,-5.77739981e-04, 5.90148320e-03]

qacc:
[ 11.3439257 ,  1.12042174, -7.21396125, 18.23151937, -2.67145686,
   0.88599234, -7.4282744 , 21.41918306,  1.40405276, -4.43013492,
  22.58166358,-51.54399133, -0.39116975, -0.45632757, -4.57412095,
  12.90624228,  1.19049572, -0.68201866,  0.35324499, 11.81571323,
  20.59733217, -1.53377823]

qfrc_actuator:
[ 4.65569606e-05,-6.11630326e-05,-1.28622027e-04,-1.50331165e-04,
  3.93902551e-05,-4.85404295e-04,-3.68855703e-04,-8.78715464e-05,
 -6.53004182e-05,-9.37333698e-05,-1.48252125e-05,-1.54412035e-05,
  3.86757978e-02,-1.06816899e-03, 1.66569673e-02,-3.97466760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005746356251666029
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.66023490e-14, -9.66023490e-14,  1.00000000e+00, -9.33201384e-27,
        1.00000000e+00,  9.66023490e-14, -1.00000000e+00,  0.00000000e+00,
       -9.66023490e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187349, -0.06199642,  0.06198604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.62906087e-05,-3.95878677e-05,-1.42893428e-05, 2.89634314e-05,
 -1.57932305e-05,-5.62361256e-05,-9.65029179e-06, 3.75655496e-05,
  8.14621654e-06,-1.17849295e-05, 1.27839112e-05,-8.40343107e-05,
 -2.58567288e-04,-8.69360487e-05,-1.18065030e-04, 2.81472740e-05,
  4.13418366e-05, 3.25666876e-05,-7.84718965e+00, 6.94016167e-04,
  9.34276743e-03,-1.57883397e-06]


--- Step 552 ---
qpos:
[ 7.13512415e-03, 4.04240129e-03,-3.63408753e-03,-2.58580712e-02,
  6.06358981e-03,-2.91183986e-03,-1.78359636e-02, 1.16560838e-02,
  1.56746385e-02, 2.36471328e-03,-8.96921981e-03, 2.40602583e-02,
  9.49859399e-01,-9.53858288e-03, 6.76291241e-01, 6.27907594e-02,
  9.49091489e-02,-7.01527704e-02, 1.21431461e-01, 9.99982309e-01,
  1.82578017e-04,-7.15887828e-04, 5.90226383e-03]

qacc:
[  3.91898955,  0.9788436 , -7.47331782, 20.58189557,  1.37890296,
  -0.82226848,  4.31117353, -9.52153986,  4.03799908, -1.03768925,
   7.00572466,-18.8899331 , -1.35363581,  2.52674713, -9.75308456,
  32.34016376,  1.17724383, -0.67723403,  0.2425005 , 11.64044925,
  20.2627831 , -1.52533239]

qfrc_actuator:
[ 6.75339863e-05,-9.14756564e-05,-1.32517815e-04,-1.13992414e-04,
  4.79649028e-05,-4.39799038e-04,-3.47436981e-04,-9.94779162e-05,
 -4.18781485e-05,-6.11503837e-05,-7.65363530e-06,-4.71730427e-05,
  3.85941726e-02,-1.05080595e-03, 1.66635971e-02,-3.81703622e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005797697104057836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57468978e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.57468978e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187446, -0.06199712,  0.06198592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28476868e-05,-5.41144801e-05,-1.28233700e-05, 3.47142959e-05,
  8.10263737e-06, 1.38524093e-05, 9.95324619e-06,-1.36099496e-05,
  2.36547435e-05, 2.50056228e-05, 3.37854983e-06,-3.34347219e-05,
 -2.67922735e-04,-4.23409861e-05,-4.82816618e-05, 1.43103603e-04,
  2.56666782e-05, 2.12979170e-05,-7.84742062e+00, 7.13700148e-04,
  9.28555392e-03,-3.19162566e-06]


--- Step 553 ---
qpos:
[ 7.13546540e-03, 4.04103555e-03,-3.63427420e-03,-2.58576719e-02,
  6.06429450e-03,-2.91329451e-03,-1.78370117e-02, 1.16547504e-02,
  1.56742585e-02, 2.36503270e-03,-8.96771696e-03, 2.40604174e-02,
  9.50710872e-01,-9.53667901e-03, 6.76963164e-01, 6.27887598e-02,
  9.48974539e-02,-7.01655773e-02, 1.21431559e-01, 9.99982222e-01,
  2.88907977e-04,-8.13942836e-04, 5.90002379e-03]

qacc:
[-1.00298182e+01, 1.65912475e+00,-9.58010566e+00, 2.31743460e+01,
 -2.18669100e+00,-1.10983739e+00, 6.63345103e+00,-1.58449467e+01,
  5.56229620e+00, 3.66103276e+00,-1.74951813e+01, 3.67551376e+01,
 -1.04336241e+00, 1.44619576e+00, 2.57695074e-03,-6.80388384e-01,
  1.16546563e+00,-6.73132834e-01, 1.43542226e-01, 1.14965659e+01,
  1.99786310e+01,-1.52216931e+00]

qfrc_actuator:
[ 8.25076688e-06,-9.11912449e-05,-1.34821475e-04,-7.47317864e-05,
  3.48808386e-05,-4.11797891e-04,-3.34179071e-04,-1.23691666e-04,
 -9.94225643e-06,-7.73578926e-05,-3.96479338e-05, 5.56898149e-06,
  3.85039245e-02,-1.05910667e-03, 1.66434209e-02,-3.82992640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000582479087324006
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.90603070e-13, -9.53015352e-14,  1.00000000e+00, -1.81647652e-26,
        1.00000000e+00,  9.53015352e-14, -1.00000000e+00,  0.00000000e+00,
       -1.90603070e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187493, -0.06199749,  0.06198585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.86504662e-05,-3.10930888e-05,-1.38468380e-05, 3.71779906e-05,
 -1.28475733e-05, 3.73018868e-05, 1.69103038e-05,-2.35325213e-05,
  3.26206755e-05,-2.98564203e-06,-2.75965112e-05, 5.32755653e-05,
 -2.73619365e-04,-6.43113760e-05,-3.34428271e-05,-1.27870030e-05,
  1.59986518e-05, 1.23202822e-05,-7.84757605e+00, 7.40622767e-04,
  9.24138991e-03,-5.05436850e-06]


--- Step 554 ---
qpos:
[ 7.13578351e-03, 4.03964135e-03,-3.63428117e-03,-2.58575469e-02,
  6.06483724e-03,-2.91481078e-03,-1.78378064e-02, 1.16542105e-02,
  1.56746097e-02, 2.36500031e-03,-8.96638264e-03, 2.40605443e-02,
  9.51560789e-01,-9.53489143e-03, 6.77633968e-01, 6.27867323e-02,
  9.48903795e-02,-7.01810632e-02, 1.21431880e-01, 9.99982158e-01,
  4.17767783e-04,-8.72384650e-04, 5.89476680e-03]

qacc:
[ -0.197681  , -1.10470989,  5.03980101,-10.0473045 , -1.40766542,
   0.84676589, -6.48359424, 19.85470175,  6.43531264, -0.07281239,
  -0.30081076,  0.29531471, -0.91943536,  1.13079565, -1.54213278,
   3.05183415,  1.15517294, -0.66975252,  0.05575588, 11.38035066,
  19.7393547 , -1.52341262]

qfrc_actuator:
[ 8.73327128e-06,-7.25726593e-05,-1.18292272e-04,-8.72995679e-05,
  2.68984494e-05,-4.30088163e-04,-3.25900328e-04,-8.41255371e-05,
  2.67435605e-05,-1.22740509e-04,-5.91405788e-05, 1.00541572e-06,
  3.84298618e-02,-1.06481373e-03, 1.65698642e-02,-3.83676493e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005831818223403368
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.51866967e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.51866967e-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([ 0.08187497, -0.0619976 ,  0.06198584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19067946e-06,-7.28468772e-09, 9.70735274e-06,-1.36493046e-05,
 -8.33612878e-06, 5.11692392e-06, 1.72851199e-05, 4.13008164e-05,
  3.76130178e-05,-5.04888889e-05,-2.16884360e-05,-4.61541948e-06,
 -2.65465667e-04,-6.56892640e-05,-9.88950962e-05,-1.38774653e-05,
  1.20099540e-05, 5.55478323e-06,-7.84765947e+00, 7.74699482e-04,
  9.21009222e-03,-7.16840149e-06]


--- Step 555 ---
qpos:
[ 7.13679433e-03, 4.03838421e-03,-3.63447618e-03,-2.58572242e-02,
  6.06562507e-03,-2.91659421e-03,-1.78383897e-02, 1.16548695e-02,
  1.56753982e-02, 2.36460758e-03,-8.96556590e-03, 2.40609873e-02,
  9.52409143e-01,-9.53289763e-03, 6.78303105e-01, 6.27811149e-02,
  9.48836662e-02,-7.01892241e-02, 1.21432097e-01, 9.99982097e-01,
  4.84303816e-04,-9.27376953e-04, 5.89164090e-03]

qacc:
[ 6.08932459e+00, 1.10201064e+00,-4.51857788e+00, 8.15448770e+00,
  2.15655508e+00, 1.51973709e+00,-1.10008076e+01, 3.16187918e+01,
  3.83848467e+00, 1.61349087e+00,-7.79146768e+00, 1.43681729e+01,
 -1.33521903e+00, 2.44330260e+00, 8.41878263e+00,-3.29379566e+01,
  9.02535779e-02, 1.83123669e+00,-2.60393438e-02,-3.11502343e+01,
  1.90886346e+00, 1.09198428e+00]

qfrc_actuator:
[ 4.44146766e-05,-6.08267458e-05,-1.26232422e-04,-7.69729738e-05,
  3.97417178e-05,-4.58171470e-04,-3.20767236e-04,-2.51408007e-05,
  4.81758339e-05,-1.49746038e-04,-8.90214043e-05, 1.59884648e-05,
  3.83602370e-02,-1.05113059e-03, 1.64377321e-02,-4.03531929e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005874627379857944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.72465296e-14,  1.88986118e-13,  1.00000000e+00,  8.92893822e-27,
        1.00000000e+00, -1.88986118e-13, -1.00000000e+00,  0.00000000e+00,
       -4.72465296e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496272, -0.09308806,  0.06198573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.56521602e-05, 1.32112060e-05,-7.20252984e-06, 1.03991430e-05,
  1.26044735e-05,-1.98192305e-05, 9.77720840e-06, 6.06127083e-05,
  2.24856116e-05,-5.99175597e-05,-4.31577889e-05, 1.19744242e-05,
 -2.56237944e-04,-4.47905950e-05,-1.84219564e-04,-2.13265991e-04,
  1.34702210e-05, 9.34497003e-07,-7.84767369e+00, 8.15860891e-04,
  9.19150739e-03,-9.53460703e-06]


--- Step 556 ---
qpos:
[ 7.13718996e-03, 4.03739508e-03,-3.63485996e-03,-2.58564521e-02,
  6.06621544e-03,-2.91827138e-03,-1.78389846e-02, 1.16555073e-02,
  1.56757479e-02, 2.36392088e-03,-8.96544313e-03, 2.40616104e-02,
  9.53256023e-01,-9.53104339e-03, 6.78969956e-01, 6.27722000e-02,
  9.48773024e-02,-7.01901396e-02, 1.21431767e-01, 9.99982052e-01,
  4.89353487e-04,-9.78906331e-04, 5.89053771e-03]

qacc:
[ -5.42546587,  1.81832104, -7.84327115, 15.69494514, -1.73006075,
   0.1321926 , -0.17190453, -0.26246312, -3.87886687,  1.92942475,
  -8.19040059, 12.61864185, -0.90103603,  1.11180132,  6.60087064,
 -27.95347329,  0.08738149,  1.81137106, -0.13647531,-30.73149537,
   1.91305656,  1.03896616]

qfrc_actuator:
[ 1.17456767e-05,-3.56059524e-05,-1.30805676e-04,-5.32720151e-05,
  2.92328651e-05,-4.38642530e-04,-3.17580892e-04,-2.62381655e-05,
  2.49521199e-05,-1.65576052e-04,-1.24718686e-04, 2.46114648e-05,
  3.82826800e-02,-1.06159458e-03, 1.63131508e-02,-4.20330888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005903231569241996
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.40351917e-14,  9.40351917e-14,  1.00000000e+00,  8.84261728e-27,
        1.00000000e+00, -9.40351917e-14, -1.00000000e+00,  0.00000000e+00,
       -9.40351917e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496239, -0.09308748,  0.06198566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.16478285e-05, 3.16224248e-05,-2.35807276e-06, 2.42208328e-05,
 -1.01585762e-05, 1.31374268e-05, 2.42043087e-06,-4.25287180e-07,
 -2.26048762e-05,-5.77239718e-05,-5.29816319e-05, 4.79228099e-06,
 -2.54665282e-04,-6.42208263e-05,-2.34635869e-04,-2.03975163e-04,
  5.88913621e-06, 3.39753432e-07,-7.84787859e+00, 8.36947124e-04,
  9.17364459e-03,-1.05813561e-05]


--- Step 557 ---
qpos:
[ 7.13719124e-03, 4.03672575e-03,-3.63472617e-03,-2.58564944e-02,
  6.06702009e-03,-2.91954652e-03,-1.78399443e-02, 1.16557680e-02,
  1.56754715e-02, 2.36299298e-03,-8.96520930e-03, 2.40612329e-02,
  9.54101329e-01,-9.52898088e-03, 6.79634369e-01, 6.27658328e-02,
  9.48712782e-02,-7.01838780e-02, 1.21430501e-01, 9.99982024e-01,
  4.33621015e-04,-1.02696805e-03, 5.89137478e-03]

qacc:
[ -3.46093839, -2.69462332, 13.66060951,-28.80662508,  1.85652677,
   0.77074794, -0.39178524, -5.8393932 , -5.50175572, -2.67840819,
  13.33084284,-30.66849351, -1.16787075,  2.03601309,-11.24670462,
  34.2124048 ,  0.08490926,  1.79425629, -0.2343467 ,-30.37936801,
   1.91330101,  0.99895685]

qfrc_actuator:
[-7.64486751e-06,-2.48599543e-06,-9.77775964e-05,-9.28878935e-05,
  4.05625108e-05,-4.08565421e-04,-3.33176856e-04,-4.48915432e-05,
 -6.61126809e-06,-1.56870379e-04,-1.10264512e-04,-2.38299204e-05,
  3.82057377e-02,-1.05077831e-03, 1.62571252e-02,-4.05002132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005908916248273804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69723625e-14,  9.39447251e-14,  1.00000000e+00, -4.41280568e-27,
        1.00000000e+00, -9.39447251e-14, -1.00000000e+00,  0.00000000e+00,
        4.69723625e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949621 , -0.0930876 ,  0.06198565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02759018e-05, 5.13794180e-05, 4.01220844e-05,-3.78691699e-05,
  1.10439182e-05, 3.79681844e-05,-1.25733253e-05,-1.80108775e-05,
 -3.22257396e-05,-3.42974277e-05,-3.82306659e-06,-5.26541984e-05,
 -2.56993454e-04,-4.50897390e-05,-1.85448181e-04, 1.11988789e-04,
  2.55652527e-06,-6.85435159e-07,-7.84795639e+00, 8.38427266e-04,
  9.15710449e-03,-1.05119344e-05]


--- Step 558 ---
qpos:
[ 7.13764989e-03, 4.03628127e-03,-3.63413026e-03,-2.58573406e-02,
  6.06829934e-03,-2.92070541e-03,-1.78412526e-02, 1.16554938e-02,
  1.56751637e-02, 2.36184619e-03,-8.96461428e-03, 2.40609474e-02,
  9.54945117e-01,-9.52706428e-03, 6.80297280e-01, 6.27640958e-02,
  9.48655851e-02,-7.01704973e-02, 1.21427952e-01, 9.99982005e-01,
  3.17690220e-04,-1.07156325e-03, 5.89409034e-03]

qacc:
[ 4.03634235e+00,-2.65818997e+00, 1.32792706e+01,-2.80585333e+01,
  4.13975667e+00, 1.85170765e-02, 2.40121233e+00,-1.11718437e+01,
 -2.61870322e-01,-1.10882842e+00, 3.14615834e+00,-1.97060155e+00,
 -7.34235496e-01, 6.79234904e-01,-1.61683069e+01, 5.34027308e+01,
  8.27745993e-02, 1.77976325e+00,-3.20621827e-01,-3.00874458e+01,
  1.91096759e+00, 9.69363240e-01]

qfrc_actuator:
[ 1.64621745e-05,-2.90802829e-07,-7.83248026e-05,-1.33904493e-04,
  6.46625037e-05,-4.25755581e-04,-3.59684266e-04,-7.37142642e-05,
 -7.31051895e-06,-1.51131085e-04,-8.39995445e-05,-1.66381426e-05,
  3.81239006e-02,-1.06299115e-03, 1.62476547e-02,-3.79725681e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005895924595448465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.41227598e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.41227598e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496185, -0.09308829,  0.06198568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.35510531e-05, 3.76072552e-05, 3.37029722e-05,-3.81638470e-05,
  2.44300277e-05, 7.33568982e-07,-2.08120103e-05,-2.79774832e-05,
 -1.62719808e-06,-1.64666284e-05, 1.68975211e-05, 4.56864959e-06,
 -2.59138164e-04,-6.63537389e-05,-8.21209837e-05, 2.35167358e-04,
  3.06441919e-06,-2.12879922e-06,-7.84791186e+00, 8.20524325e-04,
  9.14187214e-03,-9.33799206e-06]


--- Step 559 ---
qpos:
[ 7.13873876e-03, 4.03600984e-03,-3.63325237e-03,-2.58586522e-02,
  6.06951283e-03,-2.92197731e-03,-1.78425002e-02, 1.16548782e-02,
  1.56748494e-02, 2.36060919e-03,-8.96378042e-03, 2.40610867e-02,
  9.55787433e-01,-9.52557746e-03, 6.80958883e-01, 6.27683429e-02,
  9.48646386e-02,-7.01598440e-02, 1.21426677e-01, 9.99982031e-01,
  2.25280692e-04,-1.07589036e-03, 5.89319127e-03]

qacc:
[ 5.55319641e+00,-1.52888786e+00, 7.72337866e+00,-1.63223444e+01,
 -5.71741547e-01,-1.02050246e+00, 4.86588627e+00,-1.07922516e+01,
 -4.73222870e-02, 8.78452339e-02,-2.27970333e+00, 9.31632747e+00,
 -3.83062856e-01,-4.14450617e-01,-1.99853528e+01, 6.71373220e+01,
  1.18665302e+00,-6.81825191e-01, 3.18622472e-01, 1.18771494e+01,
  2.00638104e+01,-1.82640885e+00]

qfrc_actuator:
[ 4.82211454e-05, 1.06919639e-06,-6.71687642e-05,-1.57693622e-04,
  6.05734119e-05,-4.35675870e-04,-3.57103585e-04,-9.05773164e-05,
 -7.58803918e-06,-1.47097467e-04,-6.86952851e-05, 5.48854329e-06,
  3.80445038e-02,-1.08875058e-03, 1.62128629e-02,-3.48790783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005930392236972032
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40406778e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40406778e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187551, -0.06199975,  0.0619856 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.24421825e-05, 2.77344150e-05, 2.17525129e-05,-2.17555478e-05,
 -3.38885827e-06,-1.49410230e-05,-7.71167741e-07,-1.80912229e-05,
 -3.33450064e-07,-1.45475241e-06, 1.41490560e-05, 2.20964875e-05,
 -2.61548097e-04,-8.34047260e-05,-5.09656130e-05, 3.10789862e-04,
  7.12540814e-06,-3.90171377e-06,-7.84774875e+00, 7.83423283e-04,
  9.12793587e-03,-7.06912243e-06]


--- Step 560 ---
qpos:
[ 7.13985500e-03, 4.03599311e-03,-3.63230392e-03,-2.58595438e-02,
  6.07066777e-03,-2.92298052e-03,-1.78436320e-02, 1.16543571e-02,
  1.56741891e-02, 2.35938400e-03,-8.96277744e-03, 2.40611361e-02,
  9.56628239e-01,-9.52412082e-03, 6.81619840e-01, 6.27713144e-02,
  9.48683867e-02,-7.01518912e-02, 1.21426228e-01, 9.99982107e-01,
  1.55960448e-04,-1.04041525e-03, 5.88885947e-03]

qacc:
[  0.23899158,  1.00410268, -4.86171555, 11.82260788, -0.51324415,
   0.22711106, -0.69198337,  1.94358118, -3.03967877, -0.6360322 ,
   2.67995564, -4.52457356, -1.02113476,  1.48002276,  2.92682029,
 -11.55876595,  1.17364762, -0.67513261,  0.2061706 , 11.65986373,
  19.83236327, -1.73339136]

qfrc_actuator:
[ 4.87102144e-05, 1.96425612e-05,-6.09954909e-05,-1.35657944e-04,
  5.76740109e-05,-3.87793583e-04,-3.37339934e-04,-8.24914062e-05,
 -2.53776055e-05,-1.44128366e-04,-5.99895811e-05, 7.01334098e-07,
  3.79772735e-02,-1.08679046e-03, 1.61362861e-02,-3.57387713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005959609737665045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.31456147e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.31456147e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187566, -0.06200035,  0.06198553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42041011e-06, 3.76538684e-05, 1.38212227e-05, 2.35521360e-05,
 -3.00065183e-06, 3.86539150e-05, 1.59876021e-05, 7.07406762e-06,
 -1.78040783e-05, 6.05883139e-06, 1.09166280e-05,-3.92940088e-06,
 -2.54010747e-04,-5.85159980e-05,-7.12304977e-05,-7.66059424e-05,
 -1.44941539e-06,-1.06061720e-06,-7.84786088e+00, 7.53959206e-04,
  9.12643782e-03,-5.62210124e-06]


--- Step 561 ---
qpos:
[ 7.13993366e-03, 4.03646871e-03,-3.63164929e-03,-2.58605152e-02,
  6.07212353e-03,-2.92342320e-03,-1.78441107e-02, 1.16535152e-02,
  1.56729758e-02, 2.35810134e-03,-8.96192928e-03, 2.40615050e-02,
  9.57467458e-01,-9.52232805e-03, 6.82280226e-01, 6.27715380e-02,
  9.48767853e-02,-7.01466151e-02, 1.21426204e-01, 9.99982233e-01,
  1.09368078e-04,-9.65529705e-04, 5.88124638e-03]

qacc:
[ -9.15111214,  1.32544015, -3.41321509,  2.10336068,  2.6429198 ,
  -1.74929696,  8.65871777,-15.66073215, -4.86985229,  1.02371415,
  -5.09225671, 10.89142742, -1.48691075,  2.90519674,  7.50401676,
 -27.36464832,  1.16261402, -0.66916131,  0.10659628, 11.47806392,
  19.63770885, -1.65565846]

qfrc_actuator:
[-4.71715793e-06, 4.83930929e-05,-7.54658646e-05,-1.40084586e-04,
  7.32601542e-05,-3.23318878e-04,-2.89593223e-04,-9.52407846e-05,
 -5.33322613e-05,-1.59616544e-04,-7.30214500e-05, 1.56157429e-05,
  3.79014220e-02,-1.06842631e-03, 1.61038609e-02,-3.71464518e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005966347747820566
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.3040422e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -9.3040422e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187543, -0.06200062,  0.06198551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.33761713e-05, 5.36579730e-05,-4.18656706e-06,-1.87793637e-06,
  1.55129638e-05, 8.97450359e-05, 5.79713139e-05,-1.03960586e-05,
 -2.84614885e-05,-9.98922576e-06,-1.05691456e-05, 1.54763120e-05,
 -2.53313103e-04,-3.72559654e-05,-8.04668171e-05,-1.55823867e-04,
 -3.96510013e-06, 4.47327370e-06,-7.84790167e+00, 7.31725785e-04,
  9.13774974e-03,-4.42886199e-06]


--- Step 562 ---
qpos:
[ 7.13937157e-03, 4.03718461e-03,-3.63108016e-03,-2.58615139e-02,
  6.07341000e-03,-2.92338432e-03,-1.78445479e-02, 1.16529244e-02,
  1.56717816e-02, 2.35694701e-03,-8.96159699e-03, 2.40620512e-02,
  9.58305179e-01,-9.52033074e-03, 6.82938972e-01, 6.27734528e-02,
  9.48897977e-02,-7.01439947e-02, 1.21426257e-01, 9.99982402e-01,
  8.52033941e-05,-8.51557095e-04, 5.87047909e-03]

qacc:
[-5.64710124e+00, 5.11641220e-01,-1.22943639e+00, 6.97587780e-01,
 -1.48805724e+00, 1.03985752e+00,-3.84010424e+00, 7.76214861e+00,
  1.49205412e-01, 1.97629323e+00,-7.54986122e+00, 1.13502102e+01,
 -1.15174041e+00, 2.03041540e+00,-7.48585724e+00, 2.27629573e+01,
  1.15344317e+00,-6.63937958e-01, 1.89795489e-02, 1.13270588e+01,
  1.94770848e+01,-1.59016218e+00]

qfrc_actuator:
[-3.61824947e-05, 4.74051444e-05,-8.42336516e-05,-1.42304025e-04,
  6.40964242e-05,-3.20298556e-04,-2.96650803e-04,-8.46084569e-05,
 -5.15353248e-05,-1.50609276e-04,-9.88395827e-05, 2.42252438e-05,
  3.78311108e-02,-1.05832660e-03, 1.60393595e-02,-3.62002032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005954753063361351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39832376e-13,  1.16526980e-13,  1.00000000e+00,  1.62942444e-26,
        1.00000000e+00, -1.16526980e-13, -1.00000000e+00,  0.00000000e+00,
       -1.39832376e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187488, -0.06200062,  0.06198554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29643299e-05, 2.80305940e-05, 1.72524275e-06,-1.01357952e-07,
 -8.69110338e-06, 6.47628888e-05, 1.82729395e-05, 1.62849730e-05,
  9.81498827e-07, 1.92317503e-06,-2.86436997e-05, 8.11800153e-06,
 -2.43291174e-04,-4.26028997e-05,-1.25576616e-04, 7.39815763e-05,
 -8.11549700e-07, 1.24234979e-05,-7.84787385e+00, 7.16625280e-04,
  9.16173170e-03,-3.48885982e-06]


--- Step 563 ---
qpos:
[ 7.13878138e-03, 4.03793150e-03,-3.63081369e-03,-2.58621435e-02,
  6.07388733e-03,-2.92319825e-03,-1.78454299e-02, 1.16525440e-02,
  1.56713075e-02, 2.35626199e-03,-8.96204940e-03, 2.40626709e-02,
  9.59141518e-01,-9.51851915e-03, 6.83595620e-01, 6.27752562e-02,
  9.49073941e-02,-7.01440121e-02, 1.21426078e-01, 9.99982602e-01,
  8.32195202e-05,-6.98757657e-04, 5.85666520e-03]

qacc:
[-0.25712447, 1.6478435 ,-7.36868428,14.20610304,-7.0966875 , 1.88397907,
 -7.29973685,11.51760614, 6.30457266, 2.95250599,-9.95898059,12.16302133,
 -0.71463458, 0.67193911,-2.74127507, 5.13047618, 1.14601464,-0.65946293,
 -0.0576827 ,11.20287769,19.3478497 ,-1.53445943]

qfrc_actuator:
[-3.66997723e-05, 2.86291942e-05,-1.07423317e-04,-1.25467251e-04,
  2.26799018e-05,-3.54296126e-04,-3.36240740e-04,-7.81434796e-05,
 -1.44856336e-05,-1.09314913e-04,-1.31906486e-04, 2.90660375e-05,
  3.77588469e-02,-1.07094105e-03, 1.59077972e-02,-3.63603663e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005928451236866528
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40452748e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.40452748e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187409, -0.0620004 ,  0.0619856 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44646029e-06,-2.78948091e-06,-1.72021427e-05, 1.80955898e-05,
 -4.16436450e-05, 6.69164201e-06,-2.33922337e-05, 1.01919131e-05,
  3.70758507e-05, 3.68341956e-05,-3.59097023e-05, 4.09042916e-06,
 -2.39683876e-04,-6.40780332e-05,-1.84198796e-04,-2.88181036e-05,
  7.74306081e-06, 2.25645577e-05,-7.84777954e+00, 7.08575151e-04,
  9.19826892e-03,-2.80132913e-06]


--- Step 564 ---
qpos:
[ 7.13818931e-03, 4.03861037e-03,-3.63075496e-03,-2.58629049e-02,
  6.07420974e-03,-2.92342044e-03,-1.78459687e-02, 1.16526075e-02,
  1.56709362e-02, 2.35590294e-03,-8.96262823e-03, 2.40633160e-02,
  9.59976443e-01,-9.51710613e-03, 6.84251228e-01, 6.27697523e-02,
  9.49295513e-02,-7.01466524e-02, 1.21425403e-01, 9.99982814e-01,
  1.03216209e-04,-5.07333510e-04, 5.83989673e-03]

qacc:
[-2.21104360e-02, 2.19256933e-01,-3.56045305e-01,-1.54286105e+00,
 -1.33770859e+00,-5.81714842e-01,-5.79011640e-01, 8.01144931e+00,
  8.94340760e-01, 8.34594573e-01,-2.46073878e+00, 2.86482753e+00,
 -7.34803056e-01, 4.86297194e-01, 2.05322050e+01,-7.40494832e+01,
  1.14020486e+00,-6.55719407e-01,-1.24415496e-01, 1.11021634e+01,
  1.92475338e+01,-1.48659044e+00]

qfrc_actuator:
[-3.67572129e-05, 1.70462821e-05,-1.21262100e-04,-1.33087497e-04,
  1.58771663e-05,-3.92610038e-04,-3.23869646e-04,-5.64858494e-05,
 -1.02509271e-05,-8.45458756e-05,-1.33342206e-04, 3.16785042e-05,
  3.76748034e-02,-1.09687557e-03, 1.58266369e-02,-4.01910617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005890589855195444
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.82710998e-13, -9.42369993e-14,  1.00000000e+00, -2.66418361e-26,
        1.00000000e+00,  9.42369993e-14, -1.00000000e+00,  0.00000000e+00,
       -2.82710998e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187309, -0.06200003,  0.06198569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02069742e-07,-1.59482589e-05,-1.59171869e-05,-7.98309049e-06,
 -7.98966133e-06,-3.89770271e-05, 1.12350340e-05, 2.13373661e-05,
  5.29967178e-06, 3.81647386e-05, 1.90133170e-06, 3.02756868e-06,
 -2.53642135e-04,-7.93761401e-05,-1.69553266e-04,-4.08529454e-04,
  2.15316360e-05, 3.47052279e-05,-7.84762033e+00, 7.07506557e-04,
  9.24726927e-03,-2.36534114e-06]


--- Step 565 ---
qpos:
[ 7.13725630e-03, 4.03893173e-03,-3.63047936e-03,-2.58633982e-02,
  6.07513740e-03,-2.92379267e-03,-1.78467036e-02, 1.16529347e-02,
  1.56702740e-02, 2.35561850e-03,-8.96282920e-03, 2.40636390e-02,
  9.60809899e-01,-9.51597909e-03, 6.84905344e-01, 6.27638527e-02,
  9.49562521e-02,-7.01519035e-02, 1.21423998e-01, 9.99983013e-01,
  1.45034189e-04,-2.77433240e-04, 5.82025321e-03]

qacc:
[ -2.98784962, -0.52088327,  0.05199373,  4.48861304,  5.29285131,
   0.88150928, -4.56163874,  9.56647418, -2.54924055, -1.61557033,
   7.27199768,-13.51448159, -0.69329412,  0.46772461, -0.99156849,
   0.30296734,  1.13589247, -0.65267975, -0.18222618, 11.02207777,
  19.17386265, -1.4449814 ]

qfrc_actuator:
[-5.43063438e-05,-7.88683807e-06,-1.11711588e-04,-1.19523315e-04,
  4.72647830e-05,-3.97511915e-04,-3.34190056e-04,-4.37831464e-05,
 -2.53758306e-05,-8.74890455e-05,-1.16143623e-04, 1.52201083e-05,
  3.75997222e-02,-1.11276234e-03, 1.58183045e-02,-4.01157775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005843882266667877
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.74950972e-14,  9.49901944e-14,  1.00000000e+00, -4.51156851e-27,
        1.00000000e+00, -9.49901944e-14, -1.00000000e+00,  0.00000000e+00,
        4.74950972e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187195, -0.06199952,  0.06198581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.75586827e-05,-3.75024102e-05, 4.01384147e-06, 1.21753710e-05,
  3.11444039e-05,-2.34512830e-05,-1.62396210e-05, 1.18385223e-05,
 -1.49628243e-05, 1.89402931e-05, 2.54299373e-05,-1.46978036e-05,
 -2.57082703e-04,-7.40086047e-05,-1.34952388e-04,-3.78244955e-05,
  4.04725505e-05, 4.86759019e-05,-7.84739737e+00, 7.13362988e-04,
  9.30866097e-03,-2.17984797e-06]


--- Step 566 ---
qpos:
[ 7.13612019e-03, 4.03894852e-03,-3.63008959e-03,-2.58637248e-02,
  6.07677868e-03,-2.92396572e-03,-1.78482634e-02, 1.16530650e-02,
  1.56697809e-02, 2.35507836e-03,-8.96264043e-03, 2.40638045e-02,
  9.61641885e-01,-9.51504854e-03, 6.85557941e-01, 6.27632449e-02,
  9.49834024e-02,-7.01498831e-02, 1.21422014e-01, 9.99983149e-01,
  1.25524849e-04,-4.48868806e-05, 5.80376608e-03]

qacc:
[-1.77900859e+00,-3.75015390e-01, 5.66959604e-02, 2.86018555e+00,
  6.21520412e+00, 2.15019708e+00,-6.47578528e+00, 4.26652988e+00,
  1.50517630e+00,-1.75452136e+00, 6.42551843e+00,-9.58118590e+00,
 -6.32751671e-01, 4.13260916e-01,-1.81949177e+01, 6.04478588e+01,
  1.12374183e-01, 1.81785468e+00,-1.44838599e-01,-3.06549963e+01,
  1.50171251e+00, 1.58666400e+00]

qfrc_actuator:
[-6.42580674e-05,-2.27607490e-05,-1.06221642e-04,-1.11348330e-04,
  8.31157695e-05,-3.82461505e-04,-3.75475970e-04,-5.42031197e-05,
 -1.62587263e-05,-1.24691209e-04,-1.05970805e-04, 5.40911674e-06,
  3.75300742e-02,-1.12257363e-03, 1.58111406e-02,-3.72042127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005826247451767852
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76388548e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.76388548e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495456, -0.09309306,  0.06198585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04653817e-05,-3.45116148e-05,-1.34454459e-06, 6.94575685e-06,
  3.67327769e-05,-8.78178872e-07,-4.77096189e-05,-1.17559766e-05,
  8.69715367e-06,-2.19829681e-05, 1.67137648e-05,-8.40459410e-06,
 -2.52301862e-04,-6.81557733e-05,-7.65520899e-05, 2.70936327e-04,
  6.45579162e-05, 6.43189403e-05,-7.84711139e+00, 7.26099046e-04,
  9.38239071e-03,-2.24371569e-06]


--- Step 567 ---
qpos:
[ 7.13590832e-03, 4.03878939e-03,-3.62997997e-03,-2.58635947e-02,
  6.07814770e-03,-2.92444033e-03,-1.78499043e-02, 1.16537734e-02,
  1.56700908e-02, 2.35419832e-03,-8.96194193e-03, 2.40635089e-02,
  9.62472367e-01,-9.51421668e-03, 6.86209993e-01, 6.27627219e-02,
  9.50109950e-02,-7.01406601e-02, 1.21419066e-01, 9.99983219e-01,
  4.53125380e-05, 1.90626011e-04, 5.78993912e-03]

qacc:
[  8.13013585,  1.47545982, -7.54824742, 16.04717515, -2.37951589,
   1.02265707, -6.65713687, 17.00395264,  7.08717108, -2.83683618,
  11.38565946,-19.90336938, -0.9166622 ,  1.15864873, -1.03385092,
   2.50807711,  0.11058055,  1.80066206, -0.24078377,-30.34230189,
   1.65955965,  1.33143094]

qfrc_actuator:
[-1.63948886e-05,-3.15090611e-05,-1.20904713e-04,-8.86600632e-05,
  6.80364100e-05,-4.08986799e-04,-3.81376080e-04,-2.48839482e-05,
  2.48125263e-05,-1.46643028e-04,-8.24238393e-05,-1.82017732e-05,
  3.74530874e-02,-1.12871473e-03, 1.57727792e-02,-3.72618574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005836336382895463
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.75565043e-14, -9.51130086e-14,  1.00000000e+00,  4.52324220e-27,
        1.00000000e+00,  9.51130086e-14, -1.00000000e+00,  0.00000000e+00,
        4.75565043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495334, -0.09309324,  0.06198582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75532774e-05,-2.80317940e-05,-2.17388690e-05, 2.12997025e-05,
 -1.40277761e-05,-3.73374363e-05,-1.23469716e-05, 2.74037771e-05,
  4.13088589e-05,-3.11340860e-05, 2.07768020e-05,-2.41382451e-05,
 -2.54739992e-04,-6.30647635e-05,-4.80178687e-05,-1.62047582e-06,
  4.64909077e-05, 6.68544533e-05,-7.84711483e+00, 7.20606308e-04,
  9.45558224e-03,-2.49118535e-06]


--- Step 568 ---
qpos:
[ 7.13730639e-03, 4.03861442e-03,-3.63015149e-03,-2.58628690e-02,
  6.07898092e-03,-2.92544499e-03,-1.78512100e-02, 1.16548280e-02,
  1.56705456e-02, 2.35284418e-03,-8.96057081e-03, 2.40625936e-02,
  9.63301345e-01,-9.51317999e-03, 6.86861142e-01, 6.27605412e-02,
  9.50366397e-02,-7.01306838e-02, 1.21418313e-01, 9.99983230e-01,
 -4.03247476e-05, 4.08827418e-04, 5.77673265e-03]

qacc:
[ 14.16322267,  1.96388168, -9.58752492, 20.39046881, -4.66876673,
  -0.91514165,  0.80019942,  5.0310291 ,  1.30476178, -3.78504093,
  15.19904131,-26.64700821, -1.26223339,  2.27613617,  3.71328889,
 -14.83498949, -0.48699027,  0.18830755,  0.54848847, -2.76261594,
  -8.6398724 ,  0.31028636]

qfrc_actuator:
[ 6.51111119e-05,-1.88362245e-05,-1.29590324e-04,-5.76206004e-05,
  4.08519154e-05,-4.42283833e-04,-3.66458365e-04,-7.92253763e-06,
  3.10969501e-05,-1.77010788e-04,-5.11282536e-05,-4.97260966e-05,
  3.73877309e-02,-1.11492028e-03, 1.57050147e-02,-3.81824926e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005826202190051983
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.76392249e-14, -3.89651415e-07,  1.00000000e+00, -1.85626914e-20,
        1.00000000e+00,  3.89651415e-07, -1.00000000e+00,  3.00926554e-36,
       -4.76392249e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10197377, -0.07230459,  0.06198585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.28471739e-05,-6.55883938e-06,-1.64170705e-05, 2.94997602e-05,
 -2.75989493e-05,-5.55219632e-05, 6.65679264e-06, 1.54713239e-05,
  7.44520055e-06,-4.44810627e-05, 2.65897203e-05,-3.26100097e-05,
 -2.43811970e-04,-4.29475862e-05,-9.75529658e-05,-1.00121530e-04,
  3.44419553e-05, 7.09915840e-05,-7.84699454e+00, 6.95654657e-04,
  9.53001324e-03,-1.61648128e-06]


--- Step 569 ---
qpos:
[ 7.13967079e-03, 4.03835490e-03,-3.62982452e-03,-2.58625136e-02,
  6.07948165e-03,-2.92695129e-03,-1.78520247e-02, 1.16560634e-02,
  1.56710725e-02, 2.35127291e-03,-8.95946194e-03, 2.40613398e-02,
  9.64129018e-01,-9.51260454e-03, 6.87510507e-01, 6.27577043e-02,
  9.50581067e-02,-7.01267547e-02, 1.21418294e-01, 9.99983192e-01,
 -7.41127982e-05, 5.90334905e-04, 5.76726718e-03]

qacc:
[  8.52311115, -2.28465892,  9.512842  ,-16.6122563 , -2.88530011,
  -1.65655353,  4.19204979, -1.4920805 ,  0.62909725, -0.25196573,
   1.90885184, -7.18483228, -0.40601525, -0.28675095, -0.64840216,
  -1.55215858, -1.04439759, -1.51178256,  0.18373805, 25.81743186,
 -18.49647735,  1.88047044]

qfrc_actuator:
[ 1.12489519e-04,-1.11530243e-05,-9.90591223e-05,-7.51497953e-05,
  2.45294146e-05,-4.61542157e-04,-3.39434076e-04, 1.62462462e-06,
  3.45986815e-05,-1.94405333e-04,-6.88081919e-05,-6.79026876e-05,
  3.73187549e-02,-1.14268647e-03, 1.56036830e-02,-3.85386780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005925152618711377
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.19763818e-14,  9.36872935e-14,  1.00000000e+00,  7.68014534e-27,
        1.00000000e+00, -9.36872935e-14, -1.00000000e+00,  0.00000000e+00,
       -8.19763818e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891291, -0.051758  ,  0.06198561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.97291477e-05, 1.91912678e-06, 2.81729120e-05,-1.78081037e-05,
 -1.71313083e-05,-4.82282024e-05, 1.69374886e-05, 7.70350300e-06,
  3.69494969e-06,-3.81345489e-05,-2.47193854e-05,-1.97956120e-05,
 -2.36677145e-04,-7.96038034e-05,-1.62768551e-04,-5.50469797e-05,
  2.68792673e-05, 6.47528818e-05,-7.84710767e+00, 6.69074376e-04,
  9.59975918e-03, 2.60099474e-07]


--- Step 570 ---
qpos:
[ 7.14258544e-03, 4.03802921e-03,-3.62940324e-03,-2.58623455e-02,
  6.07909243e-03,-2.92855405e-03,-1.78523861e-02, 1.16573534e-02,
  1.56716369e-02, 2.35006615e-03,-8.95945322e-03, 2.40605521e-02,
  9.64955349e-01,-9.51261985e-03, 6.88158126e-01, 6.27560359e-02,
  9.50754604e-02,-7.01288042e-02, 1.21418464e-01, 9.99983131e-01,
 -5.70387478e-05, 7.35775440e-04, 5.76139750e-03]

qacc:
[  4.8475925 , -0.74626436,  3.305913  , -6.62617878, -7.77159598,
  -1.2658758 ,  4.12451623, -3.86124171,  0.28920527,  4.51546936,
 -17.36978879, 26.92669418, -0.251441  , -0.80032607, -6.10644956,
  17.61285337, -1.02835457, -1.494642  ,  0.04696447, 25.32555704,
 -18.17996796,  1.81161126]

qfrc_actuator:
[ 1.39391005e-04,-2.41411932e-05,-9.89229234e-05,-8.55872696e-05,
 -2.07701549e-05,-4.36688389e-04,-3.05435527e-04, 6.75038569e-06,
  3.64457552e-05,-1.50825383e-04,-1.15207620e-04,-4.25988291e-05,
  3.72423179e-02,-1.17705223e-03, 1.55462321e-02,-3.78494728e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005988841741369211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.63454818e-14,  1.27450075e-13,  1.00000000e+00,  5.90673514e-27,
        1.00000000e+00, -1.27450075e-13, -1.00000000e+00,  0.00000000e+00,
       -4.63454818e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891219, -0.0517599 ,  0.06198545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83145708e-05,-6.84404204e-06, 3.38006269e-06,-9.73093600e-06,
 -4.58068567e-05, 1.76888407e-06, 2.64152159e-05, 3.79840895e-06,
  1.93647529e-06, 1.63500838e-05,-5.79977460e-05, 2.24328307e-05,
 -2.46876194e-04,-8.95471538e-05,-1.40059708e-04, 4.44972994e-05,
  2.67647273e-05, 3.40409612e-05,-7.84744606e+00, 6.59865348e-04,
  9.65860430e-03, 1.88464032e-06]


--- Step 571 ---
qpos:
[ 7.14545537e-03, 4.03767503e-03,-3.62928092e-03,-2.58619356e-02,
  6.07850760e-03,-2.92964609e-03,-1.78528538e-02, 1.16579637e-02,
  1.56722188e-02, 2.34918301e-03,-8.95954782e-03, 2.40603540e-02,
  9.65780103e-01,-9.51239313e-03, 6.88804544e-01, 6.27550752e-02,
  9.50887573e-02,-7.01367717e-02, 1.21418333e-01, 9.99983059e-01,
  1.00687603e-05, 8.45689945e-04, 5.75901453e-03]

qacc:
[ -0.40247878,  1.29697208, -5.69517112, 10.3700325 , -1.72422569,
  -0.42398468,  5.3668666 ,-17.34341636,  0.1462188 ,  1.93011915,
  -8.75145654, 18.88390493, -1.28197901,  2.30831305, -3.86313844,
  11.04197822, -1.01419428, -1.47952375, -0.07502358, 24.91268416,
 -17.90694189,  1.76074253]

qfrc_actuator:
[ 1.36283255e-04,-3.17641198e-05,-1.16818928e-04,-7.40519895e-05,
 -2.95076081e-05,-3.85571883e-04,-3.02916394e-04,-2.62282114e-05,
  3.73057649e-05,-1.06660781e-04,-1.06885413e-04,-9.62842991e-06,
  3.71667801e-02,-1.16180586e-03, 1.55098447e-02,-3.74362875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006021710011541448
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.76156432e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.76156432e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891196, -0.05176092,  0.06198538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30512729e-06,-1.11614914e-05,-1.92355615e-05, 1.11673287e-05,
 -1.00467926e-05, 5.77681195e-05, 6.29196997e-06,-3.19113412e-05,
  9.18172971e-07, 4.23365719e-05, 5.34836075e-06, 3.21053077e-05,
 -2.54364724e-04,-4.33809847e-05,-9.81632557e-05, 2.52037823e-05,
  2.26927925e-05, 1.15851698e-05,-7.84765121e+00, 6.66492664e-04,
  9.70539350e-03, 2.24526488e-06]


--- Step 572 ---
qpos:
[ 7.14792122e-03, 4.03702306e-03,-3.62898067e-03,-2.58613888e-02,
  6.07851218e-03,-2.93046218e-03,-1.78534999e-02, 1.16582093e-02,
  1.56728065e-02, 2.34852576e-03,-8.95952881e-03, 2.40605491e-02,
  9.66603176e-01,-9.51162547e-03, 6.89449737e-01, 6.27545914e-02,
  9.50980468e-02,-7.01506051e-02, 1.21417470e-01, 9.99982979e-01,
  1.26520978e-04, 9.20540783e-04, 5.76003803e-03]

qacc:
[ -3.54612735, -0.60234556,  1.01180635,  1.27605484,  5.147105  ,
   0.10213042,  1.6875669 , -7.89942228,  0.05090853,  0.79039462,
  -4.04537102, 10.50286282, -1.66045465,  3.43068247, -3.18406681,
   8.65479316, -1.0018396 , -1.46645946, -0.18307963, 24.56953024,
 -17.67360461,  1.7242765 ]

qfrc_actuator:
[ 1.15544833e-04,-5.39317415e-05,-1.09673454e-04,-6.74399211e-05,
  1.10648985e-06,-3.90276855e-04,-3.18906735e-04,-4.58516926e-05,
  3.75784511e-05,-9.77555622e-05,-1.01792248e-04, 9.87926821e-06,
  3.70811999e-02,-1.13514130e-03, 1.54541545e-02,-3.71887794e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006029125060832141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30179133e-14,  1.15089567e-14,  1.00000000e+00,  2.64912167e-28,
        1.00000000e+00, -1.15089567e-14, -1.00000000e+00,  0.00000000e+00,
       -2.30179133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891212, -0.05176122,  0.06198536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.08065697e-05,-3.19032247e-05, 2.85655525e-06, 5.68530227e-06,
  3.03482878e-05, 2.75712272e-05,-4.37018266e-06,-1.75489331e-05,
  3.09064575e-07, 3.50964238e-05, 1.56204762e-05, 2.21345812e-05,
 -2.60084336e-04,-2.74557578e-05,-1.02801195e-04, 1.23845001e-05,
  1.51609482e-05,-3.17164313e-06,-7.84773015e+00, 6.88719184e-04,
  9.74033326e-03, 1.37202191e-06]


--- Step 573 ---
qpos:
[ 7.14977439e-03, 4.03617219e-03,-3.62891714e-03,-2.58604055e-02,
  6.07853877e-03,-2.93115134e-03,-1.78542662e-02, 1.16582336e-02,
  1.56727031e-02, 2.34812527e-03,-8.96027438e-03, 2.40610341e-02,
  9.67424709e-01,-9.51082009e-03, 6.90093343e-01, 6.27551009e-02,
  9.51031205e-02,-7.01650564e-02, 1.21417825e-01, 9.99982907e-01,
  2.47828084e-04, 9.59876885e-04, 5.76213873e-03]

qacc:
[ -5.39695026,  1.30844385, -6.8661245 , 14.91403443,  0.18659612,
   0.04776223,  1.00697114, -4.73818001, -6.11033164,  3.08508198,
 -11.71106946, 17.73946991, -1.03361932,  1.54128657, -5.30621313,
  15.23700567, -1.05394788, -0.15447974,  0.3044152 ,  2.32462357,
 -17.77098324,  0.54304874]

qfrc_actuator:
[ 8.46052591e-05,-6.67928566e-05,-1.23365661e-04,-4.60208501e-05,
  1.36683747e-06,-3.92938971e-04,-3.28135500e-04,-5.75051832e-05,
  1.99823424e-06,-1.10037705e-04,-1.52070021e-04, 2.12699337e-05,
  3.70003119e-02,-1.13752683e-03, 1.53762764e-02,-3.66861482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000603022865807934
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.45205512e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.45205512e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882044, -0.06840888,  0.06198535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15403636e-05,-2.98639795e-05,-1.97318472e-05, 2.02624552e-05,
  1.13795046e-06, 1.11482449e-05,-4.66416960e-06,-1.09633931e-05,
 -3.55627612e-05, 1.15443089e-05,-4.03306048e-05, 1.38670518e-05,
 -2.56039142e-04,-5.55488835e-05,-1.28433723e-04, 3.66152735e-05,
  4.48236064e-06,-1.07071467e-05,-7.84768845e+00, 7.26345187e-04,
  9.76359470e-03,-7.10560020e-07]


--- Step 574 ---
qpos:
[ 7.15124181e-03, 4.03560854e-03,-3.62924921e-03,-2.58592250e-02,
  6.07822358e-03,-2.93161687e-03,-1.78551696e-02, 1.16577615e-02,
  1.56728641e-02, 2.34780412e-03,-8.96151611e-03, 2.40609666e-02,
  9.68244891e-01,-9.51065539e-03, 6.90735079e-01, 6.27549376e-02,
  9.51040225e-02,-7.01801269e-02, 1.21418993e-01, 9.99982846e-01,
  3.73978582e-04, 9.64072529e-04, 5.76532812e-03]

qacc:
[ -3.41280555,  1.89830505, -7.03497735, 10.84741771, -2.99921066,
  -0.33720452,  3.7369694 ,-12.28388092,  2.30930593,  0.34947155,
   1.2315678 ,-10.05256244, -0.2562335 , -0.84096503, -0.73414419,
  -1.45625488, -1.04291654, -0.15480567,  0.20332245,  2.31988905,
 -17.58375301,  0.55097923]

qfrc_actuator:
[ 6.56678575e-05,-2.07919357e-05,-1.31464368e-04,-3.38246765e-05,
 -1.62534349e-05,-3.76584112e-04,-3.33294080e-04,-8.21268217e-05,
  1.66114275e-05,-1.17400845e-04,-1.81479711e-04,-7.76890188e-06,
  3.69276129e-02,-1.17480819e-03, 1.52638591e-02,-3.71026725e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006033472611654128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.75033182e-14, -4.60026545e-14,  1.00000000e+00,  2.64530528e-27,
        1.00000000e+00,  4.60026545e-14, -1.00000000e+00,  0.00000000e+00,
        5.75033182e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088207 , -0.06840889,  0.06198535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.98412456e-05, 2.61043495e-05,-1.59894998e-05, 1.06298806e-05,
 -1.75832251e-05, 2.11901281e-05,-3.79288414e-06,-2.45155648e-05,
  1.36059782e-05,-8.63469060e-06,-3.14991580e-05,-2.96667960e-05,
 -2.50771188e-04,-9.33699905e-05,-1.70489460e-04,-5.68865966e-05,
 -2.00227502e-06,-7.10808355e-06,-7.84773576e+00, 7.65078884e-04,
  9.77576271e-03,-3.22748161e-06]


--- Step 575 ---
qpos:
[ 7.15316045e-03, 4.03540384e-03,-3.62974912e-03,-2.58582788e-02,
  6.07769967e-03,-2.93189666e-03,-1.78561381e-02, 1.16569979e-02,
  1.56735435e-02, 2.34753041e-03,-8.96284929e-03, 2.40605278e-02,
  9.69063545e-01,-9.51032293e-03, 6.91375213e-01, 6.27518903e-02,
  9.51007901e-02,-7.01958187e-02, 1.21420620e-01, 9.99982792e-01,
  5.04970810e-04, 9.33440734e-04, 5.76962064e-03]

qacc:
[  3.96023953,  0.45330956,  0.04612759, -4.07893817, -1.83170829,
  -0.16933282,  2.19726642, -7.2830988 ,  4.55823007, -0.45498354,
   3.26539767, -9.56304111, -1.26207317,  2.20948702,  6.38274936,
 -25.6770647 , -1.03363027, -0.15531892,  0.11463401,  2.31989387,
 -17.42717568,  0.56038204]

qfrc_actuator:
[ 8.94551547e-05, 6.86174292e-06,-1.35953395e-04,-4.48500860e-05,
 -2.64944482e-05,-3.66719149e-04,-3.35945608e-04,-9.64131944e-05,
  4.29089465e-05,-1.03985243e-04,-1.80578493e-04,-2.48336384e-05,
  3.68598657e-02,-1.16135322e-03, 1.51787330e-02,-3.85905814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006018668473649486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.15289519e-14,  9.22316148e-14,  1.00000000e+00, -1.06333385e-27,
        1.00000000e+00, -9.22316148e-14, -1.00000000e+00,  0.00000000e+00,
        1.15289519e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882124, -0.06840885,  0.06198538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.32349731e-05, 3.94138600e-05,-6.91682468e-07,-1.02538663e-05,
 -1.07348123e-05, 1.99029246e-05, 4.27526194e-07,-1.39819193e-05,
  2.66812650e-05, 8.40638127e-07,-5.77066560e-06,-1.90989432e-05,
 -2.50051526e-04,-4.65317995e-05,-1.71069835e-04,-1.74214351e-04,
 -6.21880516e-06,-1.98840941e-06,-7.84774129e+00, 8.05215124e-04,
  9.77669645e-03,-5.89040972e-06]


--- Step 576 ---
qpos:
[ 7.15431443e-03, 4.03529201e-03,-3.63046124e-03,-2.58577801e-02,
  6.07740185e-03,-2.93196125e-03,-1.78574367e-02, 1.16560838e-02,
  1.56734981e-02, 2.34715276e-03,-8.96414251e-03, 2.40602433e-02,
  9.69880641e-01,-9.50952661e-03, 6.92013922e-01, 6.27482568e-02,
  9.50979731e-02,-7.02041900e-02, 1.21422135e-01, 9.99982753e-01,
  5.73650979e-04, 9.07749174e-04, 5.77417930e-03]

qacc:
[-6.73951913e+00,-1.92136632e-01, 2.77054619e+00,-1.02574022e+01,
  1.96422154e+00, 8.92757323e-01,-2.14179813e+00,-8.69162125e-02,
 -6.37515776e+00, 8.10392080e-02,-1.11810698e+00, 3.77757106e+00,
 -1.52305102e+00, 3.09356163e+00,-2.77461009e-01,-1.96049117e+00,
  1.03877005e-01, 1.83011578e+00,-2.78857253e-02,-3.11413694e+01,
  2.64989438e+00, 1.02699728e-01]

qfrc_actuator:
[ 4.94314506e-05,-1.21848067e-05,-1.56098784e-04,-6.94558165e-05,
 -1.45516349e-05,-3.60799714e-04,-3.54862740e-04,-1.04504641e-04,
  4.84673465e-06,-1.13607488e-04,-1.79449635e-04,-1.69215809e-05,
  3.67898284e-02,-1.13576124e-03, 1.51473053e-02,-3.87437285e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006020903928001392
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.21973709e-14,  9.21973709e-14,  1.00000000e+00,  8.50035519e-27,
        1.00000000e+00, -9.21973709e-14, -1.00000000e+00,  0.00000000e+00,
       -9.21973709e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495291, -0.09308961,  0.06198538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.93486073e-05, 2.42471318e-06,-1.24414935e-05,-2.31435105e-05,
  1.16436207e-05, 1.65577451e-05,-1.52205667e-05,-7.49099017e-06,
 -3.73051751e-05,-1.11246929e-05,-4.97371940e-08, 7.38030077e-06,
 -2.42805332e-04,-2.80173717e-05,-1.31374299e-04,-4.74976325e-05,
 -8.24971241e-06, 4.63554551e-06,-7.84770623e+00, 8.46753527e-04,
  9.76649503e-03,-8.69924833e-06]


--- Step 577 ---
qpos:
[ 7.15498014e-03, 4.03505568e-03,-3.63103169e-03,-2.58575759e-02,
  6.07724931e-03,-2.93173020e-03,-1.78589951e-02, 1.16547193e-02,
  1.56729972e-02, 2.34637080e-03,-8.96471052e-03, 2.40600469e-02,
  9.70696288e-01,-9.50843566e-03, 6.92651614e-01, 6.27456265e-02,
  9.50955711e-02,-7.02053236e-02, 1.21423080e-01, 9.99982739e-01,
  5.80887375e-04, 8.86833124e-04, 5.77912981e-03]

qacc:
[ -4.29149347, -1.15905623,  5.14870996,-10.39015638,  1.25776451,
   0.18743678,  1.79551246, -9.38649369, -3.97806195, -2.37209069,
   7.32381647, -6.67469495, -1.24290504,  2.33362261, -4.48195341,
  13.60548593,  0.10373549,  1.80944957, -0.14240323,-30.70775406,
   2.56520821,  0.1665917 ]

qfrc_actuator:
[ 2.54144383e-05,-2.36237223e-05,-1.50021203e-04,-8.41503532e-05,
 -7.40246976e-06,-3.39598698e-04,-3.65495517e-04,-1.26656148e-04,
 -1.75375348e-05,-1.36920047e-04,-1.42773737e-04,-1.21531003e-05,
  3.67238004e-02,-1.12100290e-03, 1.51374869e-02,-3.81074595e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006037574948735691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.19427944e-14,  1.83885589e-13,  1.00000000e+00,  1.69069549e-26,
        1.00000000e+00, -1.83885589e-13, -1.00000000e+00,  0.00000000e+00,
       -9.19427944e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495334, -0.09308934,  0.06198534])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51312931e-05,-1.36498310e-05, 4.25450705e-06,-1.54696277e-05,
  7.48853823e-06, 2.70189277e-05,-9.32939813e-06,-2.21099105e-05,
 -2.34508928e-05,-2.92112858e-05, 3.46488098e-05, 4.43956061e-06,
 -2.30070318e-04,-3.51366795e-05,-7.88520611e-05, 4.32795152e-05,
 -4.49365223e-06, 3.21091457e-06,-7.84791286e+00, 8.68679288e-04,
  9.75862671e-03,-9.85135267e-06]


--- Step 578 ---
qpos:
[ 7.15569737e-03, 4.03484038e-03,-3.63160595e-03,-2.58572129e-02,
  6.07683913e-03,-2.93164940e-03,-1.78602229e-02, 1.16531166e-02,
  1.56725765e-02, 2.34524730e-03,-8.96451016e-03, 2.40595526e-02,
  9.71510468e-01,-9.50711598e-03, 6.93288265e-01, 6.27424458e-02,
  9.50935830e-02,-7.01992901e-02, 1.21423052e-01, 9.99982751e-01,
  5.27408059e-04, 8.70558267e-04, 5.78457189e-03]

qacc:
[  0.45312667,  0.36475311, -1.93079132,  4.66876156, -2.24161421,
  -1.60831492,  6.46073987,-11.01260375,  0.73502858, -3.21356505,
  12.05823079,-18.18712906, -1.23208579,  2.22926502,  0.16676499,
  -2.72255426,  0.1034894 ,  1.79173894, -0.24332659,-30.34414717,
   2.49612934,  0.217427  ]

qfrc_actuator:
[ 2.87835373e-05,-1.25652175e-05,-1.46231482e-04,-7.51193142e-05,
 -2.08917516e-05,-3.62653152e-04,-3.53343210e-04,-1.39131107e-04,
 -1.27418432e-05,-1.50352214e-04,-1.03223488e-04,-2.70189370e-05,
  3.66442469e-02,-1.11276105e-03, 1.50767390e-02,-3.84313025e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006031579367332535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.60170942e-14,  1.84068377e-13,  1.00000000e+00,  8.47029185e-27,
        1.00000000e+00, -1.84068377e-13, -1.00000000e+00,  0.00000000e+00,
       -4.60170942e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495363, -0.09308977,  0.06198535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65232159e-06, 3.64580831e-06, 9.68585423e-07, 8.29476375e-06,
 -1.32646014e-05,-1.08044246e-05, 1.58370242e-05,-1.20646559e-05,
  4.11456212e-06,-2.23942196e-05, 3.79542584e-05,-1.48280372e-05,
 -2.36265491e-04,-4.02874249e-05,-9.77415533e-05,-4.14382601e-05,
 -1.44417271e-07, 1.82128513e-06,-7.84799208e+00, 8.70994019e-04,
  9.75227519e-03,-9.89741620e-06]


--- Step 579 ---
qpos:
[ 7.15506903e-03, 4.03500079e-03,-3.63230483e-03,-2.58567824e-02,
  6.07627086e-03,-2.93208497e-03,-1.78611324e-02, 1.16521161e-02,
  1.56715261e-02, 2.34407222e-03,-8.96447549e-03, 2.40589118e-02,
  9.72323256e-01,-9.50596633e-03, 6.93923974e-01, 6.27368727e-02,
  9.50920077e-02,-7.01861495e-02, 1.21421697e-01, 9.99982780e-01,
  4.13815032e-04, 8.58815430e-04, 5.79058479e-03]

qacc:
[-11.85473414,  1.0071303 , -3.11402969,  4.1583325 , -1.3642596 ,
  -0.3291341 , -2.35514864, 12.64632948, -5.54457042,  0.10407409,
   0.16746489, -2.42099868, -0.82955916,  0.94043222,  5.85448329,
 -22.45487973,  0.1031888 ,  1.77681343, -0.33182155,-30.04348212,
   2.43998069,  0.25800301]

qfrc_actuator:
[-4.05233368e-05, 2.96486591e-05,-1.43725660e-04,-6.99412219e-05,
 -2.86666693e-05,-4.11933262e-04,-3.45759125e-04,-1.10326732e-04,
 -4.52494728e-05,-1.57757187e-04,-1.15539766e-04,-3.55620134e-05,
  3.65672837e-02,-1.12623369e-03, 1.50227530e-02,-3.96747403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006007294606138747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.24062409e-14,  1.84812482e-13,  1.00000000e+00,  1.70778267e-26,
        1.00000000e+00, -1.84812482e-13, -1.00000000e+00,  0.00000000e+00,
       -9.24062409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09495382, -0.09309076,  0.06198541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.92294587e-05, 4.48201803e-05, 3.67264045e-06, 5.52993143e-06,
 -8.15780719e-06,-5.25572817e-05, 6.90342288e-06, 2.86613615e-05,
 -3.24029147e-05,-1.26838674e-05,-1.27690126e-05,-8.47516171e-06,
 -2.38896208e-04,-6.38767097e-05,-1.08542092e-04,-1.40418521e-04,
  5.12736523e-06, 3.80050331e-07,-7.84794890e+00, 8.53932538e-04,
  9.74742141e-03,-8.84765051e-06]


--- Step 580 ---
qpos:
[ 7.15361496e-03, 4.03550073e-03,-3.63268825e-03,-2.58566652e-02,
  6.07561331e-03,-2.93246549e-03,-1.78624286e-02, 1.16514444e-02,
  1.56704392e-02, 2.34295347e-03,-8.96468326e-03, 2.40588560e-02,
  9.73134727e-01,-9.50500815e-03, 6.94558198e-01, 6.27292166e-02,
  9.50885361e-02,-7.01696716e-02, 1.21420942e-01, 9.99982817e-01,
  2.72105096e-04, 8.31078313e-04, 5.79656164e-03]

qacc:
[ -7.26463463, -1.0640454 ,  5.78776489,-11.98003141, -0.79404636,
   1.83100012, -7.80861005, 14.0731052 , -0.33017058,  1.95705993,
  -9.33888978, 19.80849821, -0.73628898,  0.74574243,  4.11272283,
 -17.5375837 , -0.4740731 ,  0.83428735,  0.15019962,-14.10450643,
  -7.91560734, -0.0268171 ]

qfrc_actuator:
[-8.10487847e-05, 5.46873902e-05,-1.24115212e-04,-8.47996673e-05,
 -3.30094507e-05,-3.87759380e-04,-3.58788520e-04,-9.30053349e-05,
 -4.62035474e-05,-1.43946561e-04,-1.22843991e-04,-4.83836069e-06,
  3.65078979e-02,-1.13467511e-03, 1.49408977e-02,-4.07392084e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005964742554139628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.91538447e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.91538447e-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([ 0.10207026, -0.08042672,  0.06198551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.24763015e-05, 5.10764978e-05, 2.95199991e-05,-1.27012785e-05,
 -4.59567064e-06,-2.53597673e-06,-2.20245172e-05, 1.58716515e-05,
 -1.88203345e-06, 3.74584619e-06,-1.17752892e-05, 2.95784495e-05,
 -2.27795456e-04,-6.24981989e-05,-1.52267134e-04,-1.29395156e-04,
  1.15621075e-05,-1.09676302e-06,-7.84778725e+00, 8.17688733e-04,
  9.74404769e-03,-6.71072299e-06]


--- Step 581 ---
qpos:
[ 7.15237592e-03, 4.03617326e-03,-3.63274872e-03,-2.58567061e-02,
  6.07559835e-03,-2.93251732e-03,-1.78643379e-02, 1.16513109e-02,
  1.56696944e-02, 2.34113179e-03,-8.96410651e-03, 2.40595405e-02,
  9.73944868e-01,-9.50441746e-03, 6.95190219e-01, 6.27226869e-02,
  9.50809238e-02,-7.01538019e-02, 1.21420915e-01, 9.99982854e-01,
  1.35426758e-04, 7.67734986e-04, 5.80373749e-03]

qacc:
[  1.90003305, -1.00396608,  4.56889514, -7.93482123,  5.59840355,
   3.24378514,-13.22824468, 23.30496459,  3.04768155, -1.6034425 ,
   1.23267103, 10.85614539, -0.46403641, -0.0696527 , -6.64252097,
  18.53212074, -1.03519105, -0.15202035,  0.18165757,  2.41206028,
 -17.81721836,  0.60642915]

qfrc_actuator:
[-6.87817137e-05, 5.15543036e-05,-1.12384851e-04,-9.35736456e-05,
  2.06728619e-07,-3.55383246e-04,-3.83608264e-04,-6.47883637e-05,
 -2.85666519e-05,-2.06257014e-04,-9.14926878e-05, 3.10197905e-05,
  3.64324730e-02,-1.15776098e-03, 1.48477295e-02,-4.00920836e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005965855327466907
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.16310127e-14, -4.65240508e-14,  1.00000000e+00,  5.41121825e-28,
        1.00000000e+00,  4.65240508e-14, -1.00000000e+00,  0.00000000e+00,
        1.16310127e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882232, -0.06840943,  0.06198551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10766225e-05, 3.09577216e-05, 2.54773627e-05,-5.81148387e-06,
  3.30842195e-05, 2.71178882e-05,-2.74860715e-05, 2.76604863e-05,
  1.75802051e-05,-6.13415763e-05, 3.17127391e-05, 3.61898300e-05,
 -2.36504029e-04,-7.47023992e-05,-1.80048125e-04, 3.73192018e-05,
  1.51293905e-05,-2.53733395e-06,-7.84766009e+00, 7.72386211e-04,
  9.73548704e-03,-3.91327426e-06]


--- Step 582 ---
qpos:
[ 7.15060352e-03, 4.03659990e-03,-3.63249616e-03,-2.58557606e-02,
  6.07563681e-03,-2.93252140e-03,-1.78661960e-02, 1.16518516e-02,
  1.56691665e-02, 2.33894426e-03,-8.96347223e-03, 2.40603118e-02,
  9.74753601e-01,-9.50432819e-03, 6.95820393e-01, 6.27175419e-02,
  9.50691962e-02,-7.01385307e-02, 1.21421277e-01, 9.99982886e-01,
  3.63310232e-06, 6.69156187e-04, 5.81203523e-03]

qacc:
[ -4.68024721,  0.84047107, -7.60737561, 24.3207016 ,  0.46864976,
   1.30646873, -7.41533695, 18.9697339 ,  1.91661471, -0.46962645,
   0.60039067,  1.08430476, -0.38456353, -0.43323463, -6.90322878,
  20.19611265, -1.02879136, -0.14963782,  0.09758415,  2.33962051,
 -17.6315309 ,  0.56520554]

qfrc_actuator:
[-9.65601435e-05, 1.37966274e-05,-1.05516210e-04,-4.54689200e-05,
  2.00423332e-06,-3.53886674e-04,-3.79615853e-04,-3.03751013e-05,
 -1.78918545e-05,-2.24740220e-04,-9.11359508e-05, 3.40640190e-05,
  3.63474732e-02,-1.18938092e-03, 1.47798464e-02,-3.93293947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005953207741898614
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.49671683e-14,  9.32457822e-14,  1.00000000e+00,  3.26054096e-27,
        1.00000000e+00, -9.32457822e-14, -1.00000000e+00,  0.00000000e+00,
       -3.49671683e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088225 , -0.06840954,  0.06198554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74558690e-05,-1.54487868e-05, 1.61929605e-05, 5.01970262e-05,
  2.75217532e-06, 1.22048853e-05, 7.18688538e-06, 3.51657366e-05,
  1.11450140e-05,-4.46227310e-05,-7.14436042e-06, 2.21746837e-06,
 -2.54129347e-04,-8.66283702e-05,-1.46659329e-04, 5.51356035e-05,
  2.07974836e-05,-2.24933751e-06,-7.84763001e+00, 7.28493116e-04,
  9.71569806e-03,-1.08242974e-06]


--- Step 583 ---
qpos:
[ 7.14851211e-03, 4.03681425e-03,-3.63240380e-03,-2.58538715e-02,
  6.07535191e-03,-2.93246617e-03,-1.78679650e-02, 1.16524509e-02,
  1.56687699e-02, 2.33738075e-03,-8.96350562e-03, 2.40600001e-02,
  9.75560583e-01,-9.50362768e-03, 6.96449272e-01, 6.27132258e-02,
  9.50534766e-02,-7.01291302e-02, 1.21420958e-01, 9.99982899e-01,
 -7.87200953e-05, 5.34910232e-04, 5.82319472e-03]

qacc:
[ -2.80903809,  2.11615971,-11.916193  , 28.62554464, -2.82774674,
  -0.04428805,  0.03354259,  0.78531405,  1.12326363,  0.45925043,
   4.12790039,-22.25865868, -1.76941919,  3.67693947, -4.34297958,
  12.57454667, -0.99802782, -1.46766495, -0.17052491, 24.61519917,
 -17.97693619,  1.44751858]

qfrc_actuator:
[-1.12198227e-04,-8.88110329e-06,-1.19436508e-04, 1.76511021e-07,
 -1.47173329e-05,-3.53015753e-04,-3.76507944e-04,-2.81005706e-05,
 -1.14059317e-05,-1.45972461e-04,-1.08962777e-04,-1.77278426e-05,
  3.62621091e-02,-1.15482985e-03, 1.47378332e-02,-3.88595100e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005952498908715492
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.49713323e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.49713323e-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([ 0.10891278, -0.05176043,  0.06198554])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64278037e-05,-2.58471536e-05,-1.33875499e-05, 4.65194086e-05,
 -1.66404286e-05, 1.07088354e-05, 7.75163322e-06, 3.73347188e-06,
  6.78104816e-06, 5.25059928e-05,-2.78320884e-05,-5.39070076e-05,
 -2.68140638e-04,-2.56711117e-05,-1.05145369e-04, 3.07487378e-05,
  2.84749226e-05,-3.41310292e-07,-7.84755847e+00, 6.86013718e-04,
  9.68463526e-03, 1.59514007e-06]


--- Step 584 ---
qpos:
[ 7.14728414e-03, 4.03683949e-03,-3.63242526e-03,-2.58521464e-02,
  6.07486898e-03,-2.93253580e-03,-1.78696059e-02, 1.16534397e-02,
  1.56681091e-02, 2.33626493e-03,-8.96293913e-03, 2.40586582e-02,
  9.76365830e-01,-9.50219553e-03, 6.97077806e-01, 6.27092915e-02,
  9.50337893e-02,-7.01255464e-02, 1.21419579e-01, 9.99982891e-01,
 -1.12273077e-04, 3.65421534e-04, 5.83714870e-03]

qacc:
[  7.60004076, -0.28449078,  1.31726147, -3.80454733, -1.72643339,
   0.28205545, -2.88342316,  9.50387361, -2.31439414, -3.20144955,
  16.63132741,-35.75927343, -1.91360248,  4.13562982, -1.58532678,
   4.9787447 , -0.99191638, -1.45417945, -0.26474302, 24.29632977,
 -17.76326144,  1.40894179]

qfrc_actuator:
[-6.72952072e-05,-2.24461035e-05,-1.27729506e-04,-9.26334842e-06,
 -2.44422922e-05,-3.70303505e-04,-3.73989069e-04,-9.25815819e-06,
 -2.51871744e-05,-9.84608171e-05,-6.59870054e-05,-6.57811898e-05,
  3.61819339e-02,-1.11699351e-03, 1.47592908e-02,-3.85652888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005948316278028692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.16653076e-14,  6.99918456e-14,  1.00000000e+00,  8.16476407e-28,
        1.00000000e+00, -6.99918456e-14, -1.00000000e+00,  0.00000000e+00,
       -1.16653076e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891272, -0.05176032,  0.06198555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.44248873e-05,-2.88038698e-05,-1.36759098e-05,-1.01077153e-05,
 -1.01971252e-05,-9.52673425e-06, 5.83433358e-06, 1.96453838e-05,
 -1.35719438e-05, 6.88728851e-05, 4.85469500e-05,-4.78114852e-05,
 -2.59906687e-04,-1.70952762e-05,-2.78304940e-05, 1.65832314e-05,
  3.34630972e-05, 1.33839964e-05,-7.84759581e+00, 6.58862336e-04,
  9.64198982e-03, 2.93323455e-06]


--- Step 585 ---
qpos:
[ 7.14660367e-03, 4.03664041e-03,-3.63221803e-03,-2.58512576e-02,
  6.07392821e-03,-2.93281359e-03,-1.78708601e-02, 1.16546395e-02,
  1.56679784e-02, 2.33531808e-03,-8.96122793e-03, 2.40574384e-02,
  9.77169715e-01,-9.50124972e-03, 6.97706251e-01, 6.27049923e-02,
  9.50101541e-02,-7.01277329e-02, 1.21416810e-01, 9.99982848e-01,
 -9.75563596e-05, 1.61029779e-04, 5.85382739e-03]

qacc:
[  4.83002291, -2.6676052 , 12.58578837,-27.21953445, -3.99044184,
  -0.9129611 ,  1.97857174,  1.19493342,  4.69765628, -2.73380452,
   9.53990392, -9.36285414, -0.4558902 , -0.22409174,  0.97604757,
  -3.59330851, -0.98697832, -1.44259517, -0.34760657, 24.03207011,
 -17.59225553,  1.36929537]

qfrc_actuator:
[-4.03802742e-05,-3.04817425e-05,-1.14875795e-04,-5.10241374e-05,
 -4.77179101e-05,-3.80573391e-04,-3.54145586e-04, 1.41816895e-06,
  2.47218803e-06,-8.75287454e-05,-5.28280859e-06,-5.79530121e-05,
  3.61102594e-02,-1.14856145e-03, 1.47655341e-02,-3.87303620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005926770405280668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.51231451e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.51231451e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10891302, -0.05175974,  0.0619856 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.81672096e-05,-2.73851589e-05, 4.86624368e-06,-4.36695494e-05,
 -2.35713389e-05,-1.35342955e-05, 1.92925598e-05, 1.08544016e-05,
  2.72946277e-05, 5.74553165e-05, 7.92654191e-05, 1.15336372e-05,
 -2.43913835e-04,-8.39378026e-05,-1.31911003e-05,-2.11534848e-05,
  3.60567111e-05, 3.31216024e-05,-7.84751420e+00, 6.46991967e-04,
  9.58766253e-03, 3.07810354e-06]


--- Step 586 ---
qpos:
[ 7.14625120e-03, 4.03651689e-03,-3.63172562e-03,-2.58509192e-02,
  6.07306031e-03,-2.93298674e-03,-1.78717035e-02, 1.16559156e-02,
  1.56681800e-02, 2.33475021e-03,-8.95938881e-03, 2.40567106e-02,
  9.77972307e-01,-9.50099504e-03, 6.98333848e-01, 6.27003000e-02,
  9.49825862e-02,-7.01356508e-02, 1.21412361e-01, 9.99982749e-01,
 -3.50031545e-05,-7.80000998e-05, 5.87315901e-03]

qacc:
[  2.89460763, -1.83661178,  9.00072031,-19.01247559,  0.64880241,
  -0.85354833,  2.92022162, -2.33239625,  2.92223879,  1.15073974,
  -5.46387716, 13.5077477 , -0.18771441, -1.00634401, -0.07330865,
  -1.58095322, -0.98317907, -1.43282168, -0.42017408, 23.81623458,
 -17.45890319,  1.32877054]

qfrc_actuator:
[-2.42876299e-05, 4.16369399e-07,-8.96310498e-05,-7.59343765e-05,
 -4.32796380e-05,-3.50994053e-04,-3.24217198e-04, 7.21738255e-06,
  1.88020688e-05,-8.06921484e-05,-5.73686989e-06,-3.50888136e-05,
  3.60437141e-02,-1.18534137e-03, 1.47040545e-02,-3.89875451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005891436431070124
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.88446916e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.88446916e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089136 , -0.05175878,  0.06198569])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68849550e-05, 1.47344289e-05, 1.86746792e-05,-2.67679148e-05,
  3.75885929e-06, 2.64749204e-05, 2.99013344e-05, 6.09988591e-06,
  1.71202239e-05, 5.58597590e-05, 2.15690176e-05, 2.82934137e-05,
 -2.41424617e-04,-9.50524129e-05,-7.90887550e-05,-3.07620717e-05,
  3.63123823e-05, 5.86061134e-05,-7.84731749e+00, 6.50243901e-04,
  9.52177838e-03, 2.04730945e-06]


--- Step 587 ---
qpos:
[ 7.14609464e-03, 4.03641436e-03,-3.63094779e-03,-2.58505305e-02,
  6.07259693e-03,-2.93291864e-03,-1.78722186e-02, 1.16568933e-02,
  1.56678861e-02, 2.33461771e-03,-8.95810699e-03, 2.40563038e-02,
  9.78773425e-01,-9.50084956e-03, 6.98959778e-01, 6.26954538e-02,
  9.49598341e-02,-7.01462895e-02, 1.21409816e-01, 9.99982620e-01,
  5.17609800e-05,-2.74701008e-04, 5.88910195e-03]

qacc:
[  1.73310068, -0.66996192,  2.21034509, -1.80393466,  3.54566073,
  -1.2194997 ,  6.05900855,-11.91321112, -4.38499077,  2.80233893,
 -10.49725037, 16.60612757, -0.87213442,  1.0441713 , -1.96978289,
   3.37222182,  1.20397904, -0.68021429,  0.47638241, 12.22942555,
  21.09308111, -1.69442672]

qfrc_actuator:
[-1.46878548e-05, 1.20667346e-06,-7.48522627e-05,-7.29329602e-05,
 -2.25606086e-05,-3.33239966e-04,-3.06169252e-04,-7.61189268e-06,
 -7.18529717e-06,-7.65904266e-05,-4.23269622e-05,-2.13744366e-05,
  3.59696378e-02,-1.18934389e-03, 1.46020128e-02,-3.91207285e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005884372018543221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.43365767e-14, -9.43365767e-14,  1.00000000e+00, -8.89938971e-27,
        1.00000000e+00,  9.43365767e-14, -1.00000000e+00,  0.00000000e+00,
       -9.43365767e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -0.06200653,  0.06198571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00846659e-05, 1.17455696e-05, 1.91904759e-05, 3.75492031e-06,
  2.08342023e-05, 3.90109030e-05, 2.74198282e-05,-1.25420979e-05,
 -2.54835816e-05, 4.10140341e-05,-2.14295104e-05, 1.74032716e-05,
 -2.49859607e-04,-6.31562982e-05,-1.47568266e-04,-2.65696951e-05,
  3.42479169e-05, 8.95423494e-05,-7.84700855e+00, 6.68488963e-04,
  9.44443609e-03,-1.45444322e-07]


--- Step 588 ---
qpos:
[ 7.14605436e-03, 4.03656775e-03,-3.63038194e-03,-2.58497595e-02,
  6.07273043e-03,-2.93253189e-03,-1.78728119e-02, 1.16577040e-02,
  1.56672833e-02, 2.33482002e-03,-8.95749511e-03, 2.40557409e-02,
  9.79572958e-01,-9.50041620e-03, 6.99583473e-01, 6.26912118e-02,
  9.49418390e-02,-7.01596336e-02, 1.21408656e-01, 9.99982479e-01,
  1.62236457e-04,-4.29908675e-04, 5.90174997e-03]

qacc:
[ 1.01272575, 1.71643557,-7.24216347,14.00296581, 5.21484408, 0.28571932,
  0.27958502,-3.25972692,-2.74508833, 1.99891806,-5.81677705, 3.92943768,
 -1.31580628, 2.39201505,-5.07335494,13.06431511, 1.18921462,-0.67635349,
  0.34580648,11.97719209,20.67635438,-1.65172954]

qfrc_actuator:
[-8.98290393e-06, 1.94619035e-05,-8.42200171e-05,-5.35651340e-05,
  7.56608098e-06,-3.22759506e-04,-3.13084123e-04,-1.67215316e-05,
 -2.23628703e-05,-7.43376125e-05,-8.22119915e-05,-3.09282917e-05,
  3.58911054e-02,-1.17398543e-03, 1.44863896e-02,-3.88252768e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005947199237061745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.33399892e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.33399892e-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([ 0.08187562, -0.06200776,  0.06198555])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.99399768e-06, 2.89454532e-05,-4.45759363e-06, 2.06049918e-05,
  3.07349761e-05, 3.74299851e-05, 4.08880993e-06,-6.73531276e-06,
 -1.58863102e-05, 2.14882490e-05,-3.34621257e-05,-8.19967705e-06,
 -2.53879750e-04,-4.10331486e-05,-1.88672967e-04, 8.54237648e-06,
  1.32320925e-05, 6.69484426e-05,-7.84724979e+00, 6.97059552e-04,
  9.38126532e-03,-2.26656957e-06]


--- Step 589 ---
qpos:
[ 7.14642781e-03, 4.03694545e-03,-3.62992856e-03,-2.58487653e-02,
  6.07287926e-03,-2.93186416e-03,-1.78732297e-02, 1.16590772e-02,
  1.56665027e-02, 2.33581787e-03,-8.95760072e-03, 2.40546666e-02,
  9.80371026e-01,-9.49982823e-03, 7.00205801e-01, 6.26825846e-02,
  9.49264767e-02,-7.01705861e-02, 1.21409442e-01, 9.99982319e-01,
  2.52924599e-04,-5.61506312e-04, 5.91454684e-03]

qacc:
[  3.63458645,  1.06336151, -4.31283308,  8.19619406,  0.13520711,
   1.03837827, -5.5390895 , 14.78760559, -1.60134569,  2.00688836,
  -3.46483979, -4.83285283, -1.25581493,  2.19289356, 11.25866468,
 -42.23680692,  0.65821429,  0.59792059,  0.48687486, -9.82379076,
  11.86320634,  0.07681784]

qfrc_actuator:
[ 1.21390384e-05, 3.02001404e-05,-8.99398118e-05,-4.24822844e-05,
  7.47794079e-06,-2.99064492e-04,-2.99196157e-04, 1.30938296e-05,
 -3.10429727e-05,-2.25721303e-06,-1.05985811e-04,-5.40944417e-05,
  3.58259401e-02,-1.16511644e-03, 1.44053349e-02,-4.11200316e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005984579422275428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.05811786e-14, -8.11556695e-07,  1.00000000e+00,  3.29339272e-20,
        1.00000000e+00,  8.11556695e-07, -1.00000000e+00,  0.00000000e+00,
        4.05811786e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0882996 , -0.07726696,  0.06198546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13003936e-05, 2.68743319e-05, 4.12129963e-07, 1.25657482e-05,
  8.03171536e-07, 4.51834470e-05, 2.18891270e-05, 3.14269983e-05,
 -9.12109499e-06, 7.68126153e-05,-2.37486531e-05,-2.35627179e-05,
 -2.38935668e-04,-4.52822821e-05,-1.66823784e-04,-2.53274858e-04,
 -1.15403419e-06, 4.74442117e-05,-7.84741115e+00, 7.33038506e-04,
  9.33142320e-03,-4.64049962e-06]


--- Step 590 ---
qpos:
[ 7.14739664e-03, 4.03728375e-03,-3.62913000e-03,-2.58479891e-02,
  6.07268124e-03,-2.93090675e-03,-1.78734700e-02, 1.16607952e-02,
  1.56659694e-02, 2.33695856e-03,-8.95754910e-03, 2.40540363e-02,
  9.81167710e-01,-9.49915270e-03, 7.00826641e-01, 6.26734567e-02,
  9.49114253e-02,-7.01742411e-02, 1.21409936e-01, 9.99982153e-01,
  2.81451204e-04,-6.88461702e-04, 5.92787611e-03]

qacc:
[  5.25227107, -1.47634779,  6.08770725,-10.3567783 , -3.03414837,
   0.60214738, -3.03726966,  8.49734537,  2.17926043,  0.65937075,
  -3.95970752, 11.29775964, -1.02323247,  1.63485902, -0.6487004 ,
  -0.84428675,  0.07772219,  1.8243437 , -0.0731135 ,-31.06634027,
   2.50497704,  0.28307991]

qfrc_actuator:
[ 4.21672160e-05, 1.86047822e-05,-7.57329321e-05,-5.41167659e-05,
 -1.03963063e-05,-2.85283163e-04,-2.90801510e-04, 3.00963117e-05,
 -1.80794768e-05,-1.31433359e-05,-1.02024720e-04,-3.17522279e-05,
  3.57635153e-02,-1.16012299e-03, 1.43769784e-02,-4.11933808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006022342837459643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.60876711e-14,  9.21753423e-14,  1.00000000e+00,  4.24814686e-27,
        1.00000000e+00, -9.21753423e-14, -1.00000000e+00,  0.00000000e+00,
       -4.60876711e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496309, -0.09309325,  0.06198537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06401334e-05, 4.04086126e-06, 2.02297956e-05,-1.02298146e-05,
 -1.78377232e-05, 4.48933892e-05, 2.15052837e-05, 2.03040438e-05,
  1.27359504e-05, 2.61144410e-05, 1.60789093e-05, 2.43542929e-05,
 -2.27399377e-04,-4.67605655e-05,-1.35602074e-04,-4.34678517e-05,
 -3.42412828e-06, 3.81130923e-05,-7.84758578e+00, 7.62076654e-04,
  9.28955366e-03,-6.20492969e-06]


--- Step 591 ---
qpos:
[ 7.14906298e-03, 4.03749923e-03,-3.62781904e-03,-2.58473592e-02,
  6.07192575e-03,-2.92974959e-03,-1.78737802e-02, 1.16620420e-02,
  1.56655965e-02, 2.33725105e-03,-8.95726952e-03, 2.40544933e-02,
  9.81963102e-01,-9.49871438e-03, 7.01445988e-01, 6.26678366e-02,
  9.48966827e-02,-7.01706758e-02, 1.21409700e-01, 9.99981987e-01,
  2.48639428e-04,-8.11017900e-04, 5.94197410e-03]

qacc:
[  6.15809975, -1.90795995,  7.16053905,-10.38954698, -4.88404535,
  -0.50069584,  4.17434432,-12.38241718,  1.43344806,  0.47730133,
  -7.92382635, 27.00591884, -0.52172827,  0.21314298,-12.77927921,
  41.53911758,  0.07720027,  1.80509732, -0.18258894,-30.65533983,
   2.38146762,  0.40485143]

qfrc_actuator:
[ 7.71919962e-05, 1.15358815e-05,-4.99827047e-05,-6.12770872e-05,
 -3.85861770e-05,-2.95323760e-04,-3.03527817e-04, 3.89845881e-06,
 -1.02364755e-05,-1.26732775e-04,-1.17515690e-04, 1.71440022e-05,
  3.56974545e-02,-1.17520230e-03, 1.43536719e-02,-3.92450843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006030825983645433
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.20456856e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.20456856e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496372, -0.0930932 ,  0.06198535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.58939936e-05,-1.08472915e-06, 2.87050235e-05,-6.49240008e-06,
 -2.86855618e-05, 2.03334766e-05,-1.13287386e-07,-2.31395266e-05,
  8.21582959e-06,-9.46588094e-05,-7.28710082e-06, 5.10437817e-05,
 -2.23400562e-04,-6.49333891e-05,-9.33413713e-05, 1.74290644e-04,
  8.74975555e-06, 3.08895234e-05,-7.84772508e+00, 7.71080403e-04,
  9.24983426e-03,-6.35269882e-06]


--- Step 592 ---
qpos:
[ 7.15113657e-03, 4.03742697e-03,-3.62635102e-03,-2.58471191e-02,
  6.07083830e-03,-2.92865558e-03,-1.78740689e-02, 1.16623030e-02,
  1.56653206e-02, 2.33683531e-03,-8.95682975e-03, 2.40551756e-02,
  9.82757093e-01,-9.49812339e-03, 7.02064293e-01, 6.26648496e-02,
  9.48866877e-02,-7.01698131e-02, 1.21410613e-01, 9.99981857e-01,
  2.39430622e-04,-8.93335346e-04, 5.95235478e-03]

qacc:
[  3.59446237, -1.62932838,  6.8866362 ,-13.64897525, -2.90359368,
  -2.16673388, 11.77734685,-28.83952916,  0.87043724, -0.92133777,
   0.97204362,  3.19848901, -1.02260244,  1.68441217, -9.44661792,
  30.90457087,  1.18692566, -0.67565256,  0.28719663, 11.91930945,
  20.04844222, -1.87330883]

qfrc_actuator:
[ 9.71218165e-05,-2.82232161e-05,-5.31170253e-05,-8.34901496e-05,
 -5.48634136e-05,-3.19683472e-04,-3.10997511e-04,-4.75415572e-05,
 -5.47771662e-06,-1.58989249e-04,-1.09306244e-04, 2.78940229e-05,
  3.56292537e-02,-1.16653026e-03, 1.43174723e-02,-3.78971463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000605633444468831
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.58290008e-14, -1.83316003e-13,  1.00000000e+00, -8.40118926e-27,
        1.00000000e+00,  1.83316003e-13, -1.00000000e+00,  0.00000000e+00,
       -4.58290008e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818771 , -0.06201085,  0.06198529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09458577e-05,-3.47322067e-05,-7.02946285e-08,-2.13995509e-05,
 -1.70887521e-05,-1.40554651e-05,-4.09609314e-06,-5.10265038e-05,
  4.95860470e-06,-8.45212932e-05,-1.04834834e-05, 7.43202328e-06,
 -2.26055493e-04,-4.30752383e-05,-6.35988993e-05, 1.31576815e-04,
  2.19388258e-05, 2.42522973e-05,-7.84773784e+00, 7.60482655e-04,
  9.21155627e-03,-5.39796607e-06]


--- Step 593 ---
qpos:
[ 7.15343310e-03, 4.03728312e-03,-3.62523500e-03,-2.58478294e-02,
  6.06990894e-03,-2.92772337e-03,-1.78743959e-02, 1.16619631e-02,
  1.56654482e-02, 2.33638621e-03,-8.95600000e-03, 2.40551872e-02,
  9.83549592e-01,-9.49708275e-03, 7.02681382e-01, 6.26648565e-02,
  9.48813838e-02,-7.01716332e-02, 1.21412224e-01, 9.99981774e-01,
  2.53389038e-04,-9.35906796e-04, 5.95919837e-03]

qacc:
[  1.95198563, -1.07168156,  7.68052538,-23.48548151,  1.38457467,
  -1.34642853,  7.02356606,-17.24034372,  3.56390712, -2.52204607,
  11.74883782,-23.94468687, -1.36970262,  2.71827183,-10.77494927,
  35.21792814,  1.17274438, -0.67070673,  0.17478435, 11.70010604,
  19.80328508, -1.78375384]

qfrc_actuator:
[ 1.08005927e-04,-3.41245012e-05,-7.34316964e-05,-1.32185375e-04,
 -4.62429685e-05,-3.34699019e-04,-3.15376770e-04,-7.79184984e-05,
  1.51823937e-05,-1.06741378e-04,-6.91473411e-05,-1.56944961e-06,
  3.55544995e-02,-1.14390241e-03, 1.42628982e-02,-3.63821294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006070258047192606
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37171643e-13, -9.14477619e-14,  1.00000000e+00, -1.25440397e-26,
        1.00000000e+00,  9.14477619e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37171643e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187696, -0.06201143,  0.06198526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14664541e-05,-2.62685295e-05,-2.82570506e-05,-5.06065079e-05,
  8.12958541e-06,-2.59507390e-05,-9.56216148e-06,-3.21157428e-05,
  2.07708653e-05, 3.14524724e-06, 2.16634280e-05,-3.33055122e-05,
 -2.29885041e-04,-2.67657513e-05,-7.49073474e-05, 1.49294298e-04,
  7.97666508e-06, 1.31863028e-05,-7.84788836e+00, 7.58078657e-04,
  9.18497368e-03,-5.57391114e-06]


--- Step 594 ---
qpos:
[ 7.15549733e-03, 4.03711437e-03,-3.62415623e-03,-2.58491456e-02,
  6.06909016e-03,-2.92717412e-03,-1.78747380e-02, 1.16623249e-02,
  1.56658223e-02, 2.33599439e-03,-8.95479713e-03, 2.40551789e-02,
  9.84340691e-01,-9.49603490e-03, 7.03297065e-01, 6.26631464e-02,
  9.48807225e-02,-7.01761189e-02, 1.21414140e-01, 9.99981740e-01,
  2.90157711e-04,-9.39149162e-04, 5.96264774e-03]

qacc:
[ -2.04578946, -1.17268144,  6.69217546,-17.09387364,  0.97404395,
   0.97872176, -7.19036281, 19.64545032,  2.18043941, -1.01225939,
   3.79556019, -4.76972308, -0.99034512,  1.46604681,  3.13632443,
 -13.92473042,  1.16065689, -0.6663831 ,  0.07590592, 11.52051137,
  19.59581172, -1.71288598]

qfrc_actuator:
[ 9.57313914e-05,-1.98121358e-05,-6.81030666e-05,-1.60548176e-04,
 -4.07938140e-05,-3.61736769e-04,-3.17850598e-04,-4.23902310e-05,
  2.72852656e-05,-9.29456230e-05,-4.56178831e-05,-1.09703653e-06,
  3.54758717e-02,-1.14876437e-03, 1.41440946e-02,-3.74438998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006062948148284342
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.57790087e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.57790087e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187647, -0.06201167,  0.06198528])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19553467e-05,-8.38957392e-06,-5.34004320e-06,-3.14520644e-05,
  5.67409266e-06,-4.49269483e-05,-1.01299597e-05, 3.34593965e-05,
  1.26940238e-05, 1.86163917e-05, 2.56898674e-05, 7.06891489e-07,
 -2.33051511e-04,-5.28128874e-05,-1.41746297e-04,-1.08710789e-04,
  1.11047842e-07, 5.27987372e-06,-7.84796746e+00, 7.62908163e-04,
  9.17117908e-03,-6.00433527e-06]


--- Step 595 ---
qpos:
[ 7.15705363e-03, 4.03680514e-03,-3.62302300e-03,-2.58504382e-02,
  6.06868802e-03,-2.92698273e-03,-1.78751200e-02, 1.16634533e-02,
  1.56663388e-02, 2.33580266e-03,-8.95364833e-03, 2.40551872e-02,
  9.85130330e-01,-9.49471622e-03, 7.03910981e-01, 6.26621504e-02,
  9.48846633e-02,-7.01832554e-02, 1.21416013e-01, 9.99981753e-01,
  3.49447343e-04,-9.03409682e-04, 5.96281585e-03]

qacc:
[-4.46695035e+00,-2.80665726e-01, 6.46923231e-01,-2.38947462e-01,
  3.65113641e+00, 1.20905013e+00,-8.24688032e+00, 2.18569868e+01,
  1.24684704e+00, 4.47337358e-01,-1.28565977e+00, 1.51679208e+00,
 -1.21940609e+00, 2.21324028e+00,-4.71665098e+00, 1.28148265e+01,
  1.15052318e+00,-6.62723550e-01,-1.05470991e-02, 1.13749437e+01,
  1.94229704e+01,-1.65696957e+00]

qfrc_actuator:
[ 6.99277168e-05,-2.88949194e-05,-6.53150530e-05,-1.58923187e-04,
 -1.95105190e-05,-3.77949352e-04,-3.19188915e-04,-3.88635338e-06,
  3.42493853e-05,-8.45458211e-05,-4.99578632e-05,-7.98353342e-07,
  3.54056169e-02,-1.13435237e-03, 1.40773529e-02,-3.69986618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006038537834534008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37892200e-13,  9.19281335e-14,  1.00000000e+00,  1.26761726e-26,
        1.00000000e+00, -9.19281335e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37892200e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187569, -0.06201163,  0.06198533])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61449521e-05,-1.62381769e-05,-6.99783575e-07, 4.69571947e-07,
  2.14287474e-05,-4.20089318e-05,-1.07114688e-05, 3.68779161e-05,
  7.33018471e-06, 2.41528658e-05, 2.68462264e-06, 1.99688978e-06,
 -2.32488171e-04,-3.74981964e-05,-1.46869629e-04, 1.95402397e-05,
 -2.07167844e-06, 1.82802438e-07,-7.84797796e+00, 7.74877831e-04,
  9.17002642e-03,-6.68908748e-06]


--- Step 596 ---
qpos:
[ 7.15759827e-03, 4.03682189e-03,-3.62265157e-03,-2.58513596e-02,
  6.06819928e-03,-2.92726706e-03,-1.78751317e-02, 1.16643303e-02,
  1.56662449e-02, 2.33584239e-03,-8.95284973e-03, 2.40552158e-02,
  9.85918396e-01,-9.49259428e-03, 7.04524295e-01, 6.26630688e-02,
  9.48911989e-02,-7.01880851e-02, 1.21418697e-01, 9.99981783e-01,
  3.89449988e-04,-8.45923820e-04, 5.96368740e-03]

qacc:
[ -8.93461496,  3.34263755,-12.82384692, 20.17931287, -0.73816331,
  -2.17851422,  7.91988785,-12.51628174, -5.38584042,  1.33700946,
  -4.3908321 ,  5.11201017, -1.82478891,  4.05235357, -6.59009057,
  21.94019094,  0.64869156,  0.57671159,  0.20260007, -9.57816754,
  10.93062593,  0.35657611]

qfrc_actuator:
[ 1.86224888e-05, 1.36865808e-06,-9.96334763e-05,-1.39692656e-04,
 -2.45823051e-05,-4.05291377e-04,-3.02062609e-04,-1.72006324e-05,
  2.63065140e-06,-7.95492899e-05,-7.07415527e-05,-6.32432249e-07,
  3.53351158e-02,-1.09088989e-03, 1.41111664e-02,-3.58441877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006001188928180316
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.61875448e-13, -1.39710352e-07,  1.00000000e+00, -2.26156758e-20,
        1.00000000e+00,  1.39710352e-07, -1.00000000e+00,  0.00000000e+00,
       -1.61875448e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08829956, -0.0772686 ,  0.06198542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.20533846e-05, 2.10456247e-05,-3.77494936e-05, 1.85219801e-05,
 -4.47530804e-06,-5.14630045e-05, 8.40485318e-06,-1.47702773e-05,
 -3.14016693e-05, 1.91407758e-05,-1.54057842e-05, 1.33036975e-06,
 -2.29212556e-04,-6.31847290e-06,-3.35003234e-05, 9.71636028e-05,
  1.14422065e-06,-2.37834442e-06,-7.84792206e+00, 7.93910274e-04,
  9.18139543e-03,-7.62777301e-06]


--- Step 597 ---
qpos:
[ 7.15683362e-03, 4.03716976e-03,-3.62305540e-03,-2.58516979e-02,
  6.06730881e-03,-2.92788429e-03,-1.78752926e-02, 1.16657496e-02,
  1.56654284e-02, 2.33538563e-03,-8.95144789e-03, 2.40556196e-02,
  9.86705047e-01,-9.49023732e-03, 7.05137172e-01, 6.26613940e-02,
  9.48980784e-02,-7.01857714e-02, 1.21420298e-01, 9.99981825e-01,
  3.68665021e-04,-7.84928510e-04, 5.96644848e-03]

qacc:
[-11.55491366,  3.82831718,-15.42861856, 26.45218474, -3.5140348 ,
   1.09946699, -6.83651738, 16.6926632 , -6.33100818, -1.55744571,
   3.03835114,  2.83302371, -1.27631624,  2.33123518,  7.22732818,
 -26.12473909,  0.08599912,  1.78583609, -0.27056607,-30.38199111,
   1.93632367,  0.96974392]

qfrc_actuator:
[-4.72767706e-05, 1.93245188e-05,-1.37668651e-04,-1.10255930e-04,
 -4.51305574e-05,-4.21297415e-04,-3.09756878e-04, 1.01160774e-05,
 -3.36894629e-05,-1.29964039e-04,-4.78158332e-05, 1.71961087e-05,
  3.52592039e-02,-1.08389576e-03, 1.40561499e-02,-3.72969793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005993326721639436
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.85243201e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.85243201e-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([ 0.09496373, -0.09309515,  0.06198544])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.73698286e-05, 2.26979697e-05,-3.76975050e-05, 2.93959225e-05,
 -2.06937997e-05,-4.36738417e-05,-1.77980546e-05, 2.51138138e-05,
 -3.72040584e-05,-4.28584764e-05, 2.50193039e-05, 1.81409895e-05,
 -2.25601501e-04,-3.82167208e-05,-6.71928329e-05,-1.45967405e-04,
  2.69280852e-06,-3.13160435e-06,-7.84792025e+00, 8.06813166e-04,
  9.19967503e-03,-8.29070802e-06]


--- Step 598 ---
qpos:
[ 7.15597489e-03, 4.03734954e-03,-3.62345244e-03,-2.58516707e-02,
  6.06617848e-03,-2.92822783e-03,-1.78761042e-02, 1.16674414e-02,
  1.56641824e-02, 2.33479578e-03,-8.94985504e-03, 2.40558705e-02,
  9.87490413e-01,-9.48782948e-03, 7.05748095e-01, 6.26614743e-02,
  9.49052997e-02,-7.01763698e-02, 1.21420482e-01, 9.99981873e-01,
  2.87714503e-04,-7.20391289e-04, 5.97098885e-03]

qacc:
[ -0.82479635,  0.5131588 , -3.68839155, 10.11477234, -2.12372485,
   2.74464825,-10.40599389, 15.95652916, -3.77098961, -1.01717593,
   4.02981694, -6.8969233 , -0.845144  ,  1.23763716, -8.15147187,
  24.39538582,  0.08543515,  1.77200105, -0.35433215,-30.07096526,
   1.95074112,  0.91256753]

qfrc_actuator:
[-5.02196260e-05,-5.74505244e-06,-1.42110441e-04,-9.28084106e-05,
 -5.68622750e-05,-3.77196521e-04,-3.31972279e-04, 2.56130627e-05,
 -5.47213680e-05,-1.24227031e-04,-3.49830734e-05, 9.75400246e-06,
  3.52013911e-02,-1.08078308e-03, 1.39584937e-02,-3.63711323e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005967626524354258
  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([ 0.09496347, -0.09309606,  0.06198551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.84868243e-06,-1.89325455e-05,-3.37442363e-06, 1.76915922e-05,
 -1.23385281e-05, 1.70925231e-05,-3.25528800e-05, 1.34978689e-05,
 -2.21055544e-05,-1.23005408e-05, 7.67780805e-06,-8.06164045e-06,
 -2.11870633e-04,-4.56052901e-05,-1.51745338e-04, 7.41598732e-05,
  4.35384047e-06,-1.56045941e-06,-7.84793239e+00, 8.00330485e-04,
  9.21926184e-03,-8.04397806e-06]


--- Step 599 ---
qpos:
[ 7.15577678e-03, 4.03749307e-03,-3.62392077e-03,-2.58517913e-02,
  6.06457110e-03,-2.92829066e-03,-1.78769181e-02, 1.16682229e-02,
  1.56626935e-02, 2.33453396e-03,-8.94918183e-03, 2.40563933e-02,
  9.88274482e-01,-9.48483859e-03, 7.06356954e-01, 6.26630067e-02,
  9.49151094e-02,-7.01646572e-02, 1.21421235e-01, 9.99981924e-01,
  1.87794886e-04,-6.34149488e-04, 5.97608052e-03]

qacc:
[  5.8134114 , -0.16432727,  1.11926719, -3.51187763, -4.17975109,
  -1.48829553,  9.70312893,-25.67822901, -2.17238628,  3.56789699,
 -13.23308305, 19.1592756 , -1.39238289,  2.99926292, -7.37205193,
  21.49349059,  0.64709345,  0.57772277,  0.1422729 , -9.41938105,
  10.90880594,  0.2793431 ]

qfrc_actuator:
[-1.60801391e-05,-3.00522290e-06,-1.44620770e-04,-1.00322698e-04,
 -8.10578930e-05,-3.50762778e-04,-3.26833733e-04,-1.91869194e-05,
 -6.65844467e-05,-1.02716397e-04,-8.12930677e-05, 2.30327438e-05,
  3.51544770e-02,-1.04440387e-03, 1.38567090e-02,-3.56489504e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005923225284820786
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95751391e-14, -1.20061714e-06,  1.00000000e+00, -1.19551619e-19,
        1.00000000e+00,  1.20061714e-06, -1.00000000e+00,  2.40741243e-35,
       -9.95751391e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08829785, -0.07726993,  0.06198561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39944012e-05,-7.78745009e-06,-6.22066682e-06,-8.09641935e-06,
 -2.45414257e-05, 2.98602838e-05, 5.13628731e-06,-4.49320737e-05,
 -1.24955716e-05, 1.58630874e-05,-4.81967764e-05, 1.28582603e-05,
 -1.93708095e-04,-1.05216044e-05,-1.64597241e-04, 5.64983732e-05,
  9.48804318e-06,-2.26140285e-07,-7.84782529e+00, 7.74653514e-04,
  9.24016049e-03,-6.69916446e-06]


--- Step 600 ---
qpos:
[ 7.15598917e-03, 4.03771691e-03,-3.62418615e-03,-2.58523806e-02,
  6.06268609e-03,-2.92813160e-03,-1.78773564e-02, 1.16677517e-02,
  1.56614187e-02, 2.33458034e-03,-8.94884736e-03, 2.40570331e-02,
  9.89057341e-01,-9.48195994e-03, 7.06964066e-01, 6.26649965e-02,
  9.49295431e-02,-7.01555800e-02, 1.21421947e-01, 9.99981997e-01,
  1.10513114e-04,-5.08884629e-04, 5.97778104e-03]

qacc:
[ 3.61816605e+00,-1.43362165e+00, 7.22668552e+00,-1.56963028e+01,
 -2.42220880e+00,-3.32924628e+00, 1.75947658e+01,-4.00514734e+01,
  1.86795802e+00, 1.59129666e+00,-5.58311919e+00, 7.92938152e+00,
 -6.71518339e-01, 7.23957232e-01,-3.93926868e+00, 1.00784414e+01,
  1.15601322e+00,-6.58827059e-01,-1.03328636e-02, 1.14342433e+01,
  1.94432223e+01,-1.70644909e+00]

qfrc_actuator:
[ 4.08642372e-06, 1.63556556e-05,-1.28144225e-04,-1.22447004e-04,
 -9.46460853e-05,-3.35045826e-04,-3.05671107e-04,-8.13385880e-05,
 -5.52083265e-05,-7.21494729e-05,-9.10439254e-05, 3.06277241e-05,
  3.50768690e-02,-1.05962779e-03, 1.37791566e-02,-3.54080092e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005904795606716667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.88020568e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.88020568e-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([ 0.08187136, -0.06201156,  0.06198566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11299840e-05, 1.33877127e-05, 1.38248503e-05,-2.28309976e-05,
 -1.42772826e-05, 3.15517861e-05, 2.64176332e-05,-6.15676800e-05,
  1.10280159e-05, 3.00243269e-05,-1.19726584e-05, 6.85549324e-06,
 -2.05684652e-04,-5.36787182e-05,-1.47662978e-04, 5.86821761e-06,
  1.46454363e-05, 4.55323012e-07,-7.84771612e+00, 7.42977709e-04,
  9.26792159e-03,-4.91578360e-06]


--- Step 601 ---
qpos:
[ 7.15678683e-03, 4.03802063e-03,-3.62396799e-03,-2.58535958e-02,
  6.06134263e-03,-2.92800963e-03,-1.78771647e-02, 1.16669002e-02,
  1.56606346e-02, 2.33534069e-03,-8.94855033e-03, 2.40569939e-02,
  9.89839047e-01,-9.47980749e-03, 7.07569854e-01, 6.26674736e-02,
  9.49485727e-02,-7.01491218e-02, 1.21422330e-01, 9.99982081e-01,
  5.55618594e-05,-3.44814654e-04, 5.97626936e-03]

qacc:
[  5.1653623 , -2.54525364, 11.84499983,-23.47081174,  4.75894221,
  -2.60078285, 10.79254362,-18.33840869,  4.30426929, -0.35809809,
   5.49865736,-17.70146101, -0.02651815, -1.31248732, -3.43760914,
   9.15689626,  1.14898238, -0.65476707, -0.0820835 , 11.28022427,
  19.33529085, -1.61393278]

qfrc_actuator:
[ 3.36077405e-05, 2.78344497e-05,-1.00521289e-04,-1.52957245e-04,
 -6.63731492e-05,-3.43565049e-04,-2.75270879e-04,-9.99368394e-05,
 -3.02485376e-05,-7.54894011e-07,-7.90723571e-05,-6.46674212e-07,
  3.50021866e-02,-1.10535153e-03, 1.37374924e-02,-3.50966220e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005877654989899783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44443853e-14, -9.44443853e-14,  1.00000000e+00,  8.91974191e-27,
        1.00000000e+00,  9.44443853e-14, -1.00000000e+00,  0.00000000e+00,
        9.44443853e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187046, -0.06201153,  0.06198572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01261892e-05, 2.08459181e-05, 3.13015198e-05,-2.99028176e-05,
  2.78775266e-05, 1.19382513e-05, 3.80458973e-05,-1.75280582e-05,
  2.52843874e-05, 8.59978309e-05, 1.69284116e-05,-3.02715657e-05,
 -2.19058057e-04,-9.25553630e-05,-1.10683351e-04, 1.20178726e-05,
  1.63158001e-05, 5.47137399e-06,-7.84764750e+00, 7.18313539e-04,
  9.30777795e-03,-3.32144708e-06]


--- Step 602 ---
qpos:
[ 7.15793221e-03, 4.03853787e-03,-3.62372616e-03,-2.58554980e-02,
  6.06069355e-03,-2.92830592e-03,-1.78761301e-02, 1.16662123e-02,
  1.56601557e-02, 2.33697744e-03,-8.94824434e-03, 2.40565548e-02,
  9.90619572e-01,-9.47821859e-03, 7.08174822e-01, 6.26688651e-02,
  9.49721767e-02,-7.01452686e-02, 1.21422135e-01, 9.99982159e-01,
  2.26900369e-05,-1.42106163e-04, 5.97169692e-03]

qacc:
[  3.05761752, -1.20461126,  7.58686232,-19.64211049,  6.10980041,
  -2.5825182 ,  7.69574488, -5.88394136,  2.67091077,  0.30490082,
   2.27268277, -9.8424917 , -0.26640639, -0.62313085,  2.06332536,
  -8.98588784,  1.14357168, -0.6512386 , -0.14449382, 11.15444769,
  19.25284913, -1.53521103]

qfrc_actuator:
[ 5.06503095e-05, 3.45523105e-05,-1.02077545e-04,-1.88154396e-04,
 -3.14443038e-05,-3.84208380e-04,-2.39732795e-04,-9.27743965e-05,
 -1.52534401e-05, 5.91019556e-05,-7.19857591e-05,-1.89881843e-05,
  3.49452753e-02,-1.13321103e-03, 1.37067343e-02,-3.56327264e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005839860290597076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50556151e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.50556151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818694 , -0.0620113 ,  0.06198581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79045154e-05, 2.35565366e-05, 5.56423638e-06,-3.38038432e-05,
  3.57286959e-05,-2.68552309e-05, 4.20812340e-05, 8.64949943e-06,
  1.57467370e-05, 1.10122350e-04, 2.58742375e-05,-1.46630004e-05,
 -2.17485311e-04,-8.28373664e-05,-8.39352670e-05,-6.80651539e-05,
  2.36699553e-05, 1.26106433e-05,-7.84751315e+00, 7.00674740e-04,
  9.36010978e-03,-1.98075970e-06]


--- Step 603 ---
qpos:
[ 7.15858334e-03, 4.03917370e-03,-3.62350548e-03,-2.58571008e-02,
  6.06046832e-03,-2.92879819e-03,-1.78746920e-02, 1.16656178e-02,
  1.56598609e-02, 2.33907379e-03,-8.94768735e-03, 2.40559359e-02,
  9.91398702e-01,-9.47662037e-03, 7.08778918e-01, 6.26698791e-02,
  9.49983898e-02,-7.01391243e-02, 1.21422153e-01, 9.99982189e-01,
 -2.93061739e-05, 8.21451578e-05, 5.96783056e-03]

qacc:
[-4.35324249, 0.84082742,-4.01625317, 9.11959142, 3.72478161,-1.2011841 ,
  3.50043782,-2.37149517, 1.61987725,-0.46735716, 3.30133538,-7.14634004,
 -0.96511363, 1.4026698 ,-0.11569061,-1.39529472, 0.65228721, 0.5727836 ,
  0.05300241,-9.49764938,10.82833056, 0.35429062]

qfrc_actuator:
[ 2.47037939e-05, 3.82480211e-05,-1.03122236e-04,-1.72594415e-04,
 -1.06439989e-05,-3.90472276e-04,-2.19329546e-04,-8.82998786e-05,
 -6.24795917e-06, 5.83302711e-05,-6.78615694e-05,-2.95775621e-05,
  3.48724419e-02,-1.13247153e-03, 1.36771965e-02,-3.57759161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005790982271089581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.99111997e-15,  7.28941292e-07,  1.00000000e+00,  4.36717473e-21,
        1.00000000e+00, -7.28941292e-07, -1.00000000e+00,  7.52316385e-37,
       -5.99111997e-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([ 0.08829491, -0.07727185,  0.06198593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.54301088e-05, 1.65554674e-05, 3.33001355e-06, 1.61044953e-05,
  2.18096813e-05,-1.22060525e-05, 2.03309108e-05, 4.94677207e-06,
  9.49626769e-06, 6.54678745e-05, 2.95282775e-05,-5.26435085e-06,
 -2.30373129e-04,-5.26519415e-05,-8.11570801e-05,-3.02196452e-05,
  3.65104368e-05, 2.16282470e-05,-7.84731431e+00, 6.89994127e-04,
  9.42485005e-03,-8.92063622e-07]


--- Step 604 ---
qpos:
[ 7.15857379e-03, 4.03970843e-03,-3.62323073e-03,-2.58577909e-02,
  6.06049442e-03,-2.92933447e-03,-1.78733526e-02, 1.16654423e-02,
  1.56593318e-02, 2.34151155e-03,-8.94728701e-03, 2.40555846e-02,
  9.92176437e-01,-9.47500296e-03, 7.09381475e-01, 6.26685066e-02,
  9.50204906e-02,-7.01389712e-02, 1.21422386e-01, 9.99982162e-01,
 -3.04573848e-05, 2.69608044e-04, 5.96679462e-03]

qacc:
[ -5.81170017,  1.60628669, -9.74520585, 25.48611237,  2.19721875,
   1.0758157 , -5.69741255, 13.14933473, -2.07235274,  1.44395499,
  -5.61652792, 10.23885015, -1.01809618,  1.53137752,  4.96536364,
 -20.60235301, -1.0280692 , -1.49780864,  0.05388649, 25.31215675,
 -18.54564666,  1.41690342]

qfrc_actuator:
[-8.58064517e-06, 2.23873348e-05,-1.03824632e-04,-1.27291621e-04,
  1.67197658e-06,-3.93916111e-04,-2.25657618e-04,-6.76807754e-05,
 -1.85898356e-05, 5.67529504e-05,-8.35130904e-05,-1.78231502e-05,
  3.48007685e-02,-1.13267271e-03, 1.35632125e-02,-3.71063044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005790601435792381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.18981679e-14, -5.99151399e-14,  1.00000000e+00, -4.30778879e-27,
        1.00000000e+00,  5.99151399e-14, -1.00000000e+00,  0.00000000e+00,
       -7.18981679e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10890853, -0.05175656,  0.06198593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.40036558e-05,-5.25855357e-06, 3.67810783e-06, 4.64430814e-05,
  1.29338150e-05,-5.84811843e-06,-6.18419442e-06, 2.08942253e-05,
 -1.20431155e-05, 4.08279587e-05, 1.29635742e-06, 1.54742626e-05,
 -2.31525042e-04,-5.20653789e-05,-1.60207916e-04,-1.46485339e-04,
  4.45588130e-05, 2.54978434e-05,-7.84713838e+00, 6.73747147e-04,
  9.49641153e-03, 7.90483187e-08]


--- Step 605 ---
qpos:
[ 7.15816519e-03, 4.04004214e-03,-3.62262819e-03,-2.58575934e-02,
  6.05997830e-03,-2.92989111e-03,-1.78720836e-02, 1.16651650e-02,
  1.56586595e-02, 2.34380468e-03,-8.94685390e-03, 2.40557726e-02,
  9.92952779e-01,-9.47337483e-03, 7.09982101e-01, 6.26648962e-02,
  9.50385298e-02,-7.01447502e-02, 1.21422367e-01, 9.99982099e-01,
  1.84442937e-05, 4.20930870e-04, 5.96862335e-03]

qacc:
[ -3.49834883,  0.65272636, -6.43991533, 21.39353636, -4.74658104,
  -0.03011963,  0.51408428, -2.16512967, -1.25592625,  0.82993613,
  -5.50929516, 14.89231622, -0.99539045,  1.47131388,  3.93605966,
 -17.84629051, -1.01540223, -1.4830333 , -0.06284433, 24.91779152,
 -18.21907399,  1.43861211]

qfrc_actuator:
[-2.81510809e-05, 1.27176831e-05,-8.66357748e-05,-8.26288868e-05,
 -2.66049459e-05,-3.95741495e-04,-2.29930984e-04,-7.32431885e-05,
 -2.56427492e-05, 1.91213519e-05,-9.29701440e-05, 6.96210777e-06,
  3.47298413e-02,-1.13345189e-03, 1.34625615e-02,-3.82397812e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005841557159374788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18785004e-13, -1.18785004e-13,  1.00000000e+00, -1.41098772e-26,
        1.00000000e+00,  1.18785004e-13, -1.00000000e+00,  0.00000000e+00,
       -1.18785004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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 , -0.05175785,  0.06198581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05419583e-05,-9.89471699e-06, 1.81558013e-05, 4.54703092e-05,
 -2.79100511e-05,-5.46898458e-06,-5.52960722e-06,-5.62230031e-06,
 -7.37345073e-06,-1.39674744e-05,-3.60810917e-07, 2.68757679e-05,
 -2.31937634e-04,-5.25874537e-05,-1.92598675e-04,-1.42605405e-04,
  3.41951866e-05, 3.58864930e-06,-7.84742845e+00, 6.74556463e-04,
  9.55650070e-03, 1.01463510e-06]


--- Step 606 ---
qpos:
[ 7.15786980e-03, 4.04025436e-03,-3.62181710e-03,-2.58568643e-02,
  6.05912723e-03,-2.93028348e-03,-1.78709274e-02, 1.16641118e-02,
  1.56585984e-02, 2.34532370e-03,-8.94590071e-03, 2.40559592e-02,
  9.93727572e-01,-9.47138918e-03, 7.10580942e-01, 6.26634345e-02,
  9.50525526e-02,-7.01564098e-02, 1.21421681e-01, 9.99982009e-01,
  1.16735763e-04, 5.36665131e-04, 5.97335159e-03]

qacc:
[  1.00544841,  0.3494368 , -3.72200687, 12.67217942, -2.93766539,
  -1.05954245,  7.37983003,-20.76381301,  5.40767631, -2.490173  ,
   7.38194977, -7.64778866, -1.32668753,  2.46895807, -9.06806883,
  28.0150986 , -1.00408221, -1.47015224, -0.1670548 , 24.58763584,
 -17.94132657,  1.46053626]

qfrc_actuator:
[-2.17378414e-05, 6.90302662e-06,-7.67601538e-05,-5.64427912e-05,
 -4.30393167e-05,-3.78849221e-04,-2.32960263e-04,-1.11913944e-04,
  5.98556421e-06,-5.75459769e-05,-8.10846508e-05, 3.68187766e-06,
  3.46487604e-02,-1.11682446e-03, 1.34339105e-02,-3.69392091e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000586632236733664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.06455188e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.06455188e-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([ 0.10890717, -0.05175843,  0.06198575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.82202203e-06,-5.67623037e-06, 1.16307107e-05, 2.72742997e-05,
 -1.72332414e-05, 1.24472068e-05,-5.04125254e-06,-3.92056916e-05,
  3.14205909e-05,-8.34940452e-05, 9.85311717e-06,-3.37456405e-06,
 -2.42613786e-04,-3.52930195e-05,-1.33316989e-04, 9.72619868e-05,
  2.15394827e-05,-1.17320427e-05,-7.84758877e+00, 6.91024002e-04,
  9.60460367e-03, 7.08157748e-07]


--- Step 607 ---
qpos:
[ 7.15765329e-03, 4.04041319e-03,-3.62087486e-03,-2.58561756e-02,
  6.05808567e-03,-2.93067888e-03,-1.78697703e-02, 1.16626169e-02,
  1.56585721e-02, 2.34591359e-03,-8.94467766e-03, 2.40564889e-02,
  9.94500894e-01,-9.46946934e-03, 7.11178897e-01, 6.26597581e-02,
  9.50623528e-02,-7.01686936e-02, 1.21422169e-01, 9.99981911e-01,
  2.19790578e-04, 6.16587979e-04, 5.97906048e-03]

qacc:
[  0.69943528, -0.52194302,  1.92625725, -2.79251515, -1.66715285,
  -0.91214517,  5.11677712,-12.76521047,  0.33084442, -1.27642308,
   1.31936179,  4.8735536 , -0.99706198,  1.35376898,  5.40936395,
 -20.75798819, -1.05567826, -0.15603179,  0.29382188,  2.27441062,
 -17.91955182,  0.49370525]

qfrc_actuator:
[-1.78396630e-05, 3.40223502e-06,-7.12843468e-05,-5.90944375e-05,
 -5.23585495e-05,-3.86408113e-04,-2.35172690e-04,-1.34229456e-04,
  6.86767614e-06,-1.21442151e-04,-7.46466869e-05, 1.93925886e-05,
  3.45669771e-02,-1.12560940e-03, 1.33846065e-02,-3.81187007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005882128065006903
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.17965706e-14,  1.41558847e-13,  1.00000000e+00,  1.66990894e-27,
        1.00000000e+00, -1.41558847e-13, -1.00000000e+00,  0.00000000e+00,
       -1.17965706e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088221 , -0.06840937,  0.06198571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.05830599e-06,-3.12063936e-06, 6.66576438e-06,-1.96535155e-06,
 -9.80542514e-06,-3.32265622e-06,-1.62511713e-06,-2.27182866e-05,
  1.75121237e-06,-1.08751691e-04,-9.74272534e-06, 1.24006368e-05,
 -2.46222604e-04,-6.07315405e-05,-1.01987353e-04,-1.30207426e-04,
  6.58918603e-06,-2.06289576e-05,-7.84762545e+00, 7.22944093e-04,
  9.64090212e-03,-8.14997525e-07]


--- Step 608 ---
qpos:
[ 7.15817513e-03, 4.04053828e-03,-3.61986933e-03,-2.58555218e-02,
  6.05659548e-03,-2.93107209e-03,-1.78689696e-02, 1.16615813e-02,
  1.56582115e-02, 2.34622576e-03,-8.94393817e-03, 2.40575165e-02,
  9.95272840e-01,-9.46795688e-03, 7.11775774e-01, 6.26549800e-02,
  9.50679722e-02,-7.01816010e-02, 1.21423453e-01, 9.99981813e-01,
  3.27611568e-04, 6.61106780e-04, 5.98577653e-03]

qacc:
[  6.50191784, -0.30593285,  1.15055321, -1.80441061, -3.9365283 ,
   1.9514538 , -8.88018826, 17.38371909, -2.95173313,  2.01531089,
  -9.81069265, 19.39512803, -0.55364104,  0.07156909,  1.7425211 ,
  -8.39057255, -1.04518608, -0.15591445,  0.19869303,  2.27689204,
 -17.71584098,  0.50893336]

qfrc_actuator:
[ 2.00437789e-05, 1.27026361e-06,-6.84544498e-05,-6.09366098e-05,
 -7.51717936e-05,-3.90783462e-04,-2.54716204e-04,-1.11250627e-04,
 -1.03660359e-05,-1.06200438e-04,-8.91876694e-05, 4.61538799e-05,
  3.44954728e-02,-1.14936145e-03, 1.33441970e-02,-3.86208747e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005895934006174275
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.53068431e-14,  7.06136863e-14,  1.00000000e+00, -2.49314634e-27,
        1.00000000e+00, -7.06136863e-14, -1.00000000e+00,  0.00000000e+00,
        3.53068431e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088221 , -0.06840933,  0.06198568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79958284e-05,-2.60062229e-06, 2.92391573e-06,-1.78759266e-06,
 -2.30935433e-05,-7.54178457e-06,-2.12213816e-05, 2.23401108e-05,
 -1.72188170e-05,-4.70903283e-05,-3.77986265e-05, 2.19997345e-05,
 -2.43391959e-04,-7.99742180e-05,-1.06739670e-04,-7.17606521e-05,
 -2.48059803e-06,-1.62536988e-05,-7.84772393e+00, 7.55885127e-04,
  9.66606656e-03,-2.89102337e-06]


--- Step 609 ---
qpos:
[ 7.15949189e-03, 4.04071371e-03,-3.61914730e-03,-2.58548817e-02,
  6.05518793e-03,-2.93106387e-03,-1.78686481e-02, 1.16614765e-02,
  1.56576469e-02, 2.34672620e-03,-8.94418389e-03, 2.40584855e-02,
  9.96043482e-01,-9.46705249e-03, 7.12370947e-01, 6.26526317e-02,
  9.50739826e-02,-7.01872315e-02, 1.21424335e-01, 9.99981721e-01,
  3.73521264e-04, 7.10467495e-04, 5.99281857e-03]

qacc:
[  6.98743454,  0.81688316, -2.78042649,  2.98039949,  0.70179304,
   3.78298344,-16.65227766, 33.2377168 , -1.8296084 ,  2.88523707,
  -9.67242425, 10.08628334, -0.1883662 , -0.90988789, -9.85372613,
  30.81003228,  0.09774873,  1.81923778, -0.10044705,-30.94070132,
   2.60625785,  0.14171236]

qfrc_actuator:
[ 5.98747264e-05,-3.87110832e-08,-8.49493266e-05,-6.22825642e-05,
 -7.02418615e-05,-3.39994807e-04,-2.66548702e-04,-6.18193658e-05,
 -2.03614600e-05,-7.92610136e-05,-1.33423188e-04, 4.37482036e-05,
  3.44301802e-02,-1.18172587e-03, 1.32825447e-02,-3.72987205e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005912296977640674
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.40836509e-13,  1.87782012e-13,  1.00000000e+00,  2.64465631e-26,
        1.00000000e+00, -1.87782012e-13, -1.00000000e+00,  0.00000000e+00,
       -1.40836509e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496232, -0.09309933,  0.06198564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.09075924e-05,-2.24200109e-06,-1.67505097e-05,-1.39663481e-06,
  4.26741986e-06, 4.31444550e-05,-1.52328968e-05, 4.88108818e-05,
 -1.04985023e-05,-6.28825171e-06,-5.78714548e-05,-5.30742686e-06,
 -2.39120840e-04,-9.07347405e-05,-1.23034673e-04, 1.13464865e-04,
 -9.25729702e-06,-1.04868649e-05,-7.84777938e+00, 7.90208323e-04,
  9.67991157e-03,-5.11165204e-06]


--- Step 610 ---
qpos:
[ 7.16024111e-03, 4.04097615e-03,-3.61838372e-03,-2.58542903e-02,
  6.05384998e-03,-2.93039022e-03,-1.78689219e-02, 1.16619379e-02,
  1.56573120e-02, 2.34686125e-03,-8.94447580e-03, 2.40587335e-02,
  9.96812699e-01,-9.46623936e-03, 7.12965292e-01, 6.26458370e-02,
  9.50803889e-02,-7.01856578e-02, 1.21424404e-01, 9.99981642e-01,
  3.58296957e-04, 7.64529073e-04, 6.00029111e-03]

qacc:
[ -4.99604003, -0.09126785,  0.71334618, -1.70017037,  0.57930093,
   3.70629731,-14.33276894, 24.59885877,  2.02622604, -1.84225086,
   8.90551758,-21.03450738, -1.00632699,  1.37389661, 12.23045035,
 -44.50237409,  0.0989762 ,  1.80102237, -0.20300078,-30.5525124 ,
   2.53364692,  0.19261711]

qfrc_actuator:
[ 2.95117457e-05, 1.68281621e-05,-7.72123394e-05,-6.33378345e-05,
 -6.67704652e-05,-2.92013130e-04,-2.91241968e-04,-3.26771568e-05,
 -8.25783321e-06,-1.16668392e-04,-1.41522442e-04, 6.44712962e-06,
  3.43633319e-02,-1.18338880e-03, 1.32082418e-02,-3.97060873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000592442058387363
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.36988697e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.36988697e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09496278, -0.09309921,  0.06198561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92026041e-05, 1.20875782e-05, 5.14784048e-06,-1.76331528e-06,
  3.60695924e-06, 7.10506739e-05,-1.59729262e-05, 3.14130900e-05,
  1.18072413e-05,-5.31282947e-05,-1.67152298e-05,-3.96786795e-05,
 -2.39928795e-04,-6.07360051e-05,-1.20702892e-04,-2.50832706e-04,
 -2.56928952e-06,-8.06242416e-06,-7.84792639e+00, 8.04947067e-04,
  9.69608269e-03,-6.04878884e-06]


--- Step 611 ---
qpos:
[ 7.16062080e-03, 4.04152080e-03,-3.61763717e-03,-2.58537378e-02,
  6.05290911e-03,-2.92933501e-03,-1.78690700e-02, 1.16616951e-02,
  1.56574694e-02, 2.34698954e-03,-8.94475786e-03, 2.40584823e-02,
  9.97580361e-01,-9.46484601e-03, 7.13558211e-01, 6.26368623e-02,
  9.50848751e-02,-7.01807347e-02, 1.21425276e-01, 9.99981582e-01,
  3.14681207e-04, 8.02595376e-04, 6.00762313e-03]

qacc:
[ -3.25817517,  0.34664313, -0.51936017, -0.34756428,  3.47161935,
  -1.3028653 ,  8.33882239,-20.99563688,  4.3315409 , -1.07265011,
   5.90488684,-14.54010852, -1.68708481,  3.48541511,  4.54101183,
 -18.80102488, -0.48002877,  0.83738267,  0.20053414,-14.243399  ,
  -7.91234501, -0.07831158]

qfrc_actuator:
[ 1.13347986e-05, 4.45437323e-05,-7.29005036e-05,-6.41784841e-05,
 -4.64415716e-05,-2.81645473e-04,-2.87838557e-04,-6.89740030e-05,
  1.67530568e-05,-8.56897076e-05,-1.28484899e-04,-1.56000947e-05,
  3.42956081e-02,-1.14915178e-03, 1.31476340e-02,-4.07415970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005913054240951061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.94302087e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.94302087e-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([ 0.10207461, -0.08043036,  0.06198564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90039992e-05, 3.54302938e-05, 7.36847224e-06,-1.81853162e-07,
  2.04560789e-05, 4.81246452e-05, 1.71925067e-05,-3.31958065e-05,
  2.53303005e-05,-3.88314031e-06,-1.36817949e-06,-2.56753388e-05,
 -2.35682142e-04,-2.07251398e-05,-1.48541557e-04,-1.34118901e-04,
  4.78055407e-06,-5.77517355e-06,-7.84794856e+00, 8.00182649e-04,
  9.71376191e-03,-5.88066183e-06]


--- Step 612 ---
qpos:
[ 7.16112439e-03, 4.04237256e-03,-3.61738697e-03,-2.58538604e-02,
  6.05221922e-03,-2.92791354e-03,-1.78688708e-02, 1.16606607e-02,
  1.56575802e-02, 2.34737785e-03,-8.94507164e-03, 2.40582813e-02,
  9.98346706e-01,-9.46366023e-03, 7.14149424e-01, 6.26309236e-02,
  9.50852253e-02,-7.01764281e-02, 1.21426771e-01, 9.99981541e-01,
  2.76011059e-04, 8.05210517e-04, 6.01608602e-03]

qacc:
[  1.06937177,  0.40115489,  1.99949199,-13.09899126,  2.20035303,
  -2.12017105, 11.59809401,-26.11934678, -0.41518324,  0.53669382,
  -1.62599307,  2.35444125, -0.57893107,  0.35440677,-11.66572614,
  37.1934443 , -1.03400657, -0.1541445 ,  0.15575461,  2.36581023,
 -17.73993894,  0.57293747]

qfrc_actuator:
[ 1.82511028e-05, 4.30332577e-05,-1.06107072e-04,-1.00385713e-04,
 -3.41061372e-05,-2.58323261e-04,-2.68060034e-04,-1.07985178e-04,
  1.36486796e-05,-4.93971326e-05,-1.20555450e-04,-1.06757703e-05,
  3.42274220e-02,-1.16502031e-03, 1.31166302e-02,-3.90060820e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
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       0., 0.])
  dim: 3
  dist: -0.0005913169136414209
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.86732236e-14,  4.69385789e-14,  1.00000000e+00,  2.75403774e-27,
        1.00000000e+00, -4.69385789e-14, -1.00000000e+00,  0.00000000e+00,
       -5.86732236e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882208, -0.06840948,  0.06198564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.38603560e-06, 1.97785332e-05,-2.50035755e-05,-3.44421432e-05,
  1.29373683e-05, 5.23330556e-05, 3.06769008e-05,-3.70025086e-05,
 -2.38489112e-06, 3.27467360e-05, 6.07190544e-06, 4.21077128e-06,
 -2.25409509e-04,-6.44208906e-05,-1.16772096e-04, 1.46380046e-04,
  6.61973688e-06,-3.02676370e-06,-7.84794517e+00, 7.86230621e-04,
  9.72613788e-03,-5.06647281e-06]


--- Step 613 ---
qpos:
[ 7.16170686e-03, 4.04335147e-03,-3.61748321e-03,-2.58544024e-02,
  6.05133799e-03,-2.92612870e-03,-1.78693016e-02, 1.16599260e-02,
  1.56573086e-02, 2.34753075e-03,-8.94480731e-03, 2.40581619e-02,
  9.99111819e-01,-9.46296782e-03, 7.14739985e-01, 6.26259283e-02,
  9.50814673e-02,-7.01727329e-02, 1.21428573e-01, 9.99981518e-01,
  2.42203310e-04, 7.72739836e-04, 6.02564546e-03]

qacc:
[  0.68093536,  0.27145429,  1.04109447, -7.82985298, -1.70016417,
   2.86049718,-10.76329073, 16.68679347, -3.34316988, -1.75255939,
   5.46438325, -4.81611645, -0.32191344, -0.45356541, -3.80805139,
  11.92890793, -1.02704641, -0.15285043,  0.07695627,  2.32517086,
 -17.55707012,  0.55501149]

qfrc_actuator:
[ 2.21251036e-05, 4.16020066e-05,-1.25833281e-04,-1.21655976e-04,
 -4.43321436e-05,-2.62870915e-04,-3.09738953e-04,-9.49978089e-05,
 -5.98296454e-06,-8.11908155e-05,-9.79006027e-05,-7.67098457e-06,
  3.41643188e-02,-1.19264383e-03, 1.31087912e-02,-3.84918137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005900258192582664
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.05619349e-14,  1.17603225e-14,  1.00000000e+00,  8.29831109e-28,
        1.00000000e+00, -1.17603225e-14, -1.00000000e+00,  0.00000000e+00,
       -7.05619349e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882232, -0.06840951,  0.06198567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.06178857e-06, 2.95687216e-06,-1.99252240e-05,-2.19615292e-05,
 -9.83780733e-06, 2.94203663e-05,-2.83882198e-05, 1.55694001e-05,
 -1.96875208e-05,-1.20572339e-05, 3.03125245e-05, 4.70057088e-06,
 -2.21900256e-04,-8.04262975e-05,-4.78293134e-05, 4.39500840e-05,
  5.41442829e-06,-3.42416923e-07,-7.84797525e+00, 7.73725192e-04,
  9.72707000e-03,-4.23008714e-06]


--- Step 614 ---
qpos:
[ 7.16198622e-03, 4.04444172e-03,-3.61756167e-03,-2.58552185e-02,
  6.05068662e-03,-2.92475467e-03,-1.78696249e-02, 1.16597476e-02,
  1.56571488e-02, 2.34745137e-03,-8.94420993e-03, 2.40580965e-02,
  9.99875502e-01,-9.46198749e-03, 7.15329659e-01, 6.26206317e-02,
  9.50736240e-02,-7.01696445e-02, 1.21430409e-01, 9.99981510e-01,
  2.13188094e-04, 7.05478959e-04, 6.03627205e-03]

qacc:
[-2.66961429e+00,-4.61868639e-01, 3.02366120e+00,-7.88109630e+00,
  2.02216501e+00, 2.97511954e-01,-4.20421787e+00, 1.39699566e+01,
  9.98641887e-01,-1.12848965e+00, 3.34666119e+00,-2.76887127e+00,
 -1.26703171e+00, 2.31930592e+00,-3.50940657e-01,-5.66673937e-01,
 -1.02130667e+00,-1.51691878e-01, 8.14432582e-03, 2.29099123e+00,
 -1.74090923e+01, 5.39579545e-01]

qfrc_actuator:
[ 6.41656083e-06, 5.80280301e-05,-1.19670009e-04,-1.33949677e-04,
 -3.22478111e-05,-3.19789361e-04,-3.16443233e-04,-6.93387300e-05,
  3.28808335e-07,-1.00186933e-04,-8.47603009e-05,-5.86926092e-06,
  3.40989793e-02,-1.17369363e-03, 1.30509080e-02,-3.87015108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005874389427157484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36242217e-14,  3.54363325e-14,  1.00000000e+00,  8.37155775e-28,
        1.00000000e+00, -3.54363325e-14, -1.00000000e+00,  0.00000000e+00,
       -2.36242217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882281, -0.06840948,  0.06198573])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55933304e-05, 1.29901915e-05, 3.55056587e-06,-1.32850569e-05,
  1.18140207e-05,-4.57247760e-05,-3.59960919e-06, 2.62393797e-05,
  5.74754309e-06,-1.92917689e-05, 1.45418941e-05, 2.42545773e-06,
 -2.24763600e-04,-3.55451226e-05,-8.16507202e-05,-2.62446136e-05,
  6.45581577e-06, 3.92068488e-06,-7.84796397e+00, 7.62623960e-04,
  9.71678583e-03,-3.54389141e-06]


--- Step 615 ---
qpos:
[ 7.16242046e-03, 4.04511585e-03,-3.61706177e-03,-2.58561468e-02,
  6.05018532e-03,-2.92418339e-03,-1.78692544e-02, 1.16602339e-02,
  1.56570655e-02, 2.34742763e-03,-8.94381390e-03, 2.40577083e-02,
  1.00063771e+00,-9.46046145e-03, 7.15917775e-01, 6.26126022e-02,
  9.50617138e-02,-7.01671588e-02, 1.21432037e-01, 9.99981511e-01,
  1.88906968e-04, 6.03661506e-04, 6.04794037e-03]

qacc:
[  1.38868087, -2.40066793,  8.22738851,-10.77459826,  1.34899676,
  -1.63296575,  1.47216635,  9.51961435,  0.66609571, -0.02983886,
   1.5743462 , -6.88010848, -1.61319175,  3.31784059,  6.01333408,
 -24.24094249, -1.01674066, -0.15067192, -0.05158813,  2.2623369 ,
 -17.29214849,  0.52618738]

qfrc_actuator:
[ 1.48141876e-05, 1.41228419e-05,-9.81987011e-05,-1.40834971e-04,
 -2.48745846e-05,-3.71996185e-04,-2.84895798e-04,-3.64530334e-05,
  4.11269539e-06,-9.36608602e-05,-9.50675269e-05,-2.25471341e-05,
  3.40270345e-02,-1.14513576e-03, 1.29310883e-02,-4.02245449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005838392577074136
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06964450e-13,  1.66389145e-13,  1.00000000e+00, -1.77977233e-26,
        1.00000000e+00, -1.66389145e-13, -1.00000000e+00,  0.00000000e+00,
        1.06964450e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882349, -0.06840942,  0.06198582])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.95647684e-06,-3.65197411e-05, 2.41223233e-05,-6.46476266e-06,
  7.69386062e-06,-7.74366883e-05, 2.25551538e-05, 3.13100804e-05,
  3.94010293e-06,-1.15669678e-06,-1.24234543e-05,-1.69555159e-05,
 -2.24492751e-04,-2.01634418e-05,-1.65678329e-04,-1.65536254e-04,
  9.68091845e-06, 9.69268460e-06,-7.84791248e+00, 7.52908595e-04,
  9.69538050e-03,-3.00546526e-06]


--- Step 616 ---
qpos:
[ 7.16364191e-03, 4.04518916e-03,-3.61621625e-03,-2.58560738e-02,
  6.04977620e-03,-2.92417240e-03,-1.78682663e-02, 1.16610845e-02,
  1.56566835e-02, 2.34729687e-03,-8.94402460e-03, 2.40568275e-02,
  1.00139853e+00,-9.45885965e-03, 7.16504089e-01, 6.26030990e-02,
  9.50457505e-02,-7.01652722e-02, 1.21433254e-01, 9.99981511e-01,
  1.69311334e-04, 4.67465692e-04, 6.06062832e-03]

qacc:
[  6.95123187,  0.28821837, -6.42116672, 23.64400475,  0.83582904,
  -1.71760737,  3.50961363,  2.22178586, -2.64618233,  0.54562698,
  -0.06235569, -7.42210277, -1.03275927,  1.61390574,  1.8231044 ,
 -10.16925735, -1.01329229, -0.14978993, -0.10313461,  2.23843544,
 -17.20293483,  0.51446791]

qfrc_actuator:
[ 5.50914042e-05,-2.99928784e-05,-8.58629002e-05,-9.12696133e-05,
 -2.03401667e-05,-3.85314508e-04,-2.48779158e-04,-1.73150140e-05,
 -1.13822280e-05,-1.25274362e-04,-1.36794728e-04,-4.99574220e-05,
  3.39511823e-02,-1.14669151e-03, 1.28540857e-02,-4.09123244e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005794707860356796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.59236086e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.59236086e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882433, -0.06840933,  0.06198592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.04872767e-05,-5.98587206e-05, 7.52762579e-06, 4.87092167e-05,
  4.72500149e-06,-5.06436775e-05, 2.39716085e-05, 1.72062787e-05,
 -1.53819252e-05,-3.55549861e-05,-4.40867628e-05,-2.82198516e-05,
 -2.25730338e-04,-4.78385930e-05,-1.73327929e-04,-9.97177923e-05,
  1.50256555e-05, 1.69184438e-05,-7.84782162e+00, 7.44563362e-04,
  9.66292903e-03,-2.61282047e-06]


--- Step 617 ---
qpos:
[ 7.16568131e-03, 4.04505479e-03,-3.61536865e-03,-2.58550889e-02,
  6.04907934e-03,-2.92415125e-03,-1.78670368e-02, 1.16614191e-02,
  1.56557744e-02, 2.34636603e-03,-8.94416016e-03, 2.40556684e-02,
  1.00215796e+00,-9.45749394e-03, 7.17088915e-01, 6.25989135e-02,
  9.50278737e-02,-7.01601068e-02, 1.21434300e-01, 9.99981502e-01,
  1.21943007e-04, 3.15932224e-04, 6.07298780e-03]

qacc:
[ 7.20411594e+00, 1.58365126e+00,-9.90945488e+00, 2.58454821e+01,
 -2.51081539e+00,-1.71777283e+00, 8.33207718e+00,-1.76666403e+01,
 -4.62313416e+00,-1.83163959e+00, 6.18772963e+00,-1.05544989e+01,
 -5.50496137e-01, 2.11419822e-01,-1.82311972e+01, 6.06338112e+01,
 -4.78333574e-01, 8.19717678e-01,-4.26113171e-02,-1.39324902e+01,
 -7.58455158e+00,-1.69400521e-01]

qfrc_actuator:
[ 9.60494584e-05,-2.06258846e-05,-7.90069919e-05,-4.44077427e-05,
 -3.52638137e-05,-3.57468464e-04,-2.27875048e-04,-4.18962432e-05,
 -3.80998000e-05,-1.97383843e-04,-1.43630101e-04,-6.57558352e-05,
  3.38677041e-02,-1.16606375e-03, 1.28720869e-02,-3.79051361e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005743822091418238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.83224849e-14,  3.98818032e-07,  1.00000000e+00,  1.92718783e-20,
        1.00000000e+00, -3.98818032e-07, -1.00000000e+00,  0.00000000e+00,
       -4.83224849e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10207787, -0.08043344,  0.06198605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.20836254e-05,-2.04676324e-05,-2.90907979e-06, 4.55034854e-05,
 -1.48080066e-05, 5.20270906e-06, 1.39782386e-05,-2.55911989e-05,
 -2.71648390e-05,-1.02305564e-04,-2.05802496e-05,-1.93934678e-05,
 -2.39649476e-04,-6.98219350e-05,-7.36789261e-05, 2.72659586e-04,
  2.24233728e-05, 2.55541164e-05,-7.84769195e+00, 7.37574811e-04,
  9.61948846e-03,-2.36433800e-06]


--- Step 618 ---
qpos:
[ 7.16785083e-03, 4.04504311e-03,-3.61455769e-03,-2.58542813e-02,
  6.04820877e-03,-2.92371083e-03,-1.78659914e-02, 1.16603966e-02,
  1.56545519e-02, 2.34464212e-03,-8.94435166e-03, 2.40543378e-02,
  1.00291596e+00,-9.45633860e-03, 7.17673268e-01, 6.25985346e-02,
  9.50103425e-02,-7.01479148e-02, 1.21433461e-01, 9.99981468e-01,
  1.52052823e-05, 1.69112497e-04, 6.08554363e-03]

qacc:
[  1.14202484, -0.10272064,  1.34435968, -4.43599096, -1.53374541,
  -1.72155944, 12.67760455,-36.18532714, -2.74536473, -1.23927728,
   3.63079619, -5.93383589, -0.65660671,  0.46464248,-12.16628968,
  41.60275548,  0.08637123,  1.75663627, -0.47122989,-29.66986589,
   2.53711781,  0.0885862 ]

qfrc_actuator:
[ 1.01565133e-04, 2.92530857e-06,-7.52337365e-05,-5.27370024e-05,
 -4.37666105e-05,-3.23022762e-04,-2.33721814e-04,-1.09727100e-04,
 -5.34503750e-05,-2.39797148e-04,-1.47722191e-04,-7.46041727e-05,
  3.37956795e-02,-1.17809174e-03, 1.28778916e-02,-3.59384611e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005710454602909781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.72096884e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.72096884e-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([ 0.09496709, -0.09310768,  0.06198613])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.70136320e-06, 1.34544012e-05, 7.47406337e-07,-8.42619163e-06,
 -8.92355713e-06, 3.91245580e-05,-3.95063435e-06,-6.76252000e-05,
 -1.61597286e-05,-1.04679954e-04,-2.84154817e-05,-1.43161790e-05,
 -2.40670335e-04,-6.88017130e-05,-1.93566543e-06, 2.01396023e-04,
  3.24250280e-05, 2.34801524e-05,-7.84758961e+00, 7.22110249e-04,
  9.57151226e-03,-1.35783726e-06]


--- Step 619 ---
qpos:
[ 7.16937993e-03, 4.04529393e-03,-3.61405134e-03,-2.58539247e-02,
  6.04793275e-03,-2.92288934e-03,-1.78650400e-02, 1.16582225e-02,
  1.56534991e-02, 2.34276814e-03,-8.94521312e-03, 2.40535618e-02,
  1.00367254e+00,-9.45506866e-03, 7.18257438e-01, 6.25969035e-02,
  9.49888695e-02,-7.01415073e-02, 1.21431358e-01, 9.99981391e-01,
 -4.28128838e-05,-1.32506485e-05, 6.10051238e-03]

qacc:
[ -5.65160078,  0.28064585,  1.42239068, -8.94722901,  5.19237716,
  -1.61424856, 11.33247821,-31.37933108,  1.47485357,  2.81286733,
 -12.66350853, 23.44748692, -1.13172222,  1.84658832,  3.54890913,
 -12.72082992, -0.98545067, -1.44611964, -0.31597618, 24.25097362,
 -17.91960045,  1.21095607]

qfrc_actuator:
[ 6.84233945e-05, 1.69870776e-05,-9.10248199e-05,-7.57038777e-05,
 -1.29105758e-05,-3.02783063e-04,-2.37537568e-04,-1.66955091e-04,
 -4.42311113e-05,-2.10821830e-04,-1.67819902e-04,-4.37728702e-05,
  3.37359050e-02,-1.16789181e-03, 1.28337342e-02,-3.67325700e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005685640696569405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22042427e-14,  4.88169709e-14,  1.00000000e+00, -5.95774161e-28,
        1.00000000e+00, -4.88169709e-14, -1.00000000e+00,  0.00000000e+00,
        1.22042427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10890742, -0.05175448,  0.06198619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29473485e-05, 2.13635632e-05,-1.32252860e-05,-2.25332676e-05,
  3.06177094e-05, 3.83751524e-05, 1.42377476e-06,-5.70050581e-05,
  8.71944298e-06,-3.59873969e-05,-4.56914158e-05, 2.50911681e-05,
 -2.28533219e-04,-4.68245351e-05,-3.09891292e-05,-7.04027684e-05,
  4.38364249e-05, 1.43220808e-05,-7.84746294e+00, 6.87949199e-04,
  9.52540889e-03, 9.91052278e-07]


--- Step 620 ---
qpos:
[ 7.17015509e-03, 4.04571704e-03,-3.61374713e-03,-2.58534963e-02,
  6.04837389e-03,-2.92206813e-03,-1.78643341e-02, 1.16564753e-02,
  1.56518746e-02, 2.34088800e-03,-8.94645514e-03, 2.40531216e-02,
  1.00442777e+00,-9.45370495e-03, 7.18840206e-01, 6.25955028e-02,
  9.49721760e-02,-7.01377820e-02, 1.21430528e-01, 9.99981307e-01,
 -7.70910327e-05,-1.54431440e-04, 6.11202455e-03]

qacc:
[-6.64594256, 0.95381679,-3.34994195, 4.76230304, 6.26801233, 1.55155801,
 -7.35722201,15.1636807 ,-5.04273904, 1.75655019,-7.67549879,14.0808741 ,
 -0.99464165, 1.5534571 ,-2.72873594, 6.61903817, 1.19488577,-0.67054568,
  0.31834541,11.99538148,20.51845465,-1.72750738]

qfrc_actuator:
[ 3.05583231e-05, 2.51663085e-05,-1.00519239e-04,-7.16033615e-05,
  2.31093585e-05,-3.26701749e-04,-2.57903728e-04,-1.46473267e-04,
 -7.38854995e-05,-1.92597013e-04,-1.79131973e-04,-2.52964043e-05,
  3.36728798e-02,-1.16234860e-03, 1.27436133e-02,-3.66624188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005678638691073712
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.88771643e-14, -9.77543285e-14,  1.00000000e+00,  4.77795437e-27,
        1.00000000e+00,  9.77543285e-14, -1.00000000e+00,  0.00000000e+00,
        4.88771643e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186552, -0.06201726,  0.06198621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.87932944e-05, 1.63970447e-05,-7.50007728e-06, 4.11760460e-06,
  3.69104151e-05,-4.63350837e-06,-1.42542305e-05, 2.10656163e-05,
 -2.94253991e-05,-1.01831448e-05,-2.34731768e-05, 1.58488481e-05,
 -2.19930466e-04,-4.57945929e-05,-1.20439183e-04,-2.83294740e-06,
  4.69049068e-05, 3.42673502e-05,-7.84740370e+00, 6.68216360e-04,
  9.46704416e-03, 1.61301000e-06]


--- Step 621 ---
qpos:
[ 7.17081496e-03, 4.04643162e-03,-3.61361147e-03,-2.58533854e-02,
  6.04889894e-03,-2.92154048e-03,-1.78637476e-02, 1.16553621e-02,
  1.56492171e-02, 2.33928935e-03,-8.94828034e-03, 2.40528826e-02,
  1.00518156e+00,-9.45194687e-03, 7.19421960e-01, 6.25934387e-02,
  9.49602117e-02,-7.01367226e-02, 1.21430555e-01, 9.99981235e-01,
 -8.80950601e-05,-2.55022083e-04, 6.12024280e-03]

qacc:
[-1.02541311, 0.20448369, 1.17114349,-6.60930605, 0.73596699, 1.24908237,
 -7.69644931,19.08011834,-9.11315355, 2.43416724,-8.95834895,13.13355469,
 -1.38690489, 2.67240016, 0.56032967,-4.01403542, 1.18230158,-0.66647645,
  0.21423712,11.76063342,20.22369718,-1.64720468]

qfrc_actuator:
[ 2.57342162e-05, 4.75538655e-05,-1.06216288e-04,-8.71101747e-05,
  2.63619402e-05,-3.59133913e-04,-2.70258575e-04,-1.15988851e-04,
 -1.26190554e-04,-1.63153725e-04,-2.02946702e-04,-1.42358788e-05,
  3.36026237e-02,-1.14187178e-03, 1.27059173e-02,-3.69711600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005729767769375033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.93764053e-13, -9.68820264e-14,  1.00000000e+00, -1.87722541e-26,
        1.00000000e+00,  9.68820264e-14, -1.00000000e+00,  0.00000000e+00,
       -1.93764053e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186634, -0.06201832,  0.06198608])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.92178877e-06, 3.01481085e-05,-3.10028334e-06,-1.49850831e-05,
  4.30522260e-06,-3.70861058e-05,-1.43543481e-05, 3.02015405e-05,
 -5.31516315e-05, 1.96474523e-05,-2.82240157e-05, 1.01292329e-05,
 -2.21785318e-04,-2.88106917e-05,-9.65392269e-05,-4.72781199e-05,
  2.58626986e-05, 2.18766178e-05,-7.84765643e+00, 6.57860416e-04,
  9.42164621e-03, 1.66415554e-06]


--- Step 622 ---
qpos:
[ 7.17141149e-03, 4.04739667e-03,-3.61355378e-03,-2.58534624e-02,
  6.04945917e-03,-2.92132111e-03,-1.78627303e-02, 1.16545867e-02,
  1.56469879e-02, 2.33785645e-03,-8.95012393e-03, 2.40530987e-02,
  1.00593389e+00,-9.44962299e-03, 7.20003681e-01, 6.25891396e-02,
  9.49529323e-02,-7.01383141e-02, 1.21431067e-01, 9.99981188e-01,
 -7.62093270e-05,-3.15526017e-04, 6.12529558e-03]

qacc:
[ -0.56433954,  0.16319143,  0.69198263, -4.00193646,  0.3268211 ,
  -0.91602682,  1.24800023,  4.13729396,  3.76575674,  1.19994555,
  -5.8946503 , 13.69132791, -1.64402202,  3.39647204,  6.7622986 ,
 -23.58478204,  1.17121212, -0.66272585,  0.12106036, 11.56693319,
  19.97307571, -1.58392864]

qfrc_actuator:
[ 2.26449854e-05, 6.05256865e-05,-1.09587656e-04,-9.62680915e-05,
  2.80531187e-05,-3.60875496e-04,-2.42329177e-04,-9.76333217e-05,
 -1.02632901e-04,-1.45017193e-04,-1.98402925e-04, 1.01278775e-05,
  3.35334112e-02,-1.11277291e-03, 1.27316466e-02,-3.80317998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000575776634404293
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.64109134e-14, -9.64109134e-14,  1.00000000e+00,  9.29506422e-27,
        1.00000000e+00,  9.64109134e-14, -1.00000000e+00,  0.00000000e+00,
        9.64109134e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186669, -0.06201899,  0.06198601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24857471e-06, 2.85166177e-05, 1.94462609e-06,-8.26804948e-06,
  1.80056134e-06,-2.41728044e-05, 1.95353589e-05, 1.68572802e-05,
  2.20481740e-05, 2.37803179e-05, 5.51633179e-06, 2.44361447e-05,
 -2.18426841e-04,-1.82487857e-05,-2.86027815e-05,-1.22223439e-04,
  1.12168157e-05, 1.24533212e-05,-7.84783342e+00, 6.54780640e-04,
  9.38929580e-03, 1.46649446e-06]


--- Step 623 ---
qpos:
[ 7.17196641e-03, 4.04839757e-03,-3.61344848e-03,-2.58536296e-02,
  6.05003529e-03,-2.92135889e-03,-1.78611469e-02, 1.16547113e-02,
  1.56457480e-02, 2.33607807e-03,-8.95137165e-03, 2.40532829e-02,
  1.00668499e+00,-9.44755239e-03, 7.20584414e-01, 6.25856559e-02,
  9.49502993e-02,-7.01425432e-02, 1.21431732e-01, 9.99981171e-01,
 -4.17483576e-05,-3.36366687e-04, 6.12728407e-03]

qacc:
[-0.36542908,-0.27074486, 1.41498844,-3.0771653 , 0.16171941,-0.06903032,
 -4.04769041,18.91050248, 8.7304829 ,-2.20474778, 7.30370428,-8.52177673,
 -0.5614253 , 0.3146251 ,-3.90369373,11.57331898, 1.16161334,-0.65940227,
  0.03827702,11.4083981 ,19.76224037,-1.53426412]

qfrc_actuator:
[ 2.05908325e-05, 5.00198401e-05,-1.11586766e-04,-1.01619286e-04,
  2.88226245e-05,-3.61823235e-04,-2.08484284e-04,-5.10072426e-05,
 -5.23583379e-05,-1.86919466e-04,-1.77175551e-04, 6.63405206e-06,
  3.34648787e-02,-1.13208788e-03, 1.26888635e-02,-3.75724189e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005766588328372374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.4439513e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.4439513e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186667, -0.06201935,  0.06198599])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.13930208e-06, 5.44962581e-06, 3.83192837e-06,-4.22593452e-06,
  8.11023069e-07,-9.72524094e-06, 3.18289996e-05, 4.65932955e-05,
  5.09016322e-05,-2.63438974e-05, 2.76991819e-05,-1.80282206e-06,
 -2.13126638e-04,-6.46736377e-05,-7.81797827e-05, 3.34220583e-05,
  2.46522957e-06, 5.67280198e-06,-7.84793824e+00, 6.58875635e-04,
  9.36981981e-03, 1.01930326e-06]


--- Step 624 ---
qpos:
[ 7.17352738e-03, 4.04923113e-03,-3.61323980e-03,-2.58541823e-02,
  6.05061608e-03,-2.92150713e-03,-1.78592066e-02, 1.16557341e-02,
  1.56451202e-02, 2.33413568e-03,-8.95235185e-03, 2.40530786e-02,
  1.00743499e+00,-9.44631971e-03, 7.21163013e-01, 6.25842553e-02,
  9.49522802e-02,-7.01493986e-02, 1.21432257e-01, 9.99981183e-01,
  1.50334199e-05,-3.17895376e-04, 6.12628757e-03]

qacc:
[  8.86171648, -1.32130205,  5.98296191,-12.65279707,  0.05446277,
   0.70536969, -6.51967177, 21.57709387,  5.39760512, -1.77481565,
   7.63570129,-14.64643839,  0.18207991, -1.82683561, -9.45969382,
  28.46793749,  1.1534676 , -0.65657197, -0.0348015 , 11.28013034,
  19.58730456, -1.49548778]

qfrc_actuator:
[ 7.24192326e-05, 2.55418295e-05,-1.12856918e-04,-1.22461634e-04,
  2.90443457e-05,-3.62222468e-04,-1.89150354e-04,-5.86883278e-06,
 -2.22912312e-05,-1.93389554e-04,-1.64297560e-04,-1.32694022e-05,
  3.34021123e-02,-1.17985840e-03, 1.25624537e-02,-3.65776437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005759723632781238
  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([ 0.08186633, -0.06201945,  0.06198601])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.17663160e-05,-2.08597204e-05, 1.68091875e-07,-2.05608369e-05,
  2.38274560e-07, 2.71605287e-06, 2.28400410e-05, 4.67262006e-05,
  3.14961345e-05,-1.54649433e-05, 1.08173047e-05,-2.01050783e-05,
 -2.13347233e-04,-9.85776482e-05,-1.63714308e-04, 9.00819475e-05,
 -7.55754998e-07, 1.28500370e-06,-7.84797369e+00, 6.70060591e-04,
  9.36307402e-03, 3.22275050e-07]


--- Step 625 ---
qpos:
[ 7.17569748e-03, 4.04968665e-03,-3.61295127e-03,-2.58546056e-02,
  6.05153998e-03,-2.92181364e-03,-1.78569602e-02, 1.16569543e-02,
  1.56448580e-02, 2.33201807e-03,-8.95287481e-03, 2.40526257e-02,
  1.00818393e+00,-9.44572677e-03, 7.21739605e-01, 6.25830637e-02,
  9.49588480e-02,-7.01588710e-02, 1.21432387e-01, 9.99981220e-01,
  9.39335582e-05,-2.60398152e-04, 6.12236793e-03]

qacc:
[  5.37088558, -0.46719251,  0.37797262,  2.02714471,  3.01478304,
  -0.66352672,  1.21899971,  1.83519708,  3.23384983, -2.02747608,
   7.9314789 ,-12.82287846, -0.05266439, -1.09440888, -3.60421141,
   8.27813097,  1.14671635, -0.65427104, -0.09894335, 11.17804954,
  19.44481958, -1.46542565]

qfrc_actuator:
[ 1.02288254e-04,-7.13062090e-06,-1.13764511e-04,-1.16762106e-04,
  4.66948940e-05,-3.80089072e-04,-1.78540316e-04, 2.51353263e-06,
 -4.36713557e-06,-1.96396240e-04,-1.38586572e-04,-2.48966621e-05,
  3.33588147e-02,-1.20851103e-03, 1.24552420e-02,-3.65202529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000574022999999077
  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([ 0.08186575, -0.06201934,  0.06198606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13300918e-05,-4.52010520e-05,-5.92118433e-06, 4.40821433e-06,
  1.76554368e-05,-9.64756993e-06, 1.55782974e-05, 1.01922386e-05,
  1.88067238e-05,-1.01906405e-05, 2.31859230e-05,-1.23014374e-05,
 -2.01237085e-04,-8.41264589e-05,-1.72647833e-04,-1.03691830e-05,
  1.30338324e-06,-9.07657646e-07,-7.84794196e+00, 6.88265519e-04,
  9.36893980e-03,-6.24592173e-07]


--- Step 626 ---
qpos:
[ 7.17751919e-03, 4.04976524e-03,-3.61267295e-03,-2.58546057e-02,
  6.05266809e-03,-2.92199491e-03,-1.78549295e-02, 1.16575749e-02,
  1.56448126e-02, 2.32994772e-03,-8.95320646e-03, 2.40527172e-02,
  1.00893174e+00,-9.44549933e-03, 7.22314711e-01, 6.25805123e-02,
  9.49680388e-02,-7.01660317e-02, 1.21433210e-01, 9.99981250e-01,
  1.53437426e-04,-1.80965641e-04, 6.11913430e-03]

qacc:
[ -3.06021335,  0.40804657, -3.94995705, 11.54806377,  1.77773241,
  -0.46968622,  4.44061217,-14.55971165,  1.91375712,  0.64468948,
  -4.5129812 , 13.60083079, -0.42531492, -0.03322839,  1.91818183,
  -9.8867654 ,  0.65576075,  0.57796579,  0.17329952, -9.63071537,
  11.02684458,  0.34451465]

qfrc_actuator:
[ 8.34708940e-05,-2.66894807e-05,-1.14472392e-04,-9.54979842e-05,
  5.67097987e-05,-3.72838842e-04,-1.91009065e-04,-2.85688183e-05,
  6.27290120e-06,-1.79495447e-04,-1.23225131e-04, 3.96250576e-06,
  3.33059318e-02,-1.22555595e-03, 1.23915691e-02,-3.71924119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005714637631782335
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42846331e-14, -9.48506479e-07,  1.00000000e+00,  2.30341318e-20,
        1.00000000e+00,  9.48506479e-07, -1.00000000e+00, -3.00926554e-36,
        2.42846331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0882969 , -0.07727931,  0.06198612])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79449155e-05,-4.58841089e-05,-1.06316846e-05, 1.92071806e-05,
  1.05149126e-05, 5.49799750e-06,-1.22159158e-05,-3.07660936e-05,
  1.11630340e-05, 1.55538782e-05, 1.57174780e-05, 2.89913844e-05,
 -2.00215801e-04,-6.79870350e-05,-1.44410644e-04,-9.00774005e-05,
  8.48647967e-06,-1.06697115e-06,-7.84784470e+00, 7.13433660e-04,
  9.38732117e-03,-1.82107854e-06]


--- Step 627 ---
qpos:
[ 7.17875633e-03, 4.04978387e-03,-3.61280181e-03,-2.58547096e-02,
  6.05390752e-03,-2.92185864e-03,-1.78534535e-02, 1.16578171e-02,
  1.56448949e-02, 2.32818274e-03,-8.95344182e-03, 2.40527813e-02,
  1.00967823e+00,-9.44538027e-03, 7.22888149e-01, 6.25797570e-02,
  9.49776178e-02,-7.01660120e-02, 1.21433071e-01, 9.99981270e-01,
  1.51873115e-04,-9.79285834e-05, 6.11772426e-03]

qacc:
[ -5.15764265,  0.85518644, -2.70802681,  1.58594738,  0.95105857,
   1.18846439, -2.03454311, -3.85749004,  1.12147523,  0.07585015,
   0.42715238, -1.27641137, -0.72578676,  0.76558007, -7.86005461,
  23.97494972,  0.09705869,  1.79507173, -0.24060836,-30.522323  ,
   1.98922052,  0.91705559]

qfrc_actuator:
[ 5.39081866e-05,-2.04774481e-05,-1.32754954e-04,-1.00746101e-04,
  6.21449664e-05,-3.50738699e-04,-2.16925853e-04,-4.71067141e-05,
  1.25449734e-05,-1.50802558e-04,-1.13990401e-04, 3.16216843e-06,
  3.32260382e-02,-1.23565457e-03, 1.23433935e-02,-3.61571314e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005737691817997992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.67482273e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.67482273e-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([ 0.09496847, -0.09310874,  0.06198606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00893012e-05,-2.08376700e-05,-2.84096748e-05,-7.20705062e-06,
  5.73927811e-06, 2.13181149e-05,-2.73742183e-05,-1.93298049e-05,
  6.58592732e-06, 4.19621902e-05, 1.54140814e-05, 9.78960021e-07,
 -2.23227954e-04,-5.86163780e-05,-1.26717028e-04, 7.94145499e-05,
  9.50293817e-06,-5.75172807e-07,-7.84783962e+00, 7.32539979e-04,
  9.41249745e-03,-2.81928879e-06]


--- Step 628 ---
qpos:
[ 7.17962910e-03, 4.05007314e-03,-3.61334402e-03,-2.58549181e-02,
  6.05485771e-03,-2.92144318e-03,-1.78526529e-02, 1.16585391e-02,
  1.56443620e-02, 2.32650209e-03,-8.95374288e-03, 2.40528753e-02,
  1.01042313e+00,-9.44495507e-03, 7.23460385e-01, 6.25824333e-02,
  9.49875822e-02,-7.01588660e-02, 1.21431647e-01, 9.99981281e-01,
  8.98492392e-05,-1.12187890e-05, 6.11798092e-03]

qacc:
[ -3.22508507,  1.30415617, -3.67814166,  2.31656648, -2.55671315,
   3.2477032 ,-13.0626358 , 22.23313642, -5.41714213,  0.367221  ,
  -1.25565355,  1.79660354, -1.27219019,  2.23742642,-12.0797642 ,
  39.80411461,  0.09634183,  1.78158763, -0.32102826,-30.21789977,
   2.02139768,  0.83604465]

qfrc_actuator:
[ 3.60264538e-05, 1.87835665e-05,-1.43428638e-04,-1.03791092e-04,
  4.70908706e-05,-3.37723653e-04,-2.50486121e-04,-2.25940393e-05,
 -1.93065859e-05,-1.68569317e-04,-1.26165816e-04, 2.67279515e-06,
  3.31353231e-02,-1.22394371e-03, 1.23258891e-02,-3.43010354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005738107644842338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.67412162e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.67412162e-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([ 0.09496811, -0.09310896,  0.06198606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.87420612e-05, 2.14189877e-05,-1.87240544e-05,-5.05889773e-06,
 -1.48807719e-05, 1.84327880e-05,-3.32177670e-05, 2.40982453e-05,
 -3.16562850e-05, 8.99380053e-06,-1.55200953e-06, 1.86534964e-06,
 -2.46762967e-04,-4.02848010e-05,-6.92340482e-05, 1.73180100e-04,
  6.58231023e-06, 2.05267312e-06,-7.84788782e+00, 7.32229147e-04,
  9.43886464e-03,-2.98512240e-06]


--- Step 629 ---
qpos:
[ 7.17924557e-03, 4.05056681e-03,-3.61378494e-03,-2.58548443e-02,
  6.05527528e-03,-2.92092733e-03,-1.78519423e-02, 1.16595313e-02,
  1.56441413e-02, 2.32509553e-03,-8.95427596e-03, 2.40532957e-02,
  1.01116651e+00,-9.44436257e-03, 7.24031989e-01, 6.25888597e-02,
  9.49979305e-02,-7.01446389e-02, 1.21428655e-01, 9.99981270e-01,
 -3.21353535e-05, 7.92220094e-05, 6.11977223e-03]

qacc:
[-11.05884071,  0.59002264, -2.86354064,  7.39052302, -4.66499331,
   0.94937648, -4.31780054,  9.04754572,  2.73511477,  1.6773807 ,
  -6.84249309, 12.67047824, -1.1037232 ,  1.75659795,-12.21067832,
  41.46331555,  0.09596711,  1.77025436, -0.39202945,-29.96837451,
   2.04895528,  0.76754193]

qfrc_actuator:
[-2.80909724e-05, 4.20620836e-05,-1.31615317e-04,-8.77192778e-05,
  2.00992559e-05,-3.30248316e-04,-2.52784695e-04,-8.46308604e-06,
 -2.32997799e-06,-1.43102439e-04,-1.33311230e-04, 2.00762549e-05,
  3.30594884e-02,-1.21727095e-03, 1.23268055e-02,-3.23310408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005723395077780191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.84949497e-14,  1.93979799e-13,  1.00000000e+00,  9.40704057e-27,
        1.00000000e+00, -1.93979799e-13, -1.00000000e+00,  0.00000000e+00,
       -4.84949497e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0949678 , -0.09310966,  0.0619861 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.46416160e-05, 3.11590203e-05, 1.37595992e-05, 1.62443705e-05,
 -2.74099975e-05, 1.19230139e-05,-1.76462486e-06, 1.42365605e-05,
  1.60747431e-05, 3.03070504e-05,-5.39053792e-06, 1.77769113e-05,
 -2.42976921e-04,-4.77123339e-05,-1.66493899e-05, 1.96561545e-04,
  7.13767425e-06, 4.60724543e-06,-7.84781513e+00, 7.12624865e-04,
  9.46657798e-03,-2.04756689e-06]


--- Step 630 ---
qpos:
[ 7.17844158e-03, 4.05099204e-03,-3.61393895e-03,-2.58549020e-02,
  6.05536596e-03,-2.92038370e-03,-1.78509404e-02, 1.16603222e-02,
  1.56448149e-02, 2.32429779e-03,-8.95503240e-03, 2.40531863e-02,
  1.01190839e+00,-9.44340483e-03, 7.24603581e-01, 6.25913041e-02,
  9.50041509e-02,-7.01364387e-02, 1.21426105e-01, 9.99981232e-01,
 -1.02974587e-04, 1.32556200e-04, 6.12428866e-03]

qacc:
[ -3.69090839, -1.15591954,  4.55506897, -7.24533418, -2.85197783,
  -1.18557869,  5.14021874, -9.12035958,  7.85288337,  0.32304871,
   2.22569682,-11.45603808, -1.52765404,  2.90255619, 12.06043645,
 -42.09250191, -1.03196752, -1.50669977,  0.11027691, 25.45855036,
 -18.70949804,  1.36405332]

qfrc_actuator:
[-4.79015992e-05, 2.02038206e-05,-1.24411737e-04,-9.60277147e-05,
  4.05682339e-06,-3.26029691e-04,-2.36641389e-04,-1.82961081e-05,
  4.32622498e-05,-9.19188904e-05,-1.37246028e-04,-5.35091590e-06,
  3.29926343e-02,-1.19585205e-03, 1.22748572e-02,-3.45702495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005725792518313233
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.84746444e-14,  3.63559833e-14,  1.00000000e+00, -1.76234336e-27,
        1.00000000e+00, -3.63559833e-14, -1.00000000e+00,  0.00000000e+00,
        4.84746444e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10890384, -0.05175672,  0.06198609])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16380427e-05,-9.31044669e-07, 1.58978691e-05,-6.17942042e-06,
 -1.68219126e-05, 1.10925916e-05, 1.88657887e-05,-9.10993935e-06,
  4.60540561e-05, 6.78409108e-05, 2.29757124e-06,-2.39662596e-05,
 -2.32700784e-04,-3.34359744e-05,-4.53409735e-05,-2.16911089e-04,
  1.07550255e-05, 7.17011219e-06,-7.84762473e+00, 6.73886880e-04,
  9.49563247e-03,-1.64696611e-08]


--- Step 631 ---
qpos:
[ 7.17844076e-03, 4.05131734e-03,-3.61393203e-03,-2.58553906e-02,
  6.05491861e-03,-2.91988366e-03,-1.78499999e-02, 1.16613682e-02,
  1.56460301e-02, 2.32375008e-03,-8.95571221e-03, 2.40527985e-02,
  1.01264882e+00,-9.44218600e-03, 7.25174486e-01, 6.25871585e-02,
  9.50062871e-02,-7.01341992e-02, 1.21423509e-01, 9.99981183e-01,
 -1.23510406e-04, 1.49427228e-04, 6.13152558e-03]

qacc:
[ 7.07644224e+00,-1.48343095e+00, 6.88801828e+00,-1.44929096e+01,
 -4.70911278e+00, 6.47957860e-01,-3.45540576e+00, 7.98433014e+00,
  4.76310682e+00,-4.66475222e-01, 3.30277887e+00,-8.41296971e+00,
 -1.44671947e+00, 2.65398376e+00, 1.89289033e+01,-6.75908862e+01,
 -1.02105655e+00,-1.49020542e+00,-1.11782724e-02, 2.50393988e+01,
 -1.83854155e+01, 1.36171016e+00]

qfrc_actuator:
[-5.95621114e-06, 6.95983091e-06,-1.20200126e-04,-1.18663519e-04,
 -2.31614020e-05,-3.41485270e-04,-2.45283567e-04,-6.63891945e-06,
  6.98114609e-05,-9.67602081e-05,-1.39170318e-04,-2.02456754e-05,
  3.29205696e-02,-1.18360295e-03, 1.21964825e-02,-3.80299772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005792450803780297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58336171e-14,  1.91667234e-13,  1.00000000e+00,  1.83681643e-26,
        1.00000000e+00, -1.91667234e-13, -1.00000000e+00,  0.00000000e+00,
       -9.58336171e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10890258, -0.05175835,  0.06198593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13289455e-05,-1.07641437e-05, 5.76204230e-06,-2.22454544e-05,
 -2.76953477e-05,-5.78543016e-06,-4.36146074e-06, 1.26035302e-05,
  2.78788984e-05, 3.25994812e-05, 1.15601989e-05,-1.23724828e-05,
 -2.28955616e-04,-3.82807870e-05,-1.31576299e-04,-3.65831952e-04,
  7.76232330e-06,-5.13173573e-07,-7.84787180e+00, 6.51604690e-04,
  9.51308442e-03, 1.86736917e-06]


--- Step 632 ---
qpos:
[ 7.17790756e-03, 4.05150207e-03,-3.61388069e-03,-2.58554423e-02,
  6.05380346e-03,-2.91951876e-03,-1.78487937e-02, 1.16618445e-02,
  1.56475547e-02, 2.32307234e-03,-8.95597894e-03, 2.40529519e-02,
  1.01338791e+00,-9.44110792e-03, 7.25743844e-01, 6.25834753e-02,
  9.50043778e-02,-7.01378622e-02, 1.21420433e-01, 9.99981128e-01,
 -9.44544978e-05, 1.30377045e-04, 6.14147486e-03]

qacc:
[ -4.68213481,  0.59892046, -4.22915887, 11.79528591, -5.83324416,
  -2.08185915,  9.59005833,-19.79982891,  2.73817653, -0.21726134,
  -1.76971588, 10.58444075, -0.74338862,  0.76634329, -3.65626672,
   9.52359402, -1.01136126, -1.47559897, -0.12022366, 24.68506843,
 -18.11247022,  1.35765395]

qfrc_actuator:
[-3.45284423e-05,-1.05671910e-06,-1.17772492e-04,-9.62857088e-05,
 -5.67432064e-05,-3.50932476e-04,-2.33055660e-04,-3.57213562e-05,
  8.49300063e-05,-1.17348575e-04,-1.22346318e-04, 6.64501053e-06,
  3.28507534e-02,-1.19465030e-03, 1.21715485e-02,-3.75643226e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005830727695892435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.76022498e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.76022498e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10890186, -0.05175923,  0.06198584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74024227e-05,-1.37945923e-05, 1.39994753e-07, 2.16816780e-05,
 -3.43754428e-05,-1.30844185e-05, 1.09136685e-05,-2.92403907e-05,
  1.59195268e-05,-4.58588438e-07, 2.45690087e-05, 2.84496050e-05,
 -2.25878851e-04,-6.12559210e-05,-1.30543387e-04, 8.21809654e-06,
  2.73402784e-06,-1.66148098e-06,-7.84798836e+00, 6.45061243e-04,
  9.51845609e-03, 2.50355891e-06]


--- Step 633 ---
qpos:
[ 7.17669150e-03, 4.05154625e-03,-3.61382697e-03,-2.58545320e-02,
  6.05229408e-03,-2.91909090e-03,-1.78475106e-02, 1.16616107e-02,
  1.56485588e-02, 2.32242699e-03,-8.95606297e-03, 2.40534216e-02,
  1.01412575e+00,-9.44046628e-03, 7.26312028e-01, 6.25828681e-02,
  9.49984569e-02,-7.01473768e-02, 1.21416487e-01, 9.99981060e-01,
 -1.64019913e-05, 7.58574811e-05, 6.15412575e-03]

qacc:
[ -6.00799225,  1.80051377,-10.72014707, 27.42351424, -3.44889905,
  -1.5861499 ,  8.78637405,-21.25848241, -4.5747153 ,  0.19222372,
  -1.94312572,  7.08409614, -0.31968093, -0.40593417,-11.01425843,
  36.0268355 , -1.00291915, -1.46290597, -0.21744731, 24.3887428 ,
 -17.88493879,  1.35234508]

qfrc_actuator:
[-6.88917145e-05,-5.85619797e-06,-1.16363096e-04,-4.75952022e-05,
 -7.60455563e-05,-3.38913043e-04,-2.26360779e-04,-7.07720706e-05,
  5.77004019e-05,-1.11599843e-04,-1.12393071e-04, 2.23932468e-05,
  3.27876545e-02,-1.21937814e-03, 1.21628037e-02,-3.58527602e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005845411947292128
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49653365e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.49653365e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1089016 , -0.05175948,  0.0619858 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51478977e-05,-1.15710678e-05,-6.73457579e-07, 4.85276938e-05,
 -2.02882624e-05, 5.66348788e-06, 4.30670922e-06,-3.58059484e-05,
 -2.67820421e-05, 1.18242588e-05, 1.38807337e-05, 1.71337794e-05,
 -2.21391029e-04,-7.77775694e-05,-7.02921861e-05, 1.54243581e-04,
 -4.30844509e-06, 3.53513569e-06,-7.84798066e+00, 6.54038129e-04,
  9.51193242e-03, 1.91825408e-06]


--- Step 634 ---
qpos:
[ 7.17507272e-03, 4.05158956e-03,-3.61406127e-03,-2.58533885e-02,
  6.05125469e-03,-2.91869143e-03,-1.78464465e-02, 1.16616816e-02,
  1.56488838e-02, 2.32200819e-03,-8.95609830e-03, 2.40540606e-02,
  1.01486231e+00,-9.43985748e-03, 7.26879179e-01, 6.25820149e-02,
  9.49885531e-02,-7.01626998e-02, 1.21411326e-01, 9.99980963e-01,
  1.10156292e-04,-1.37597581e-05, 6.16946563e-03]

qacc:
[ -3.55381997,  1.29126219, -5.57477924, 10.05079911,  4.10651773,
   1.19311158, -5.60939744, 11.2698874 , -5.9786043 ,  0.52347699,
  -2.12662033,  4.79008066, -0.84465205,  1.12398757, -0.75268559,
   0.48173931, -0.99572235, -1.45209203, -0.30364295, 24.14432928,
 -17.69778149,  1.34610564]

qfrc_actuator:
[-8.86135285e-05,-8.66923254e-06,-1.33293011e-04,-3.70748437e-05,
 -5.12814061e-05,-3.49662940e-04,-2.40655850e-04,-5.57777003e-05,
  2.35206546e-05,-9.01592716e-05,-1.06497124e-04, 3.14645627e-05,
  3.27339518e-02,-1.21645699e-03, 1.20892335e-02,-3.60845345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005840724061965258
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18801947e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.18801947e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10890171, -0.05175923,  0.06198581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07264752e-05,-7.35733428e-06,-1.77245175e-05, 1.09459900e-05,
  2.41877985e-05,-8.26478580e-06,-1.38525692e-05, 1.46867467e-05,
 -3.49398230e-05, 3.16714288e-05, 1.06505685e-05, 1.03936700e-05,
 -2.11918699e-04,-5.18237910e-05,-9.35038302e-05,-2.47576448e-05,
 -1.33817711e-05, 1.48561453e-05,-7.84785357e+00, 6.78352458e-04,
  9.49366701e-03, 1.32697223e-07]


--- Step 635 ---
qpos:
[ 7.17391989e-03, 4.05147742e-03,-3.61439560e-03,-2.58528112e-02,
  6.05120985e-03,-2.91836935e-03,-1.78455392e-02, 1.16619337e-02,
  1.56487964e-02, 2.32165647e-03,-8.95600892e-03, 2.40551639e-02,
  1.01559752e+00,-9.43865235e-03, 7.27444480e-01, 6.25780786e-02,
  9.49789704e-02,-7.01704768e-02, 1.21407100e-01, 9.99980856e-01,
  1.72665833e-04,-9.79428069e-05, 6.18449660e-03]

qacc:
[  4.10065545, -1.09988614,  5.99424684,-15.49042774,  8.69945217,
   0.69189569, -3.41015937,  6.88642008, -3.62513101,  0.70303525,
  -4.32619918, 12.09988706, -1.57891495,  3.30946237,  6.63897942,
 -27.05713403,  0.08029405,  1.88648911,  0.23360632,-32.00700038,
   2.91459974, -0.1542755 ]

qfrc_actuator:
[-6.40522172e-05,-2.81264826e-05,-1.43184417e-04,-6.68652089e-05,
 -7.83892169e-07,-3.56255631e-04,-2.49527198e-04,-4.69922711e-05,
  3.29031225e-06,-9.50159687e-05,-1.02974650e-04, 5.43028215e-05,
  3.26806090e-02,-1.17942286e-03, 1.19448429e-02,-3.78164470e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005935993631247805
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.67580953e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.67580953e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497174, -0.09310513,  0.06198558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39702192e-05,-2.67670445e-05,-1.32129600e-05,-3.05063605e-05,
  5.11856334e-05,-1.34649815e-05,-1.17949702e-05, 8.23330662e-06,
 -2.12140490e-05, 1.55025964e-05, 1.17417676e-05, 2.47674227e-05,
 -2.00496421e-04,-1.19712069e-05,-1.94644581e-04,-1.87668965e-04,
 -2.45411167e-05, 3.20512191e-05,-7.84761083e+00, 7.17853094e-04,
  9.46378547e-03,-2.83613479e-06]


--- Step 636 ---
qpos:
[ 7.17272528e-03, 4.05108240e-03,-3.61453561e-03,-2.58522537e-02,
  6.05108114e-03,-2.91827308e-03,-1.78446604e-02, 1.16619542e-02,
  1.56491571e-02, 2.32118698e-03,-8.95576314e-03, 2.40565542e-02,
  1.01633151e+00,-9.43729744e-03, 7.28007332e-01, 6.25737602e-02,
  9.49697136e-02,-7.01708153e-02, 1.21403227e-01, 9.99980752e-01,
  1.72172833e-04,-1.77041949e-04, 6.19957490e-03]

qacc:
[-3.56667205e-01,-9.57385155e-01, 2.95525290e+00,-3.40056452e+00,
 -7.31186720e-01,-6.93976794e-01, 3.02210595e+00,-6.82255793e+00,
  3.94922002e+00,-9.47736045e-03,-1.41754160e+00, 6.23721967e+00,
 -9.50455745e-01, 1.56536273e+00,-2.42529112e+00, 3.30942496e+00,
  8.14655628e-02, 1.85960910e+00, 8.82454518e-02,-3.14849445e+01,
  2.73672835e+00, 2.62994646e-02]

qfrc_actuator:
[-6.68864915e-05,-3.96627130e-05,-1.31172885e-04,-6.68780290e-05,
 -6.56944740e-06,-3.78046269e-04,-2.55118796e-04,-5.96832200e-05,
  2.69396934e-05,-1.15582180e-04,-1.00971743e-04, 6.72859063e-05,
  3.26168829e-02,-1.17579486e-03, 1.18379576e-02,-3.79337193e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006007413888547558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.6202203e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        4.6202203e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497291, -0.09310343,  0.06198541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16043036e-06,-3.05208043e-05, 3.80467464e-06,-2.21115889e-06,
 -4.32772650e-06,-3.14087140e-05,-9.55792497e-06,-1.35212989e-05,
  2.30497749e-05,-8.40869185e-06, 7.50979957e-06, 1.45347215e-05,
 -1.96169468e-04,-3.70511383e-05,-2.17344252e-04,-4.72511936e-05,
 -8.75538218e-06, 2.52949783e-05,-7.84782217e+00, 7.37837046e-04,
  9.43791540e-03,-3.70144055e-06]


--- Step 637 ---
qpos:
[ 7.17081627e-03, 4.05046620e-03,-3.61457035e-03,-2.58513575e-02,
  6.05019463e-03,-2.91825496e-03,-1.78439192e-02, 1.16618112e-02,
  1.56501431e-02, 2.32057955e-03,-8.95544981e-03, 2.40580985e-02,
  1.01706420e+00,-9.43581514e-03, 7.28568150e-01, 6.25705070e-02,
  9.49607851e-02,-7.01638093e-02, 1.21399188e-01, 9.99980649e-01,
  1.09570906e-04,-2.51342792e-04, 6.21498590e-03]

qacc:
[ -6.28131261,  0.12324375, -2.26919273,  8.09573494, -6.63417557,
  -0.04253297,  0.71463997, -3.29172703,  5.50806513, -0.06475062,
  -0.70267571,  3.38239793, -0.95444465,  1.50380981, -6.18199965,
  17.34457913,  0.08206594,  1.8361495 , -0.04156824,-31.03896321,
   2.59165695,  0.17142621]

qfrc_actuator:
[-1.03589418e-04,-4.62567147e-05,-1.24026561e-04,-4.93441607e-05,
 -4.54442290e-05,-3.73271050e-04,-2.58808162e-04,-6.71670057e-05,
  5.84689186e-05,-1.27663445e-04,-9.99621458e-05, 7.43473871e-05,
  3.25416376e-02,-1.17424989e-03, 1.17749991e-02,-3.72744113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006046158789616146
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.59061308e-14,  9.18122616e-14,  1.00000000e+00,  4.21474569e-27,
        1.00000000e+00, -9.18122616e-14, -1.00000000e+00,  0.00000000e+00,
       -4.59061308e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497381, -0.09310268,  0.06198531])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67737114e-05,-2.29522005e-05, 1.24091694e-06, 1.63158057e-05,
 -3.90084386e-05,-1.53573369e-05,-1.18334953e-05,-9.42560366e-06,
  3.21792767e-05,-1.45891173e-05, 6.99527988e-07, 7.24035697e-06,
 -2.09924200e-04,-4.18757682e-05,-1.66191903e-04, 3.57852498e-05,
  6.22914379e-06, 1.93674821e-05,-7.84789830e+00, 7.37680984e-04,
  9.41359702e-03,-3.44093334e-06]


--- Step 638 ---
qpos:
[ 7.16986204e-03, 4.04971978e-03,-3.61453151e-03,-2.58506132e-02,
  6.04919364e-03,-2.91794867e-03,-1.78434028e-02, 1.16611925e-02,
  1.56508096e-02, 2.31985017e-03,-8.95511755e-03, 2.40597170e-02,
  1.01779549e+00,-9.43421933e-03, 7.29127896e-01, 6.25678537e-02,
  9.49521856e-02,-7.01495394e-02, 1.21394521e-01, 9.99980536e-01,
 -1.43860475e-05,-3.21078564e-04, 6.23095945e-03]

qacc:
[  8.40902136, -0.70712081,  2.88259084, -5.49843513, -1.01412205,
   0.03167825,  2.45149454,-10.54089197, -2.80921374, -0.05606028,
  -0.3373999 ,  1.66927756, -1.05081425,  1.64465317, -3.35282961,
   9.51989774,  0.08224827,  1.8159806 , -0.15671404,-30.66266215,
   2.47318062,  0.28876227]

qfrc_actuator:
[-5.34083952e-05,-4.98339174e-05,-1.19788021e-04,-5.71381871e-05,
 -5.02071906e-05,-3.34861007e-04,-2.61235710e-04,-8.92545813e-05,
  4.11115305e-05,-1.34586471e-04,-9.95222521e-05, 7.78741095e-05,
  3.24595325e-02,-1.17399226e-03, 1.17597508e-02,-3.68722049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006057837398022459
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37452892e-13,  1.83270522e-13,  1.00000000e+00,  2.51910633e-26,
        1.00000000e+00, -1.83270522e-13, -1.00000000e+00,  0.00000000e+00,
       -1.37452892e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497448, -0.09310273,  0.06198529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91296644e-05,-1.54430741e-05, 2.24267069e-07,-8.41484545e-06,
 -5.88193587e-06, 2.69515407e-05,-7.39054530e-06,-2.33383400e-05,
 -1.64498758e-05,-1.45973367e-05,-2.23730601e-06, 3.06269140e-06,
 -2.26245959e-04,-4.68542786e-05,-8.80107029e-05, 2.07501885e-05,
  2.14086499e-05, 1.39948765e-05,-7.84784561e+00, 7.17680914e-04,
  9.39080308e-03,-2.06500310e-06]


--- Step 639 ---
qpos:
[ 7.17020610e-03, 4.04911749e-03,-3.61484615e-03,-2.58499738e-02,
  6.04848797e-03,-2.91756035e-03,-1.78425984e-02, 1.16603042e-02,
  1.56509180e-02, 2.31926988e-03,-8.95516125e-03, 2.40610123e-02,
  1.01852542e+00,-9.43287809e-03, 7.29687054e-01, 6.25668803e-02,
  9.49484771e-02,-7.01380035e-02, 1.21391932e-01, 9.99980444e-01,
 -1.14113854e-04,-3.49510445e-04, 6.24308064e-03]

qacc:
[ 11.41446518,  0.94037336, -2.67220505,  1.35725283,  2.59173937,
  -1.25600779,  5.76571492,-10.94424108, -4.92554771,  0.59210695,
  -0.44392379, -4.67671139, -0.62963614,  0.39477231, -5.92202111,
  19.49779692,  1.22277843, -0.68353166,  0.51914315, 12.24240067,
  20.57608946, -1.9298001 ]

qfrc_actuator:
[ 1.20143008e-05,-3.38509129e-05,-1.35057217e-04,-6.20211723e-05,
 -3.48432424e-05,-3.29863039e-04,-2.45011293e-04,-1.01974244e-04,
  1.28695998e-05,-1.20622729e-04,-1.17155218e-04, 6.15456590e-05,
  3.23840192e-02,-1.19229675e-03, 1.17677893e-02,-3.59137618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006123294897707604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.53278440e-14, -1.81311376e-13,  1.00000000e+00, -8.21845378e-27,
        1.00000000e+00,  1.81311376e-13, -1.00000000e+00,  0.00000000e+00,
       -4.53278440e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187105, -0.06202956,  0.06198513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.68151983e-05, 7.07840647e-06,-1.87166903e-05,-5.70229407e-06,
  1.52065744e-05, 1.75247259e-05, 2.00651830e-05,-1.22749899e-05,
 -2.87160661e-05, 5.48520446e-06,-2.08154757e-05,-1.69737283e-05,
 -2.30751050e-04,-6.96865111e-05,-3.46821561e-05, 8.46076374e-05,
  3.75084124e-05, 9.06154280e-06,-7.84766915e+00, 6.78085352e-04,
  9.36950612e-03, 4.17138441e-07]


--- Step 640 ---
qpos:
[ 7.17064196e-03, 4.04880045e-03,-3.61544432e-03,-2.58494213e-02,
  6.04797191e-03,-2.91705808e-03,-1.78419438e-02, 1.16603325e-02,
  1.56510320e-02, 2.31865141e-03,-8.95536774e-03, 2.40621112e-02,
  1.01925397e+00,-9.43147763e-03, 7.30246442e-01, 6.25610097e-02,
  9.49495898e-02,-7.01291715e-02, 1.21390843e-01, 9.99980383e-01,
 -1.90199616e-04,-3.37222570e-04, 6.25162207e-03]

qacc:
[ 7.94240354e-01, 9.89290895e-01,-2.61632741e+00, 1.35929041e+00,
  1.65319511e+00, 2.45224188e+00,-1.24017701e+01, 2.84301503e+01,
  4.46447152e-02, 1.79129762e-04, 7.55076121e-01,-3.86509871e+00,
 -1.17436236e+00, 1.88178749e+00, 1.51617458e+01,-5.24669124e+01,
  1.20527085e+00,-6.75947214e-01, 3.75226439e-01, 1.19472759e+01,
  2.02858904e+01,-1.79175268e+00]

qfrc_actuator:
[ 1.48460642e-05,-6.35404666e-06,-1.43880797e-04,-6.51437962e-05,
 -2.55198009e-05,-3.27068800e-04,-2.53523816e-04,-5.58310510e-05,
  1.39685521e-05,-1.29854461e-04,-1.27491935e-04, 5.14243893e-05,
  3.23231584e-02,-1.18591056e-03, 1.17471887e-02,-3.85403563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006173131499907919
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.99238113e-14,  8.99238113e-14,  1.00000000e+00,  8.08629184e-27,
        1.00000000e+00, -8.99238113e-14, -1.00000000e+00,  0.00000000e+00,
       -8.99238113e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187146, -0.06203067,  0.06198501])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73499852e-06, 2.73914360e-05,-9.85760076e-06,-3.58026996e-06,
  9.76371527e-06, 1.61962246e-05,-2.85841512e-06, 4.73482728e-05,
  2.84943281e-07,-1.11825478e-05,-1.23491797e-05,-1.09370658e-05,
 -2.23238944e-04,-4.93936327e-05,-3.41183382e-05,-2.64048714e-04,
  2.06779126e-05, 2.40804497e-06,-7.84782394e+00, 6.46746317e-04,
  9.36001455e-03, 1.88901799e-06]


--- Step 641 ---
qpos:
[ 7.17076406e-03, 4.04861640e-03,-3.61553871e-03,-2.58492915e-02,
  6.04791680e-03,-2.91655622e-03,-1.78416077e-02, 1.16609402e-02,
  1.56511580e-02, 2.31796882e-03,-8.95567607e-03, 2.40627342e-02,
  1.01998124e+00,-9.43004971e-03, 7.30805011e-01, 6.25488471e-02,
  9.49554635e-02,-7.01230157e-02, 1.21390745e-01, 9.99980356e-01,
 -2.43133868e-04,-2.84713984e-04, 6.25680677e-03]

qacc:
[ -2.74854482, -2.0978692 ,  9.52302401,-17.73867626,  4.02385339,
   2.07363381, -9.85517294, 20.40900253,  0.10315461, -0.7802914 ,
   4.66871134,-12.69669938, -1.0954723 ,  1.72826483, 17.81737297,
 -64.0222402 ,  1.19025589, -0.66905118,  0.24767316, 11.70068764,
  20.0379179 , -1.6785075 ]

qfrc_actuator:
[-1.43693970e-06, 1.00997475e-05,-1.13260286e-04,-8.49389194e-05,
 -2.08045543e-06,-3.43414167e-04,-2.76555921e-04,-2.87064498e-05,
  1.45789622e-05,-1.35123193e-04,-1.33513689e-04, 2.72772369e-05,
  3.22658142e-02,-1.18267457e-03, 1.16614200e-02,-4.18387094e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006193341036105499
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48151901e-14, -6.72227852e-14,  1.00000000e+00, -3.01260190e-27,
        1.00000000e+00,  6.72227852e-14, -1.00000000e+00,  0.00000000e+00,
       -4.48151901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187139, -0.06203131,  0.06198496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61369073e-05, 2.95991461e-05, 3.49489573e-05,-1.90324250e-05,
  2.37220940e-05,-5.87265766e-06,-1.84144006e-05, 2.86381428e-05,
  6.13600976e-07,-1.45188652e-05,-1.02238729e-05,-2.52671245e-05,
 -2.11107181e-04,-4.79802326e-05,-1.39664389e-04,-3.51001253e-04,
  1.07028702e-05,-1.07915135e-06,-7.84790275e+00, 6.22792992e-04,
  9.36364734e-03, 3.10675162e-06]


--- Step 642 ---
qpos:
[ 7.17068998e-03, 4.04882949e-03,-3.61567025e-03,-2.58490515e-02,
  6.04848810e-03,-2.91612536e-03,-1.78414895e-02, 1.16615257e-02,
  1.56502555e-02, 2.31712779e-03,-8.95630295e-03, 2.40630904e-02,
  1.02070724e+00,-9.42885080e-03, 7.31361414e-01, 6.25381549e-02,
  9.49660475e-02,-7.01195115e-02, 1.21391188e-01, 9.99980358e-01,
 -2.73324325e-04,-1.92404522e-04, 6.25881832e-03]

qacc:
[-1.73482176, 0.85914112,-2.75963351, 4.42414791, 5.47588251, 0.45844606,
 -1.69548284, 1.73118591,-9.05795395, 0.14956868, 0.31960302,-4.34281003,
 -0.56237193, 0.31840182,-7.61807957,22.04290609, 1.17758611,-0.66291521,
  0.13539751,11.49573867,19.82928573,-1.58504391]

qfrc_actuator:
[-1.10673210e-05, 3.77184801e-05,-1.12905127e-04,-7.88616067e-05,
  2.94812672e-05,-3.53421883e-04,-2.90318557e-04,-3.07750637e-05,
 -3.83702862e-05,-1.55725566e-04,-1.54694951e-04, 1.28253628e-05,
  3.21946438e-02,-1.19907324e-03, 1.15952204e-02,-4.08908988e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006189247168854467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48448331e-14, -6.72672496e-14,  1.00000000e+00, -3.01658858e-27,
        1.00000000e+00,  6.72672496e-14, -1.00000000e+00,  0.00000000e+00,
       -4.48448331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187091, -0.06203158,  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:
[-1.00783293e-05, 5.05752882e-05, 1.01176970e-05, 8.18412507e-06,
  3.22369713e-05,-1.58833195e-05,-1.62651654e-05,-2.40435194e-06,
 -5.29377737e-05,-3.18885608e-05,-2.63036052e-05,-1.59187474e-05,
 -2.17490804e-04,-6.46518156e-05,-1.73133408e-04, 5.64105264e-05,
  6.95967971e-06,-1.85980327e-06,-7.84790930e+00, 6.06097440e-04,
  9.38022120e-03, 4.07090847e-06]


--- Step 643 ---
qpos:
[ 7.17015581e-03, 4.04968879e-03,-3.61649329e-03,-2.58483820e-02,
  6.04908846e-03,-2.91564264e-03,-1.78416040e-02, 1.16620671e-02,
  1.56483807e-02, 2.31575566e-03,-8.95648704e-03, 2.40636115e-02,
  1.02143195e+00,-9.42809505e-03, 7.31916842e-01, 6.25290729e-02,
  9.49812999e-02,-7.01186376e-02, 1.21391780e-01, 9.99980378e-01,
 -2.81107474e-04,-6.06407341e-05, 6.25780874e-03]

qacc:
[ -4.08261041,  3.67995383,-13.67451492, 21.70748573,  0.2461066 ,
   0.62738742, -1.9526198 ,  1.52540131, -8.53353382, -1.58353132,
   3.96060962, -1.4560142 , -0.3915007 , -0.27187158, -6.29500641,
  19.94454082,  1.16709693, -0.65756755,  0.03715934, 11.32661503,
  19.65706864, -1.50735314]

qfrc_actuator:
[-3.44508405e-05, 7.17188273e-05,-1.48122386e-04,-5.76246740e-05,
  3.00612998e-05,-3.41803622e-04,-2.98492664e-04,-3.22370721e-05,
 -8.69143815e-05,-1.85408143e-04,-1.31456556e-04, 2.19243834e-05,
  3.21205480e-02,-1.22700725e-03, 1.15994965e-02,-3.99332127e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006165512316981814
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.50174684e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.50174684e-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([ 0.0818701 , -0.06203155,  0.06198502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36534440e-05, 6.47119327e-05,-2.32432816e-05, 2.39116472e-05,
  1.49626524e-06,-7.33333539e-07,-1.35507349e-05,-2.75614722e-06,
 -5.00607347e-05,-5.36147820e-05, 1.28782791e-05, 6.51702478e-06,
 -2.27657184e-04,-8.00046861e-05,-6.88253266e-05, 7.67038719e-05,
  9.00193308e-06,-2.93093347e-07,-7.84784651e+00, 5.96551061e-04,
  9.40958384e-03, 4.78234247e-06]


--- Step 644 ---
qpos:
[ 7.16900065e-03, 4.05089075e-03,-3.61761470e-03,-2.58477965e-02,
  6.04969138e-03,-2.91508588e-03,-1.78418356e-02, 1.16622303e-02,
  1.56469727e-02, 2.31399933e-03,-8.95585130e-03, 2.40638465e-02,
  1.02215538e+00,-9.42794895e-03, 7.32471686e-01, 6.25220930e-02,
  9.49924749e-02,-7.01236990e-02, 1.21392247e-01, 9.99980381e-01,
 -2.38698193e-04, 3.45514152e-05, 6.25932581e-03]

qacc:
[-5.48163954e+00, 1.12475240e+00,-2.97992516e+00, 1.73042973e+00,
  1.71525461e-02,-3.53676410e-01, 3.00035880e+00,-9.41545172e+00,
  4.14114445e+00,-3.39615504e+00, 1.25661588e+01,-1.85293910e+01,
 -2.21114043e-01,-8.02293368e-01,-7.20927560e+00, 2.39658058e+01,
 -1.01936236e+00,-1.48381786e+00,-3.13884505e-02, 2.49813674e+01,
 -1.84428637e+01, 1.25669613e+00]

qfrc_actuator:
[-6.57438673e-05, 7.36349579e-05,-1.68508631e-04,-6.31606914e-05,
  3.01517368e-05,-3.35056873e-04,-3.03211718e-04,-5.10570601e-05,
 -6.14495706e-05,-1.84597545e-04,-8.22002904e-05, 9.32386141e-06,
  3.20500703e-02,-1.26155668e-03, 1.15980968e-02,-3.87993558e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006146772123132027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.69330189e-14,  2.82216982e-14,  1.00000000e+00,  4.77878549e-28,
        1.00000000e+00, -2.82216982e-14, -1.00000000e+00,  0.00000000e+00,
       -1.69330189e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889241, -0.05176585,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.19443056e-05, 3.42963472e-05,-9.05626954e-06,-3.10399891e-06,
  1.33591353e-07, 3.40276812e-06,-6.64077275e-06,-1.93760845e-05,
  2.40186105e-05,-2.62043920e-05, 4.00102382e-05,-1.43216769e-05,
 -2.33075457e-04,-9.12265460e-05,-2.96474784e-05, 1.07614445e-04,
  1.65256456e-05, 3.33275234e-06,-7.84771665e+00, 5.94062631e-04,
  9.45161061e-03, 5.24211043e-06]


--- Step 645 ---
qpos:
[ 7.16747945e-03, 4.05202873e-03,-3.61853548e-03,-2.58469183e-02,
  6.05029059e-03,-2.91431786e-03,-1.78422075e-02, 1.16621503e-02,
  1.56465704e-02, 2.31191904e-03,-8.95517530e-03, 2.40639749e-02,
  1.02287750e+00,-9.42796862e-03, 7.33025473e-01, 6.25185784e-02,
  9.49996177e-02,-7.01346365e-02, 1.21392119e-01, 9.99980369e-01,
 -1.46833235e-04, 9.37938212e-05, 6.26341920e-03]

qacc:
[-3.21457612e+00,-3.63514436e-02,-1.21538360e+00, 5.98981508e+00,
 -4.05599826e-02, 1.70660257e-01, 8.23270254e-01,-4.96264896e+00,
  8.85555019e+00,-7.77376424e-01, 2.57048159e+00,-4.20814925e+00,
 -6.23773235e-01, 4.86080052e-01,-1.19999406e+01, 3.97640851e+01,
 -1.00804845e+00,-1.46902284e+00,-1.48528768e-01, 2.46147965e+01,
 -1.81296059e+01, 1.28474127e+00]

qfrc_actuator:
[-8.36850268e-05, 5.63456322e-05,-1.62360162e-04,-4.89134743e-05,
  2.99633036e-05,-3.13523316e-04,-3.05880253e-04,-6.21873299e-05,
 -1.03824032e-05,-2.18683396e-04,-8.88979883e-05, 1.84119504e-06,
  3.19977870e-02,-1.26422636e-03, 1.15506852e-02,-3.70385766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006153370658991547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.02125913e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.02125913e-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([ 0.10889208, -0.05176605,  0.06198505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.88387393e-05,-1.53605055e-07, 1.20096113e-05, 1.53421205e-05,
 -1.82354258e-07, 2.12166185e-05,-3.45845847e-06,-1.15924778e-05,
  5.17345147e-05,-4.10290100e-05,-7.66785062e-06,-7.49924838e-06,
 -2.20378380e-04,-6.22204206e-05,-5.60985111e-05, 1.76622319e-04,
  7.99951018e-06,-6.26554784e-06,-7.84782342e+00, 6.08136343e-04,
  9.48184191e-03, 4.84297391e-06]


--- Step 646 ---
qpos:
[ 7.16644471e-03, 4.05286131e-03,-3.61838022e-03,-2.58462514e-02,
  6.05053798e-03,-2.91336505e-03,-1.78426447e-02, 1.16622807e-02,
  1.56467834e-02, 2.30944445e-03,-8.95478294e-03, 2.40636999e-02,
  1.02359820e+00,-9.42745031e-03, 7.33577779e-01, 6.25176466e-02,
  9.50027677e-02,-7.01513997e-02, 1.21390986e-01, 9.99980336e-01,
 -6.12072644e-06, 1.17604866e-04, 6.27013191e-03]

qacc:
[  4.32127039, -3.85530881, 14.0318606 ,-19.15328148, -3.08367387,
   0.86581931, -3.61089494,  7.2098788 ,  5.41267209, -0.56946261,
   2.95937864, -9.17804136, -1.40803961,  2.81077338, -9.92243572,
  31.67497312, -0.99819385, -1.45645382, -0.25152135, 24.31221077,
 -17.86850047,  1.3093918 ]

qfrc_actuator:
[-5.81163460e-05, 4.55552265e-05,-1.05165240e-04,-5.86446562e-05,
  1.18601500e-05,-3.01037156e-04,-3.07248467e-04,-5.09349904e-05,
  1.98155029e-05,-2.55861045e-04,-1.10963800e-04,-2.03884793e-05,
  3.19404917e-02,-1.23021557e-03, 1.14597526e-02,-3.58113161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006137529374141137
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.71336304e-13, -9.04454347e-14,  1.00000000e+00, -2.45411300e-26,
        1.00000000e+00,  9.04454347e-14, -1.00000000e+00,  0.00000000e+00,
       -2.71336304e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10889221, -0.05176565,  0.06198509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50296222e-05,-7.77303463e-06, 5.91707540e-05,-9.02491892e-06,
 -1.81003370e-05, 2.31158817e-05, 2.18242570e-06, 1.18154618e-05,
  3.16481430e-05,-6.19426917e-05,-3.17312477e-05,-2.43985942e-05,
 -2.11377585e-04,-1.87378354e-05,-1.02394444e-04, 1.24105255e-04,
 -2.29216558e-06,-9.71296607e-06,-7.84780601e+00, 6.37696847e-04,
  9.50017921e-03, 3.22426588e-06]


--- Step 647 ---
qpos:
[ 7.16572403e-03, 4.05368537e-03,-3.61762763e-03,-2.58453663e-02,
  6.05056663e-03,-2.91242684e-03,-1.78430277e-02, 1.16629075e-02,
  1.56463218e-02, 2.30680942e-03,-8.95447984e-03, 2.40627720e-02,
  1.02431736e+00,-9.42615000e-03, 7.34128746e-01, 6.25188436e-02,
  9.50019587e-02,-7.01739470e-02, 1.21388485e-01, 9.99980261e-01,
  1.82945137e-04, 1.06412226e-04, 6.27950188e-03]

qacc:
[  2.78363532, -1.23738223,  3.46567028, -0.62982785, -1.91195682,
   0.85432344, -5.16400821, 13.67373443, -5.9362771 , -1.29516278,
   7.08720602,-18.14844906, -1.74921528,  3.72046473, -8.32219603,
  26.42337534, -0.98974734, -1.4460074 , -0.34163985, 24.06630724,
 -17.65309491,  1.33146778]

qfrc_actuator:
[-4.26531240e-05, 5.66838191e-05,-7.15560202e-05,-4.68707647e-05,
  1.11038786e-06,-3.11790079e-04,-3.07855238e-04,-2.66093353e-05,
 -1.57780687e-05,-2.41435955e-04,-1.06437413e-04,-5.11268895e-05,
  3.18589429e-02,-1.19258658e-03, 1.14013675e-02,-3.47316769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006103720637638116
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.13683019e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.13683019e-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([ 0.1088927 , -0.05176477,  0.06198517])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61664612e-05, 1.85952420e-05, 3.89655460e-05, 1.33077116e-05,
 -1.12594056e-05, 3.09433419e-06, 4.83994503e-06, 2.56209521e-05,
 -3.47212414e-05,-2.77164332e-05,-1.29974628e-05,-3.49617149e-05,
 -2.21298839e-04,-6.86873288e-06,-9.49064239e-05, 1.00942068e-04,
 -1.44737062e-05,-7.19259016e-06,-7.84766965e+00, 6.82552882e-04,
  9.50679017e-03, 4.08512593e-07]


--- Step 648 ---
qpos:
[ 7.16519447e-03, 4.05459711e-03,-3.61703393e-03,-2.58443069e-02,
  6.05046615e-03,-2.91158845e-03,-1.78435890e-02, 1.16631579e-02,
  1.56454369e-02, 2.30459902e-03,-8.95444520e-03, 2.40614190e-02,
  1.02503513e+00,-9.42466040e-03, 7.34678821e-01, 6.25218989e-02,
  9.50015087e-02,-7.01888889e-02, 1.21387317e-01, 9.99980171e-01,
  3.07212954e-04, 1.00255137e-04, 6.28918320e-03]

qacc:
[  1.67587135,  0.91584251, -3.83660204,  7.04385196, -1.13402001,
  -0.40605474,  2.84960507, -9.01018183, -3.74131049,  0.44340537,
   1.0414674 , -8.29838141, -1.07678158,  1.77249825, -6.88345853,
  22.26575963,  0.0897516 ,  1.90136755,  0.33294461,-32.3825889 ,
   2.72120496,  0.15181633]

qfrc_actuator:
[-3.32753546e-05, 4.52838400e-05,-8.75551859e-05,-4.02913089e-05,
 -5.21967699e-06,-3.36360995e-04,-3.25851373e-04,-4.80677968e-05,
 -3.65448698e-05,-1.78372729e-04,-1.03789264e-04,-6.88070440e-05,
  3.17842072e-02,-1.18875114e-03, 1.13785286e-02,-3.37464015e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000619762218421735
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.95684661e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.95684661e-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([ 0.09497626, -0.09310051,  0.06198495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.83774070e-06, 7.58349613e-06,-6.91978876e-06, 8.97676910e-06,
 -6.65193042e-06,-2.07779764e-05,-1.58816158e-05,-2.06619108e-05,
 -2.17691664e-05, 4.34613125e-05,-5.85744545e-06,-1.99894306e-05,
 -2.18426055e-04,-4.10138959e-05,-5.90854329e-05, 9.10397521e-05,
 -2.86937579e-05, 1.07844479e-06,-7.84741830e+00, 7.42548459e-04,
  9.50181162e-03,-3.58649666e-06]


--- Step 649 ---
qpos:
[ 7.16512648e-03, 4.05560923e-03,-3.61686579e-03,-2.58438499e-02,
  6.05029055e-03,-2.91093730e-03,-1.78443185e-02, 1.16631607e-02,
  1.56453444e-02, 2.30287769e-03,-8.95450439e-03, 2.40601882e-02,
  1.02575169e+00,-9.42344047e-03, 7.35228500e-01, 6.25240522e-02,
  9.50014201e-02,-7.01963489e-02, 1.21386818e-01, 9.99980086e-01,
  3.67916784e-04, 9.89016680e-05, 6.29935412e-03]

qacc:
[  4.04760028,  0.07387987,  2.45358383,-12.24654111, -0.65956991,
  -0.28585146,  1.7082289 , -5.59096056,  6.96108538,  1.14686118,
  -3.69125514,  5.62342871, -0.60271163,  0.39702385,  2.15226501,
  -8.34749215,  0.09035738,  1.87045657,  0.16735073,-31.76628352,
   2.60171979,  0.24084978]

qfrc_actuator:
[-9.79890520e-06, 3.80265460e-05,-1.15049472e-04,-7.23772581e-05,
 -8.90005125e-06,-3.51379009e-04,-3.36317509e-04,-6.08172009e-05,
  4.86090038e-06,-1.39905414e-04,-1.02053159e-04,-6.08661336e-05,
  3.17242523e-02,-1.20491192e-03, 1.13557223e-02,-3.42437647e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006266720300433376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.42904331e-14, -8.85808662e-14,  1.00000000e+00, -3.92328493e-27,
        1.00000000e+00,  8.85808662e-14, -1.00000000e+00,  0.00000000e+00,
       -4.42904331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497699, -0.09309877,  0.06198478])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37547104e-05,-4.09868623e-06,-2.64894502e-05,-3.18318317e-05,
 -3.87617088e-06,-3.08294441e-05,-1.74328132e-05,-1.45923641e-05,
  4.07962986e-05, 6.07768447e-05, 9.32896474e-06, 9.22032175e-06,
 -2.08518142e-04,-6.55015089e-05,-4.54919122e-05,-5.36007317e-05,
 -1.94709842e-05, 4.43615851e-07,-7.84774939e+00, 7.82254601e-04,
  9.50045743e-03,-5.79775707e-06]


--- Step 650 ---
qpos:
[ 7.16603030e-03, 4.05681918e-03,-3.61740008e-03,-2.58434285e-02,
  6.05007220e-03,-2.91059014e-03,-1.78448894e-02, 1.16636936e-02,
  1.56454036e-02, 2.30158387e-03,-8.95457524e-03, 2.40597545e-02,
  1.02646716e+00,-9.42275810e-03, 7.35777406e-01, 6.25252882e-02,
  9.50016944e-02,-7.01964350e-02, 1.21386401e-01, 9.99980019e-01,
  3.66110731e-04, 1.02163776e-04, 6.31015284e-03]

qacc:
[ 8.52871574e+00, 2.13525040e+00,-7.11059306e+00, 7.49854005e+00,
 -3.63691046e-01, 2.47037562e-01,-3.70104831e+00, 1.28459077e+01,
  1.32776880e+00, 2.23620342e+00,-1.05239211e+01, 2.40298027e+01,
 -2.40181479e-01,-5.76573176e-01, 1.62633383e+00,-7.35428422e+00,
  9.07113053e-02, 1.84348818e+00, 2.04495459e-02,-3.12398156e+01,
  2.50474323e+00, 3.09902520e-01]

qfrc_actuator:
[ 3.95424719e-05, 5.09597225e-05,-1.49110588e-04,-7.36975678e-05,
 -1.09929652e-05,-3.60537927e-04,-3.24451786e-04,-3.28140642e-05,
  1.15133469e-05,-1.16429938e-04,-1.00931518e-04,-2.01773909e-05,
  3.16732003e-02,-1.23268719e-03, 1.13116199e-02,-3.47229104e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006299737624115426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32174912e-13, -8.81166083e-14,  1.00000000e+00, -1.16468050e-26,
        1.00000000e+00,  8.81166083e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32174912e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497754, -0.0930981 ,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.00135469e-05, 3.77590304e-06,-3.92867610e-05,-3.03664578e-06,
 -2.21310430e-06,-3.06411023e-05, 2.84647725e-06, 2.57951591e-05,
  7.82619443e-06, 5.98641563e-05, 1.51658922e-05, 4.38005305e-05,
 -1.98269367e-04,-7.86492797e-05,-7.79608993e-05,-5.84065692e-05,
 -9.93992973e-06,-4.48803949e-08,-7.84794063e+00, 8.01674811e-04,
  9.50062486e-03,-6.86760079e-06]


--- Step 651 ---
qpos:
[ 7.16751872e-03, 4.05799736e-03,-3.61827181e-03,-2.58433674e-02,
  6.04983006e-03,-2.91010608e-03,-1.78454688e-02, 1.16638212e-02,
  1.56448524e-02, 2.30075294e-03,-8.95489415e-03, 2.40594785e-02,
  1.02718146e+00,-9.42212935e-03, 7.36325343e-01, 6.25272324e-02,
  9.50023323e-02,-7.01892399e-02, 1.21385547e-01, 9.99979966e-01,
  3.02685960e-04, 1.09889534e-04, 6.32168626e-03]

qacc:
[  5.13567299,  0.1492104 ,  0.90827761, -6.55697074, -0.21092422,
  -0.62891775,  4.21677515,-11.31844289, -5.3867359 ,  1.63997474,
  -5.60679596,  8.36980515, -0.72674933,  0.8896526 , -3.54341257,
  10.37411055,  0.09090092,  1.82028031, -0.10899575,-30.79470022,
   2.42632605,  0.36332892]

qfrc_actuator:
[ 6.82026899e-05, 4.03643212e-05,-1.68912086e-04,-9.23896261e-05,
 -1.21357147e-05,-3.30484488e-04,-3.17199171e-04,-5.20486906e-05,
 -2.01151387e-05,-1.02083627e-04,-1.17975826e-04,-1.38216260e-05,
  3.16221962e-02,-1.23155014e-03, 1.12814169e-02,-3.42997327e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006303065292397325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.80700876e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.80700876e-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([ 0.09497792, -0.09309831,  0.06198469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.00803460e-05,-1.67521920e-05,-2.39766731e-05,-1.99532778e-05,
 -1.21786005e-06, 1.46044444e-05, 2.16850616e-06,-1.99476426e-05,
 -3.13919360e-05, 5.28840703e-05,-1.27827612e-06, 1.03020868e-05,
 -1.94472111e-04,-4.94865399e-05,-7.77493374e-05, 2.77932136e-05,
  4.43563673e-07,-5.72887038e-07,-7.84799975e+00, 8.01148489e-04,
  9.50229110e-03,-6.81077435e-06]


--- Step 652 ---
qpos:
[ 7.16830473e-03, 4.05891250e-03,-3.61929373e-03,-2.58435137e-02,
  6.04992067e-03,-2.90903115e-03,-1.78464780e-02, 1.16636875e-02,
  1.56446165e-02, 2.30010917e-03,-8.95526970e-03, 2.40589584e-02,
  1.02789441e+00,-9.42086643e-03, 7.36871705e-01, 6.25320488e-02,
  9.50033342e-02,-7.01748425e-02, 1.21383804e-01, 9.99979916e-01,
  1.78386710e-04, 1.21956817e-04, 6.33403679e-03]

qacc:
[ -6.18338279, -0.34293622,  1.61308276, -4.78749296,  2.88797667,
   1.4374616 , -2.89886245, -1.36174101,  2.77013254, -0.10202129,
   1.74353118, -6.00351051, -1.4442637 ,  3.0036104 ,-10.92862954,
  35.00489557,  0.09099031,  1.8005934 , -0.22243651,-30.42295291,
   2.36325706,  0.40453632]

qfrc_actuator:
[ 3.11947962e-05, 1.58022371e-05,-1.80241821e-04,-1.03413104e-04,
  5.04238829e-06,-2.77222924e-04,-3.30363371e-04,-6.33974154e-05,
 -3.00026875e-06,-1.11173833e-04,-1.27926018e-04,-2.77449132e-05,
  3.15606168e-02,-1.19558197e-03, 1.12116670e-02,-3.28151685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006282292260822442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.41806501e-14,  1.76722600e-13,  1.00000000e+00,  7.80771937e-27,
        1.00000000e+00, -1.76722600e-13, -1.00000000e+00,  0.00000000e+00,
       -4.41806501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497819, -0.09309923,  0.06198474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.61604679e-05,-3.97631939e-05,-1.84392170e-05,-1.29611414e-05,
  1.71491482e-05, 6.10099548e-05,-1.05699301e-05,-1.10361409e-05,
  1.62380706e-05, 2.06820801e-05, 1.18755305e-06,-1.14963317e-05,
 -1.96558291e-04,-9.69530985e-06,-1.07244487e-04, 1.38850218e-04,
  1.20654821e-05,-1.20404107e-06,-7.84793289e+00, 7.80962096e-04,
  9.50543412e-03,-5.64017445e-06]


--- Step 653 ---
qpos:
[ 7.16795147e-03, 4.05937851e-03,-3.61982945e-03,-2.58434658e-02,
  6.05090640e-03,-2.90758756e-03,-1.78476170e-02, 1.16637715e-02,
  1.56452772e-02, 2.29967314e-03,-8.95578151e-03, 2.40586244e-02,
  1.02860605e+00,-9.41940478e-03, 7.37416105e-01, 6.25367455e-02,
  9.50047001e-02,-7.01533084e-02, 1.21380776e-01, 9.99979846e-01,
 -6.17501684e-06, 1.38268174e-04, 6.34726770e-03]

qacc:
[-10.00523424, -1.53352237,  3.82113792, -0.94526694,  7.82277654,
   1.28251853, -4.81175282,  8.54446326,  7.88155114,  1.0228469 ,
  -4.06053037,  7.37291622, -1.0646616 ,  1.79277836, -2.49529602,
   4.60972944,  0.0910261 ,  1.78416205, -0.32140123,-30.11724391,
   2.31292655,  0.43619052]

qfrc_actuator:
[-2.64081548e-05, 8.56749704e-07,-1.51035527e-04,-9.20916074e-05,
  5.06186275e-05,-2.63803114e-04,-3.37600389e-04,-5.22437088e-05,
  4.26790151e-05,-9.87301166e-05,-1.33711922e-04,-1.79918430e-05,
  3.14820989e-02,-1.19263936e-03, 1.10756720e-02,-3.30260855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006242272120332154
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44638989e-14, -8.89277977e-14,  1.00000000e+00, -3.95407660e-27,
        1.00000000e+00,  8.89277977e-14, -1.00000000e+00,  0.00000000e+00,
       -4.44638989e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09497836, -0.09310071,  0.06198484])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.86443954e-05,-4.15802632e-05, 1.82766139e-05, 8.73049583e-06,
  4.60883693e-05, 4.48592375e-05, 3.67946794e-06, 1.31868274e-05,
  4.61457420e-05, 2.37956926e-05,-1.75305676e-06, 1.04594531e-05,
 -2.06769817e-04,-3.73460601e-05,-1.72705752e-04,-2.78381194e-05,
  2.52005931e-05,-1.89614991e-06,-7.84774485e+00, 7.41354542e-04,
  9.51003353e-03,-3.36690088e-06]


--- Step 654 ---
qpos:
[ 7.16691006e-03, 4.05961371e-03,-3.61982751e-03,-2.58429699e-02,
  6.05243134e-03,-2.90633574e-03,-1.78485573e-02, 1.16636929e-02,
  1.56457905e-02, 2.29955470e-03,-8.95697429e-03, 2.40584336e-02,
  1.02931649e+00,-9.41818074e-03, 7.37959087e-01, 6.25328543e-02,
  9.50018981e-02,-7.01379268e-02, 1.21378918e-01, 9.99979742e-01,
 -1.38855458e-04, 1.16347995e-04, 6.36262325e-03]

qacc:
[ -6.03625821, -0.87340403,  0.8029161 ,  6.2348474 ,  4.72779139,
  -1.1523463 ,  4.411583  , -7.38448691, -1.32495918,  2.6206489 ,
  -9.3355638 , 12.66552837, -0.83746005,  0.94808023, 23.85093879,
 -86.45049045, -1.04199836, -1.53812664,  0.29261821, 25.81864023,
 -19.28003905,  1.06587829]

qfrc_actuator:
[-6.01450631e-05, 9.72517182e-06,-1.15836543e-04,-6.76816885e-05,
  7.70329956e-05,-3.09807757e-04,-3.41409061e-04,-6.34682877e-05,
  3.37791136e-05,-9.12141153e-05,-1.72402256e-04,-1.21179566e-05,
  3.14147654e-02,-1.20933033e-03, 1.09426279e-02,-3.76088630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006211660584987677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.22878306e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.22878306e-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([ 0.10888767, -0.051767  ,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.54190605e-05,-1.02643957e-05, 2.91672119e-05, 2.34342722e-05,
  2.77460752e-05,-1.96177213e-05, 6.36100974e-06,-8.92118701e-06,
 -7.58289751e-06, 2.09495383e-05,-3.36183649e-05, 7.03760042e-06,
 -2.08324550e-04,-6.28879132e-05,-2.15765709e-04,-4.82120933e-04,
  4.00463132e-05,-2.51245992e-06,-7.84743930e+00, 6.82522070e-04,
  9.51607099e-03,-3.38899953e-10]


--- Step 655 ---
qpos:
[ 7.16616153e-03, 4.06002880e-03,-3.61984344e-03,-2.58422003e-02,
  6.05322696e-03,-2.90545757e-03,-1.78496593e-02, 1.16631850e-02,
  1.56458485e-02, 2.29954917e-03,-8.95826863e-03, 2.40579559e-02,
  1.03002574e+00,-9.41716579e-03, 7.38500401e-01, 6.25259678e-02,
  9.49949774e-02,-7.01286021e-02, 1.21377591e-01, 9.99979620e-01,
 -2.20668394e-04, 5.70546366e-05, 6.38019085e-03]

qacc:
[  2.5745901 ,  0.84620503, -3.83306462,  8.46714306, -6.38105182,
  -0.91283371,  4.37281614,-11.29390305, -4.01040714, -0.14982999,
   1.97583914, -6.87743456, -0.67548453,  0.62818337,  6.59657635,
 -26.62223293, -1.02966652, -1.51421841,  0.1328606 , 25.31421193,
 -18.84818937,  1.10641856]

qfrc_actuator:
[-4.40524932e-05, 3.28432533e-05,-1.12793158e-04,-5.35030129e-05,
  3.86902237e-05,-3.55548834e-04,-3.61190070e-04,-8.78267287e-05,
  1.05697706e-05,-8.68476984e-05,-1.76978127e-04,-2.63559434e-05,
  3.13595058e-02,-1.21969197e-03, 1.09178916e-02,-3.88712263e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006272965812662012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.8492673e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.8492673e-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([ 0.10888606, -0.05176831,  0.06198476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.50800335e-05, 2.43872473e-05, 5.32464456e-06, 1.52045157e-05,
 -3.75567961e-05,-5.58042243e-05,-2.33627918e-05,-2.51542321e-05,
 -2.34180335e-05, 9.45641313e-06,-4.12916485e-06,-1.43627203e-05,
 -2.03168373e-04,-6.03252149e-05,-1.77766336e-04,-1.80910948e-04,
  3.40320897e-05, 1.82367125e-06,-7.84770392e+00, 6.39796080e-04,
  9.50931425e-03, 2.92309571e-06]


--- Step 656 ---
qpos:
[ 7.16595625e-03, 4.06067289e-03,-3.61983210e-03,-2.58416218e-02,
  6.05355706e-03,-2.90501472e-03,-1.78503988e-02, 1.16623613e-02,
  1.56459727e-02, 2.29978358e-03,-8.95966579e-03, 2.40569496e-02,
  1.03073383e+00,-9.41629257e-03, 7.39040320e-01, 6.25207098e-02,
  9.49839814e-02,-7.01252504e-02, 1.21376229e-01, 9.99979487e-01,
 -2.52477045e-04,-3.88967343e-05, 6.40002662e-03]

qacc:
[ 4.77870294e+00,-1.76400553e-01, 1.85661774e+00,-5.35364096e+00,
 -4.05497442e+00,-2.22966886e+00, 8.46303471e+00,-1.42040967e+01,
  5.74436096e-01,-4.84941676e-01, 4.41942919e+00,-1.35792067e+01,
 -5.97188051e-01, 5.25308252e-01,-6.95501934e+00, 2.13844386e+01,
 -1.01881541e+00,-1.49324513e+00,-8.84742743e-03, 2.48846242e+01,
 -1.84884010e+01, 1.13148379e+00]

qfrc_actuator:
[-1.65206378e-05, 4.64401405e-05,-1.10950034e-04,-6.32204434e-05,
  1.58039106e-05,-3.65367930e-04,-3.37015527e-04,-1.01981035e-04,
  1.46466520e-05,-6.65407412e-05,-1.79144979e-04,-5.22881337e-05,
  3.13062064e-02,-1.22618948e-03, 1.09156074e-02,-3.78078636e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006299644255420844
  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([ 0.10888519, -0.05176877,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.79663731e-05, 2.89759872e-05, 8.05557410e-06,-8.19599368e-06,
 -2.39767974e-05,-4.69589657e-05, 8.90495487e-06,-1.78403436e-05,
  3.41419017e-06, 2.41350158e-05,-1.20178838e-06,-2.59443844e-05,
 -1.96810875e-04,-5.52892546e-05,-1.04727465e-04, 7.32512771e-05,
  2.72977603e-05, 1.20436055e-05,-7.84783263e+00, 6.13017339e-04,
  9.49024328e-03, 4.57627768e-06]


--- Step 657 ---
qpos:
[ 7.16608276e-03, 4.06135493e-03,-3.61971237e-03,-2.58411451e-02,
  6.05395448e-03,-2.90448770e-03,-1.78513795e-02, 1.16616940e-02,
  1.56468344e-02, 2.30044353e-03,-8.96149204e-03, 2.40559842e-02,
  1.03144085e+00,-9.41608085e-03, 7.39579244e-01, 6.25166618e-02,
  9.49689475e-02,-7.01277991e-02, 1.21374332e-01, 9.99979335e-01,
 -2.35009609e-04,-1.70915843e-04, 6.42216227e-03]

qacc:
[  2.92339994, -0.46827426,  2.16100655, -4.11052299,  0.58024715,
   1.10525893, -4.4418603 ,  7.47390296,  6.46882302,  1.83336713,
  -5.91570695,  7.02079041, -0.04107851, -1.11629841, -5.13152188,
  15.79515209, -1.0094819 , -1.47509748, -0.13372105, 24.52216357,
 -18.19147418,  1.14446527]

qfrc_actuator:
[-2.45353164e-07, 3.64506035e-05,-1.09865057e-04,-6.91676452e-05,
  1.99720244e-05,-3.35670068e-04,-3.40185097e-04,-9.22020251e-05,
  5.25086657e-05,-3.68416693e-05,-1.97577160e-04,-4.93751004e-05,
  3.12434729e-02,-1.26585749e-03, 1.08842235e-02,-3.71585847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006297898252455719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76284687e-13, -2.64427031e-13,  1.00000000e+00, -4.66144365e-26,
        1.00000000e+00,  2.64427031e-13, -1.00000000e+00,  0.00000000e+00,
       -1.76284687e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888491, -0.05176853,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70775441e-05, 7.51219509e-06, 7.76835463e-06,-4.59125369e-06,
  3.46709193e-06, 4.49955452e-06,-1.23830778e-05, 7.73128706e-06,
  3.79676834e-05, 4.18471352e-05,-1.44766531e-05, 3.40554284e-06,
 -2.00418736e-04,-8.67525610e-05,-7.44644643e-05, 5.48156607e-05,
  1.95235651e-05, 2.80943065e-05,-7.84783331e+00, 6.01913361e-04,
  9.45908589e-03, 4.99192399e-06]


--- Step 658 ---
qpos:
[ 7.16605877e-03, 4.06192331e-03,-3.61978737e-03,-2.58403570e-02,
  6.05405344e-03,-2.90360200e-03,-1.78528768e-02, 1.16618226e-02,
  1.56477986e-02, 2.30097216e-03,-8.96277407e-03, 2.40554106e-02,
  1.03214669e+00,-9.41631126e-03, 7.40117685e-01, 6.25110213e-02,
  9.49587180e-02,-7.01330312e-02, 1.21374141e-01, 9.99979205e-01,
 -1.93433828e-04,-2.61077836e-04, 6.44077252e-03]

qacc:
[ -1.32887383,  1.03817774, -5.22610252, 10.99745117, -2.63361412,
   3.56050534,-15.36077051, 29.69333057,  0.92124838, -0.88984698,
   1.26361056,  4.74720408, -0.43071869, -0.12063453,  4.09896275,
 -15.36723135,  1.20109637, -0.67086986,  0.42642263, 12.18803147,
  20.85112828, -1.75987493]

qfrc_actuator:
[-8.48249964e-06, 1.24086626e-05,-1.27079630e-04,-5.51129030e-05,
  4.52089567e-06,-3.00360031e-04,-3.59302560e-04,-5.06562087e-05,
  5.66860761e-05,-5.50467971e-05,-1.72143260e-04,-2.95130859e-05,
  3.11804381e-02,-1.28934609e-03, 1.08566972e-02,-3.80027700e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00063221041236175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39024335e-14,  4.39024335e-14,  1.00000000e+00,  1.92742367e-27,
        1.00000000e+00, -4.39024335e-14, -1.00000000e+00,  0.00000000e+00,
       -4.39024335e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187051, -0.06204114,  0.06198464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.75199135e-06,-1.84548777e-05,-1.48763985e-05, 1.45521598e-05,
 -1.53503259e-05, 3.55947761e-05,-1.94392882e-05, 4.14629327e-05,
  5.27118277e-06, 2.36723623e-06, 3.24278939e-05, 2.12240522e-05,
 -2.09291652e-04,-7.60217294e-05,-6.03395727e-05,-9.20446668e-05,
  1.04610147e-05, 4.98402866e-05,-7.84771212e+00, 6.06255664e-04,
  9.41603241e-03, 4.19659873e-06]


--- Step 659 ---
qpos:
[ 7.16593645e-03, 4.06221924e-03,-3.61972384e-03,-2.58390635e-02,
  6.05362179e-03,-2.90275506e-03,-1.78541529e-02, 1.16621025e-02,
  1.56484609e-02, 2.30121344e-03,-8.96363310e-03, 2.40554536e-02,
  1.03285115e+00,-9.41620462e-03, 7.40654855e-01, 6.25038473e-02,
  9.49532329e-02,-7.01409283e-02, 1.21375103e-01, 9.99979103e-01,
 -1.28302450e-04,-3.10146126e-04, 6.45602925e-03]

qacc:
[ -0.85616631,  0.29502545, -3.70010837, 12.41084929, -4.63555277,
  -0.3489795 ,  0.54771823,  1.72561938, -2.63780928, -0.28742891,
  -2.12088582, 12.3188439 , -1.31560386,  2.41783711,  2.80574092,
 -12.42643611,  1.18609867, -0.66623956,  0.28828203, 11.90945607,
  20.47089397, -1.67591967]

qfrc_actuator:
[-1.33248853e-05,-2.17566104e-06,-1.19508908e-04,-2.94295595e-05,
 -2.23629183e-05,-3.15248765e-04,-3.52111504e-04,-4.40104598e-05,
  4.09927559e-05,-8.38551602e-05,-1.56696632e-04, 1.51143957e-07,
  3.11172704e-02,-1.26757654e-03, 1.07728915e-02,-3.88322165e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000634088181373213
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.56586334e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.56586334e-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([ 0.08187099, -0.06204204,  0.0619846 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.07088059e-06,-2.73777417e-05, 2.42320945e-06, 2.46593150e-05,
 -2.73108928e-05, 2.75691241e-06, 1.35908686e-05, 8.30695677e-06,
 -1.55446743e-05,-1.98745791e-05, 2.06750496e-05, 3.13037098e-05,
 -2.12997810e-04,-3.10122355e-05,-1.28033101e-04,-9.72964019e-05,
 -4.90116073e-06, 3.07706366e-05,-7.84784052e+00, 6.20362044e-04,
  9.38679418e-03, 3.14742143e-06]


--- Step 660 ---
qpos:
[ 7.16575694e-03, 4.06221686e-03,-3.61927944e-03,-2.58371407e-02,
  6.05356112e-03,-2.90221214e-03,-1.78549018e-02, 1.16624731e-02,
  1.56496199e-02, 2.30129081e-03,-8.96455378e-03, 2.40555249e-02,
  1.03355421e+00,-9.41553093e-03, 7.41190696e-01, 6.24982948e-02,
  9.49524402e-02,-7.01514741e-02, 1.21376732e-01, 9.99979030e-01,
 -4.00651906e-05,-3.18759441e-04, 6.46806631e-03]

qacc:
[-4.85959582e-01,-1.62170048e-01,-2.64343624e+00, 1.31306930e+01,
  3.26819416e+00,-1.69370498e+00, 5.06205869e+00,-4.09814740e+00,
  4.37195176e+00, 5.25926262e-03,-4.67112256e-01, 1.19107619e+00,
 -1.45622938e+00, 2.92314913e+00,-6.79355738e+00, 2.10594488e+01,
  1.17310488e+00,-6.62163108e-01, 1.66944666e-01, 1.16827908e+01,
  2.01526893e+01,-1.61087852e+00]

qfrc_actuator:
[-1.61223955e-05,-1.08811508e-05,-9.73223667e-05, 2.91247645e-06,
 -2.49691298e-06,-3.42250152e-04,-3.29666496e-04,-4.02255997e-05,
  6.69982457e-05,-1.01064281e-04,-1.65091476e-04,-1.90111239e-07,
  3.10540839e-02,-1.23700707e-03, 1.07459449e-02,-3.78717772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006333423568847113
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.76479374e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.76479374e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818709 , -0.06204249,  0.06198462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95346621e-06,-2.24742976e-05, 1.76766397e-05, 3.17302760e-05,
  1.90858008e-05,-2.23225467e-05, 2.49816495e-05, 4.53645987e-06,
  2.55546764e-05,-2.27130037e-05,-8.86206166e-06, 1.33698494e-07,
 -2.06584025e-04,-1.62079773e-05,-9.95054314e-05, 7.34927249e-05,
 -1.39513822e-05, 1.48959439e-05,-7.84789285e+00, 6.41832137e-04,
  9.37075965e-03, 1.84415533e-06]


--- Step 661 ---
qpos:
[ 7.16588996e-03, 4.06228474e-03,-3.61896593e-03,-2.58352030e-02,
  6.05442850e-03,-2.90185927e-03,-1.78551182e-02, 1.16632165e-02,
  1.56510812e-02, 2.30129240e-03,-8.96530321e-03, 2.40552190e-02,
  1.03425602e+00,-9.41452469e-03, 7.41726077e-01, 6.24924408e-02,
  9.49562957e-02,-7.01646547e-02, 1.21378606e-01, 9.99978980e-01,
  7.09158265e-05,-2.87446821e-04, 6.47698708e-03]

qacc:
[  2.74577742,  0.48428382, -1.6638635 ,  2.08909854,  8.14120574,
  -0.98740206,  1.55490469,  4.21547225,  2.66740064, -1.36043933,
   6.28884331,-13.02453629, -1.19273031,  2.22151442,  0.28182366,
  -1.86044784,  1.16204283, -0.65872034,  0.06101109, 11.50026622,
  19.88906127, -1.561012  ]

qfrc_actuator:
[ 5.78515249e-08, 1.82812497e-06,-1.02169361e-04, 3.41841041e-06,
  4.47296254e-05,-3.40733109e-04,-2.98463589e-04,-2.04047921e-05,
  8.18399058e-05,-9.35697180e-05,-1.51970489e-04,-1.81929385e-05,
  3.10015893e-02,-1.21927509e-03, 1.07425133e-02,-3.79931377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006304828194863277
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32068193e-13, -8.80454622e-14,  1.00000000e+00, -1.16280051e-26,
        1.00000000e+00,  8.80454622e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32068193e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08187037, -0.06204258,  0.06198469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60856643e-05, 5.14154369e-06,-6.22343771e-06, 7.67833128e-07,
  4.77628325e-05,-5.61637712e-06, 2.98273950e-05, 1.98159293e-05,
  1.55594312e-05,-7.01115296e-06, 7.35222256e-06,-1.92793291e-05,
 -1.88375393e-04,-2.57342120e-05,-4.44958169e-05,-2.16479217e-05,
 -1.71649835e-05, 1.81217309e-06,-7.84787319e+00, 6.70545288e-04,
  9.36771261e-03, 2.86346835e-07]


--- Step 662 ---
qpos:
[ 7.16690545e-03, 4.06278792e-03,-3.61885840e-03,-2.58340071e-02,
  6.05516542e-03,-2.90146097e-03,-1.78552694e-02, 1.16635029e-02,
  1.56516743e-02, 2.30150163e-03,-8.96632712e-03, 2.40550391e-02,
  1.03495656e+00,-9.41324140e-03, 7.42259897e-01, 6.24876366e-02,
  9.49647624e-02,-7.01804591e-02, 1.21380356e-01, 9.99978942e-01,
  2.04353233e-04,-2.16640626e-04, 6.48287046e-03]

qacc:
[  7.75352887, -0.39168793,  5.32981213,-18.11484309, -1.1406625 ,
  -1.06048447,  5.80243123,-13.85597492, -7.65334284,  1.31606063,
  -4.80069476,  7.24037227, -1.0991755 ,  1.94113424, -5.42859984,
  15.74411864,  1.15281188, -0.65595023, -0.03096988, 11.35542164,
  19.67354188, -1.52333164]

qfrc_actuator:
[ 4.50305323e-05, 4.48896406e-05,-1.05124421e-04,-3.25673646e-05,
  3.66565057e-05,-3.39850003e-04,-2.97727486e-04,-4.45386342e-05,
  3.67210209e-05,-7.12755254e-05,-1.61653508e-04,-1.08933512e-05,
  3.09289166e-02,-1.20923793e-03, 1.06466443e-02,-3.75081500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006259519571575889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86827665e-14, -8.86827665e-14,  1.00000000e+00, -7.86463307e-27,
        1.00000000e+00,  8.86827665e-14, -1.00000000e+00,  0.00000000e+00,
       -8.86827665e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186949, -0.06204239,  0.0619848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.54306406e-05, 4.46788723e-05,-2.64255112e-06,-3.59718208e-05,
 -6.71252507e-06, 4.75713915e-06, 3.93093640e-06,-2.29605959e-05,
 -4.46795879e-05, 1.90854648e-05,-1.08824858e-05, 6.88030935e-06,
 -1.98563750e-04,-3.12231478e-05,-1.25477384e-04, 3.99955134e-05,
 -1.48644740e-05,-8.79629252e-06,-7.84778466e+00, 7.06402378e-04,
  9.37747549e-03,-1.52593634e-06]


--- Step 663 ---
qpos:
[ 7.16845224e-03, 4.06355287e-03,-3.61875830e-03,-2.58332437e-02,
  6.05580042e-03,-2.90117142e-03,-1.78553167e-02, 1.16631701e-02,
  1.56517222e-02, 2.30176824e-03,-8.96740105e-03, 2.40546064e-02,
  1.03565571e+00,-9.41146672e-03, 7.42791780e-01, 6.24848213e-02,
  9.49735862e-02,-7.01888691e-02, 1.21382349e-01, 9.99978893e-01,
  2.74669220e-04,-1.41550559e-04, 6.48986289e-03]

qacc:
[  4.67188577, -0.53293094,  4.20745079,-11.84467006, -0.88709528,
  -1.70605632,  8.49198731,-19.29731455, -4.79958927, -0.2956193 ,
   2.24805709, -6.60457272, -1.34656229,  2.61535981, -8.80384482,
  26.7782679 ,  0.08925962,  1.84862154,  0.06083621,-31.54603861,
   2.34660686,  0.5609471 ]

qfrc_actuator:
[ 7.10784686e-05, 5.25114658e-05,-1.06816882e-04,-5.41920931e-05,
  3.15961457e-05,-3.57259345e-04,-2.97264451e-04,-7.66118681e-05,
  9.93347672e-06,-7.58599084e-05,-1.66889062e-04,-2.42699319e-05,
  3.08548370e-02,-1.18614255e-03, 1.05540123e-02,-3.64941344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006289823902292518
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82554935e-14,  2.64766480e-13,  1.00000000e+00,  2.33670964e-26,
        1.00000000e+00, -2.64766480e-13, -1.00000000e+00,  0.00000000e+00,
       -8.82554935e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09498688, -0.09310166,  0.06198472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73535018e-05, 3.05103982e-05, 5.95304081e-06,-2.05095731e-05,
 -5.24967912e-06,-1.49367730e-05, 1.13202867e-06,-3.21811465e-05,
 -2.80505248e-05, 4.12633254e-06,-2.38318355e-06,-1.27971377e-05,
 -2.08025348e-04,-2.09013118e-05,-1.48072819e-04, 8.69772074e-05,
 -7.24899016e-06,-1.71822267e-05,-7.84762959e+00, 7.49323249e-04,
  9.39990422e-03,-3.59227233e-06]


--- Step 664 ---
qpos:
[ 7.16995478e-03, 4.06433932e-03,-3.61857318e-03,-2.58327207e-02,
  6.05602507e-03,-2.90134357e-03,-1.78546511e-02, 1.16628044e-02,
  1.56517932e-02, 2.30210569e-03,-8.96828189e-03, 2.40543435e-02,
  1.03635362e+00,-9.40971012e-03, 7.43322087e-01, 6.24808890e-02,
  9.49827692e-02,-7.01899806e-02, 1.21384050e-01, 9.99978846e-01,
  2.82876966e-04,-6.22572649e-05, 6.49796403e-03]

qacc:
[ -0.38739031, -0.70371197,  3.56398946, -7.87221103, -3.56061924,
  -2.6626099 ,  8.76054771,-10.14612765,  0.20812861, -0.09675677,
  -0.23696129,  2.81637004, -0.84154062,  1.13528756,  1.07381594,
  -7.07616365,  0.08981223,  1.8246165 , -0.07305189,-31.03974709,
   2.30325823,  0.55815567]

qfrc_actuator:
[ 6.80170969e-05, 3.88688905e-05,-1.07867947e-04,-6.72128591e-05,
  1.06144469e-05,-3.85508156e-04,-2.61524716e-04,-7.75986365e-05,
  1.19214778e-05,-6.09989828e-05,-1.51818191e-04,-1.42184387e-05,
  3.07906209e-02,-1.19104265e-03, 1.04634126e-02,-3.71290813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006302154984342279
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40414044e-14,  1.76165618e-13,  1.00000000e+00,  7.75858120e-27,
        1.00000000e+00, -1.76165618e-13, -1.00000000e+00,  0.00000000e+00,
       -4.40414044e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09498707, -0.09310144,  0.06198469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27590244e-06, 3.74407538e-06, 5.25969910e-06,-1.19128187e-05,
 -2.11356005e-05,-3.77575699e-05, 3.16784520e-05,-2.21353436e-06,
  1.19279803e-06, 1.61219362e-05, 1.51984737e-05, 9.90075561e-06,
 -2.02187916e-04,-4.93110208e-05,-1.49840680e-04,-7.78894160e-05,
 -2.09175918e-06,-1.40276259e-05,-7.84782832e+00, 7.71930871e-04,
  9.42417837e-03,-5.05443296e-06]


--- Step 665 ---
qpos:
[ 7.17106427e-03, 4.06499119e-03,-3.61805517e-03,-2.58320093e-02,
  6.05565141e-03,-2.90180693e-03,-1.78533480e-02, 1.16631032e-02,
  1.56522322e-02, 2.30262142e-03,-8.96931947e-03, 2.40545585e-02,
  1.03705027e+00,-9.40797122e-03, 7.43850787e-01, 6.24758518e-02,
  9.49923138e-02,-7.01838759e-02, 1.21384989e-01, 9.99978802e-01,
  2.29826502e-04, 2.11776270e-05, 6.50716517e-03]

qacc:
[ -3.44682791, -0.71390916,  1.5048419 ,  1.30694344, -5.21035283,
  -0.78740018, -0.53889208, 11.21672117,  3.23009615,  1.65127856,
  -7.57470795, 15.97740127, -0.87116448,  1.17548357,  0.99365456,
  -6.85799207,  0.0903832 ,  1.80405147, -0.19050477,-30.61496771,
   2.26993782,  0.5513057 ]

qfrc_actuator:
[ 4.78531816e-05, 3.03558667e-05,-9.08710101e-05,-5.73376089e-05,
 -1.95708568e-05,-3.84358937e-04,-2.23022312e-04,-4.25193500e-05,
  3.08246519e-05,-5.22599174e-05,-1.60291805e-04, 9.56834836e-06,
  3.07217068e-02,-1.19467452e-03, 1.03900468e-02,-3.76651442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006288696716530012
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.64813937e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.64813937e-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([ 0.09498718, -0.09310201,  0.06198473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02297522e-05,-5.88048308e-06, 1.79919023e-05, 9.98202112e-06,
 -3.08035095e-05,-1.35244011e-05, 3.45252134e-05, 3.45151557e-05,
  1.89417804e-05, 2.13176162e-05,-2.92183483e-06, 2.51980171e-05,
 -2.09120791e-04,-5.09842841e-05,-1.52378738e-04,-7.75640282e-05,
  5.15796112e-06,-1.10807090e-05,-7.84789667e+00, 7.74727108e-04,
  9.44989738e-03,-5.38838051e-06]


--- Step 666 ---
qpos:
[ 7.17192338e-03, 4.06562589e-03,-3.61763918e-03,-2.58311702e-02,
  6.05560833e-03,-2.90224187e-03,-1.78522680e-02, 1.16641836e-02,
  1.56528946e-02, 2.30297759e-03,-8.97027412e-03, 2.40547389e-02,
  1.03774558e+00,-9.40596889e-03, 7.44378490e-01, 6.24726429e-02,
  9.50022223e-02,-7.01706243e-02, 1.21384756e-01, 9.99978749e-01,
  1.16222217e-04, 1.08708711e-04, 6.51745115e-03]

qacc:
[ -2.2068844 ,  0.53003185, -2.45325465,  4.82908257,  2.88586154,
   2.26325093,-11.3256871 , 25.20035439,  1.97131393, -0.51789946,
   1.68030464, -2.28817412, -1.11108075,  1.9210672 , -6.94426704,
  22.26127994,  0.090993  ,  1.78670244, -0.29302618,-30.26295208,
   2.24519436,  0.54131922]

qfrc_actuator:
[ 3.55468578e-05, 2.50680450e-05,-9.88324192e-05,-5.18099834e-05,
 -1.66831840e-06,-3.83309329e-04,-2.36329793e-04,-4.23739610e-06,
  4.17702073e-05,-8.28349996e-05,-1.64866904e-04, 5.71502505e-06,
  3.06606737e-02,-1.17978594e-03, 1.04016420e-02,-3.65397934e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006254541456301721
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43766754e-14,  8.87533509e-14,  1.00000000e+00,  3.93857864e-27,
        1.00000000e+00, -8.87533509e-14, -1.00000000e+00,  0.00000000e+00,
       -4.43766754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09498723, -0.09310322,  0.06198481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28868140e-05,-4.47449002e-06,-6.63051005e-06, 6.08903166e-06,
  1.70149338e-05, 2.08711873e-06,-1.06627529e-05, 3.95676918e-05,
  1.14908285e-05,-1.81768583e-05, 3.45665910e-07,-2.55049739e-06,
 -2.06029783e-04,-3.41601360e-05,-6.84225446e-05, 8.83034338e-05,
  1.45072718e-05,-8.34684335e-06,-7.84784048e+00, 7.57982765e-04,
  9.47704374e-03,-4.60833501e-06]


--- Step 667 ---
qpos:
[ 7.17193827e-03, 4.06615496e-03,-3.61753425e-03,-2.58305903e-02,
  6.05577994e-03,-2.90264578e-03,-1.78518834e-02, 1.16654021e-02,
  1.56529930e-02, 2.30334994e-03,-8.97105268e-03, 2.40548430e-02,
  1.03843969e+00,-9.40409354e-03, 7.44905739e-01, 6.24726437e-02,
  9.50124974e-02,-7.01502835e-02, 1.21382994e-01, 9.99978665e-01,
 -5.73615257e-05, 2.00304479e-04, 6.52880174e-03]

qacc:
[ -7.4395119 ,  0.21058974,  0.16449036, -4.09959193,  1.85645921,
   2.26442062, -8.60461223, 12.09217036, -4.95682633, -0.61813298,
   2.57389203, -4.20571823, -0.61504311,  0.55138403,-10.33760169,
  35.24420158,  0.09165514,  1.77232642, -0.38213612,-29.9759021 ,
   2.22781886,  0.52890046]

qfrc_actuator:
[-7.53561351e-06, 3.89915253e-06,-1.21467082e-04,-6.66583881e-05,
  8.89208449e-06,-4.00275271e-04,-2.80117788e-04, 7.80595992e-08,
  1.24332808e-05,-6.57215108e-05,-1.49527231e-04, 3.35168659e-06,
  3.05990944e-02,-1.18956441e-03, 1.04216104e-02,-3.47975592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006204090033626875
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94750897e-14,  2.68425269e-13,  1.00000000e+00,  2.40173750e-26,
        1.00000000e+00, -2.68425269e-13, -1.00000000e+00,  0.00000000e+00,
       -8.94750897e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09498723, -0.09310494,  0.06198493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.34526295e-05,-2.48166788e-05,-2.41792594e-05,-1.51546525e-05,
  1.10460298e-05,-1.62991206e-05,-4.33118241e-05, 4.80141134e-06,
 -2.90165272e-05, 6.91494854e-06, 1.15461196e-05,-3.17938685e-06,
 -2.00457306e-04,-5.60356355e-05,-6.57712657e-06, 1.69196667e-04,
  2.59459176e-05,-5.74199590e-06,-7.84766430e+00, 7.21922140e-04,
  9.50560262e-03,-2.72637164e-06]


--- Step 668 ---
qpos:
[ 7.17109177e-03, 4.06628474e-03,-3.61727787e-03,-2.58305319e-02,
  6.05573199e-03,-2.90298088e-03,-1.78520505e-02, 1.16663033e-02,
  1.56534290e-02, 2.30391391e-03,-8.97143422e-03, 2.40545339e-02,
  1.03913261e+00,-9.40260863e-03, 7.45432968e-01, 6.24720542e-02,
  9.50185978e-02,-7.01361095e-02, 1.21382504e-01, 9.99978551e-01,
 -1.78957869e-04, 2.53646840e-04, 6.54231141e-03]

qacc:
[-7.57097846e+00,-2.01041861e+00, 8.62360921e+00,-1.76107531e+01,
 -1.93998122e+00, 9.82702442e-01,-2.02607608e+00,-2.64081454e+00,
  2.97888525e+00,-1.71284340e+00, 8.20921398e+00,-1.61251817e+01,
 -4.67898536e-01, 6.33695577e-03, 1.76267092e+00,-6.18788532e+00,
 -1.04368128e+00,-1.54169792e+00, 3.17811643e-01, 2.58680538e+01,
 -1.92960618e+01, 1.08372476e+00]

qfrc_actuator:
[-5.06371438e-05,-2.67030672e-05,-1.17150577e-04,-9.33964748e-05,
 -2.72176575e-06,-3.92559262e-04,-3.06127104e-04,-1.56555625e-05,
  3.06353246e-05,-3.78594400e-05,-1.22365024e-04,-1.58148021e-05,
  3.05318987e-02,-1.21385807e-03, 1.04039834e-02,-3.51916909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006225823921054141
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.80173965e-14, -5.57267118e-14,  1.00000000e+00, -4.34765297e-27,
        1.00000000e+00,  5.57267118e-14, -1.00000000e+00,  0.00000000e+00,
       -7.80173965e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888125, -0.05176537,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.43446119e-05,-5.01593836e-05,-4.31808517e-06,-2.89331786e-05,
 -1.13024060e-05,-1.01274356e-05,-3.45481595e-05,-1.78405654e-05,
  1.73801487e-05, 3.39632932e-05, 2.99085185e-05,-1.85306155e-05,
 -2.06516090e-04,-7.28720154e-05,-9.47452369e-06,-3.26283511e-05,
  3.94540677e-05,-3.09936763e-06,-7.84737152e+00, 6.66728015e-04,
  9.53556173e-03, 2.47395635e-07]


--- Step 669 ---
qpos:
[ 7.17007985e-03, 4.06604329e-03,-3.61697537e-03,-2.58307905e-02,
  6.05554546e-03,-2.90352215e-03,-1.78521772e-02, 1.16670031e-02,
  1.56544246e-02, 2.30457957e-03,-8.97144384e-03, 2.40540104e-02,
  1.03982429e+00,-9.40139586e-03, 7.45959695e-01, 6.24713802e-02,
  9.50205787e-02,-7.01280054e-02, 1.21382632e-01, 9.99978428e-01,
 -2.49595355e-04, 2.69628633e-04, 6.55809042e-03]

qacc:
[ -1.44847748, -1.26974475,  5.15511808,-10.43932908, -1.20801394,
  -0.7973657 ,  3.3024226 , -6.70606663,  4.93381932, -1.35597005,
   5.9180682 ,-10.27887843, -0.59778796,  0.36324675, -0.4716656 ,
   0.605965  , -1.02987991, -1.5174907 ,  0.15477785, 25.35638157,
 -18.84678009,  1.13779221]

qfrc_actuator:
[-5.78900027e-05,-4.48767409e-05,-1.14754098e-04,-1.09149797e-04,
 -9.53915902e-06,-4.05589528e-04,-3.03582216e-04,-2.52658457e-05,
  5.89322890e-05,-3.92353870e-05,-1.06153295e-04,-2.69431318e-05,
  3.04666998e-02,-1.22879398e-03, 1.03744279e-02,-3.52447442e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006290564129571297
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.76490216e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.76490216e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887961, -0.05176676,  0.06198472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.52913260e-06,-4.83739248e-05,-9.49814988e-06,-1.86128970e-05,
 -7.14169957e-06,-2.65857074e-05,-4.41588155e-06,-1.15874476e-05,
  2.88035026e-05, 2.29926366e-05, 2.62683236e-05,-8.99897246e-06,
 -2.12077724e-04,-6.71856310e-05,-4.60571079e-05,-1.03431974e-05,
  2.93763256e-05,-6.09156417e-06,-7.84771162e+00, 6.27973644e-04,
  9.55286705e-03, 3.25161625e-06]


--- Step 670 ---
qpos:
[ 7.16898829e-03, 4.06565595e-03,-3.61675550e-03,-2.58312562e-02,
  6.05527854e-03,-2.90423091e-03,-1.78522739e-02, 1.16672325e-02,
  1.56550619e-02, 2.30522753e-03,-8.97146850e-03, 2.40537457e-02,
  1.04051467e+00,-9.40033850e-03, 7.46484560e-01, 6.24738189e-02,
  9.50184890e-02,-7.01258864e-02, 1.21382802e-01, 9.99978309e-01,
 -2.70150060e-04, 2.48998447e-04, 6.57621821e-03]

qacc:
[-7.01173012e-01,-3.86960399e-01, 1.97470644e+00,-5.31758162e+00,
 -7.00015271e-01,-1.27172244e+00, 6.20205051e+00,-1.42714221e+01,
 -3.15187476e+00, 5.57534249e-01,-3.10385542e+00, 7.60817840e+00,
 -6.22018011e-01, 4.87154959e-01,-1.21226454e+01, 3.84674696e+01,
 -1.01764973e+00,-1.49628303e+00, 1.02044899e-02, 2.49204818e+01,
 -1.84701121e+01, 1.17654043e+00]

qfrc_actuator:
[-6.17376957e-05,-3.77089912e-05,-1.13464889e-04,-1.18308137e-04,
 -1.34718344e-05,-4.13067487e-04,-3.02028843e-04,-4.89437243e-05,
  3.96712529e-05,-5.81408649e-05,-1.14398191e-04,-1.55295117e-05,
  3.03974211e-02,-1.23807734e-03, 1.02738502e-02,-3.36756355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006319793210298186
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31755461e-13, -8.78369741e-14,  1.00000000e+00, -1.15730010e-26,
        1.00000000e+00,  8.78369741e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31755461e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887872, -0.05176727,  0.06198465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.10515264e-06,-2.26354286e-05,-1.05143325e-05,-1.19197241e-05,
 -4.14533043e-06,-2.37360846e-05,-4.87633049e-06,-2.51951757e-05,
 -1.84333693e-05,-1.01701226e-06,-5.77956012e-07, 1.31314376e-05,
 -2.18733037e-04,-6.17706068e-05,-1.29431982e-04, 1.48876364e-04,
  1.85951149e-05,-3.17367242e-06,-7.84791360e+00, 6.05194526e-04,
  9.55785474e-03, 4.97918214e-06]


--- Step 671 ---
qpos:
[ 7.16785884e-03, 4.06543250e-03,-3.61697006e-03,-2.58318440e-02,
  6.05496635e-03,-2.90499203e-03,-1.78521365e-02, 1.16671471e-02,
  1.56554638e-02, 2.30605846e-03,-8.97225352e-03, 2.40543371e-02,
  1.04120369e+00,-9.39936572e-03, 7.47007533e-01, 6.24761971e-02,
  9.50123713e-02,-7.01296794e-02, 1.21382503e-01, 9.99978194e-01,
 -2.41361217e-04, 1.92378978e-04, 6.59675028e-03]

qacc:
[ -0.35022668,  1.18025086, -3.37702909,  1.83556566, -0.38802252,
  -1.37052776,  6.11725221,-11.90407848, -2.09927754,  4.13353106,
 -17.99494514, 33.8844465 , -0.82391853,  0.96257021, -2.58286544,
   5.0370049 , -1.00701781, -1.47796339, -0.11713648, 24.55260343,
 -18.15682274,  1.20337973]

qfrc_actuator:
[-6.35619114e-05,-1.54132416e-05,-1.30482354e-04,-1.23492602e-04,
 -1.56764304e-05,-3.99417630e-04,-2.83323481e-04,-6.29599879e-05,
  2.80745899e-05,-5.19800793e-05,-1.54831507e-04, 2.67745335e-05,
  3.03257451e-02,-1.24397706e-03, 1.01521026e-02,-3.38277598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006319857728915856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.39180387e-14, -8.78360773e-14,  1.00000000e+00, -3.85758824e-27,
        1.00000000e+00,  8.78360773e-14, -1.00000000e+00,  0.00000000e+00,
       -4.39180387e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887843, -0.05176708,  0.06198465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94669313e-06, 6.97062148e-06,-2.33955258e-05,-6.74774809e-06,
 -2.33006536e-06,-1.68513004e-06, 1.23391700e-05,-1.56909939e-05,
 -1.21192679e-05, 6.00841974e-06,-4.02655188e-05, 4.24961142e-05,
 -2.24587765e-04,-5.88220476e-05,-1.66071496e-04,-2.39005455e-05,
  6.78316004e-06, 5.67551461e-06,-7.84798587e+00, 5.98111002e-04,
  9.55076091e-03, 5.46413525e-06]


--- Step 672 ---
qpos:
[ 7.16740631e-03, 4.06528341e-03,-3.61767265e-03,-2.58324742e-02,
  6.05497483e-03,-2.90555435e-03,-1.78519013e-02, 1.16668708e-02,
  1.56557231e-02, 2.30731919e-03,-8.97362924e-03, 2.40546965e-02,
  1.04189147e+00,-9.39877817e-03, 7.47528865e-01, 6.24779732e-02,
  9.50022617e-02,-7.01393217e-02, 1.21381289e-01, 9.99978071e-01,
 -1.63845570e-04, 1.00282990e-04, 6.61972342e-03]

qacc:
[ 5.94190142e+00, 1.36365581e+00,-4.55932253e+00, 4.56925023e+00,
  2.80566722e+00,-4.08639989e-01, 2.63516124e+00,-6.23256058e+00,
 -1.27992399e+00, 1.74385555e+00,-4.40956647e+00, 1.01693010e+00,
 -4.79497663e-01, 6.57470699e-04,-5.94177499e-01,-1.42053423e+00,
 -9.97953419e-01,-1.46236708e+00,-2.28681045e-01, 2.42456199e+01,
 -1.78988865e+01, 1.22093880e+00]

qfrc_actuator:
[-2.86766548e-05,-1.97973767e-05,-1.58098996e-04,-1.26294887e-04,
  9.05475993e-07,-3.73139214e-04,-2.72295774e-04,-7.11467024e-05,
  2.10971835e-05,-1.32205060e-05,-1.78321273e-04, 1.59014844e-05,
  3.02633335e-02,-1.26560788e-03, 1.00816324e-02,-3.41057096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006296301006736699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.81647036e-14,  8.81647036e-14,  1.00000000e+00,  7.77301497e-27,
        1.00000000e+00, -8.81647036e-14, -1.00000000e+00,  0.00000000e+00,
       -8.81647036e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887862, -0.05176631,  0.06198471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.48346702e-05,-5.59245965e-06,-2.92838812e-05,-3.44194421e-06,
  1.65149038e-05, 2.72378376e-05, 1.16642764e-05,-8.13561815e-06,
 -7.31782522e-06, 3.55980564e-05,-2.57387355e-05,-1.11826031e-05,
 -2.18854298e-04,-7.51744515e-05,-1.49850116e-04,-5.05862991e-05,
 -6.31804478e-06, 2.03870440e-05,-7.84793503e+00, 6.06488358e-04,
  9.53178380e-03, 4.73421909e-06]


--- Step 673 ---
qpos:
[ 7.16875544e-03, 4.06488737e-03,-3.61830535e-03,-2.58331302e-02,
  6.05518177e-03,-2.90555768e-03,-1.78522523e-02, 1.16661539e-02,
  1.56555521e-02, 2.30844393e-03,-8.97421133e-03, 2.40542085e-02,
  1.04257789e+00,-9.39814717e-03, 7.48048674e-01, 6.24819444e-02,
  9.49881905e-02,-7.01547613e-02, 1.21378771e-01, 9.99977920e-01,
 -3.81103260e-05,-2.68729263e-05, 6.64515982e-03]

qacc:
[ 15.86576258, -0.60581985,  1.74097314, -2.05720623,  1.70840159,
   1.46579457, -2.30040108, -4.79268435, -3.76053062, -4.13513552,
  18.07398998,-33.92268542, -0.88646027,  1.2137241 , -8.84087655,
  27.73892755, -0.99039082, -1.44930304, -0.32593888, 23.99310104,
 -17.68938039,  1.2312414 ]

qfrc_actuator:
[ 6.30398893e-05,-4.01654763e-05,-1.56342488e-04,-1.27698712e-04,
  1.06588213e-05,-3.39513886e-04,-3.01337075e-04,-9.35862578e-05,
 -8.60146749e-07,-2.62321972e-05,-1.38252528e-04,-2.61321653e-05,
  3.02011938e-02,-1.26083763e-03, 1.00472998e-02,-3.28557619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000625393177495534
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.87620032e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.87620032e-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([ 0.1088792 , -0.05176509,  0.06198481])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.27065948e-05,-2.96624586e-05,-3.11356408e-06,-2.72140682e-06,
  1.02345493e-05, 5.09413194e-05,-2.22561672e-05,-2.10264502e-05,
 -2.21486478e-05, 1.06694513e-06, 4.38659249e-05,-4.16165377e-05,
 -2.18180332e-04,-5.00821776e-05,-1.10110381e-04, 1.02593151e-04,
 -2.09274088e-05, 4.08217019e-05,-7.84776618e+00, 6.30131499e-04,
  9.50108764e-03, 2.81177044e-06]


--- Step 674 ---
qpos:
[ 7.17084868e-03, 4.06424206e-03,-3.61892176e-03,-2.58334484e-02,
  6.05515949e-03,-2.90539254e-03,-1.78525852e-02, 1.16658727e-02,
  1.56551194e-02, 2.30921026e-03,-8.97392486e-03, 2.40539346e-02,
  1.04326289e+00,-9.39714732e-03, 7.48567105e-01, 6.24886607e-02,
  9.49788661e-02,-7.01728567e-02, 1.21377547e-01, 9.99977762e-01,
  1.11712314e-04,-1.12222128e-04, 6.66704834e-03]

qacc:
[  6.5549502 ,  0.30768538, -3.0195497 ,  9.03790007, -2.00789667,
   1.07265345, -5.33519587, 12.71854031, -2.26875038, -2.45591002,
   7.17269502, -4.59868404, -1.2430348 ,  2.23852105,-10.26667143,
  33.08567849,  1.18667615, -0.66394219,  0.3231783 , 12.1822903 ,
  20.82293128, -1.77340617]

qfrc_actuator:
[ 9.86965244e-05,-5.20797401e-05,-1.55077433e-04,-1.10510548e-04,
 -1.44364951e-06,-3.37425383e-04,-3.00517113e-04,-7.09936023e-05,
 -1.37078911e-05,-5.21601435e-05,-9.67019927e-05,-1.51434289e-05,
  3.01339460e-02,-1.24050132e-03, 9.99741783e-03,-3.14247422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006207309195860461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.94286872e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.94286872e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186688, -0.06204954,  0.06198492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.82815689e-05,-2.92096686e-05,-5.33065894e-06, 1.57569565e-05,
 -1.17905186e-05, 2.50860742e-05, 7.87796441e-06, 2.35980272e-05,
 -1.34737945e-05,-1.80947222e-05, 4.57294293e-05, 1.17431251e-05,
 -2.17282348e-04,-3.08475615e-05,-9.17097194e-05, 1.34029612e-04,
 -3.72453942e-05, 6.67824038e-05,-7.84748320e+00, 6.68880342e-04,
  9.45880620e-03,-2.85524526e-07]


--- Step 675 ---
qpos:
[ 7.17300884e-03, 4.06343371e-03,-3.61951305e-03,-2.58342606e-02,
  6.05533749e-03,-2.90533001e-03,-1.78524719e-02, 1.16655243e-02,
  1.56548808e-02, 2.30988230e-03,-8.97372232e-03, 2.40534816e-02,
  1.04394665e+00,-9.39597328e-03, 7.49084664e-01, 6.24946738e-02,
  9.49698312e-02,-7.01834108e-02, 1.21377222e-01, 9.99977595e-01,
  1.97562760e-04,-1.91910846e-04, 6.68826375e-03]

qacc:
[  0.59243518, -1.30417664,  6.41544025,-14.86999896,  1.76838837,
  -1.5237218 ,  5.51478299, -7.31152653,  1.7071339 , -0.26226756,
   1.50506251, -4.39625523, -1.04098329,  1.72807898,  0.87581805,
  -4.84539708,  0.07240155,  1.88529574,  0.22511711,-31.96655372,
   3.04339344, -0.33324413]

qfrc_actuator:
[ 1.01054119e-04,-5.88206228e-05,-1.54081622e-04,-1.35778262e-04,
  9.19394724e-06,-3.54092058e-04,-2.82150272e-04,-7.53396829e-05,
 -3.33384182e-06,-6.78083942e-05,-1.07912654e-04,-2.63217525e-05,
  3.00849919e-02,-1.22892078e-03, 9.94357373e-03,-3.18521515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000627480513563719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.84667333e-14, -8.84667333e-14,  1.00000000e+00, -7.82636290e-27,
        1.00000000e+00,  8.84667333e-14, -1.00000000e+00,  0.00000000e+00,
       -8.84667333e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499709, -0.09310555,  0.06198476])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.43694931e-06,-2.34630412e-05,-5.13678680e-06,-2.63945287e-05,
  1.03081953e-05,-5.87260484e-09, 2.53385468e-05,-2.53775606e-06,
  9.98526546e-06,-1.58541883e-05,-8.92109622e-06,-1.01441803e-05,
 -1.94296311e-04,-3.66458140e-05,-8.45696450e-05,-4.78978687e-05,
 -4.70143863e-05, 4.08532631e-05,-7.84751972e+00, 7.17712184e-04,
  9.43106506e-03,-3.10029148e-06]


--- Step 676 ---
qpos:
[ 7.17518089e-03, 4.06240702e-03,-3.61981345e-03,-2.58350352e-02,
  6.05564149e-03,-2.90531995e-03,-1.78520597e-02, 1.16640948e-02,
  1.56544234e-02, 2.31049867e-03,-8.97394157e-03, 2.40529174e-02,
  1.04462921e+00,-9.39440534e-03, 7.49601131e-01, 6.24978429e-02,
  9.49610945e-02,-7.01865403e-02, 1.21377180e-01, 9.99977433e-01,
  2.20547150e-04,-2.66352856e-04, 6.70924235e-03]

qacc:
[  0.117599  , -1.02466994,  3.07512382, -2.72706595,  1.11210115,
  -3.13146304, 15.62706914,-34.77705929, -1.93818855,  0.88031095,
  -2.76975399,  1.55447331, -1.29087954,  2.48674783,  7.0257363 ,
 -26.80761604,  0.07451735,  1.85619213,  0.07044534,-31.41480139,
   2.83350494, -0.11290048]

qfrc_actuator:
[ 1.01564457e-04,-6.24439777e-05,-1.35510045e-04,-1.32565006e-04,
  1.53851271e-05,-3.64055498e-04,-2.71443161e-04,-1.31025490e-04,
 -1.48830948e-05,-7.74095870e-05,-1.32422350e-04,-3.27400295e-05,
  3.00363966e-02,-1.20479395e-03, 9.86605333e-03,-3.33711141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00063179377530867
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.78627701e-14,  8.78627701e-14,  1.00000000e+00,  7.71986637e-27,
        1.00000000e+00, -8.78627701e-14, -1.00000000e+00,  0.00000000e+00,
       -8.78627701e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499848, -0.09310465,  0.06198465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04385009e-07,-1.89025725e-05, 1.21956482e-05, 1.52127680e-06,
  6.48476648e-06,-4.84099919e-06, 1.37377608e-05,-5.48586349e-05,
 -1.12680694e-05,-2.07674215e-05,-2.92442951e-05,-7.60520405e-06,
 -1.80537289e-04,-2.01764721e-05,-1.26371237e-04,-1.66552573e-04,
 -2.37983267e-05, 3.33619871e-05,-7.84777871e+00, 7.45193935e-04,
  9.40701730e-03,-4.39934520e-06]


--- Step 677 ---
qpos:
[ 7.17665228e-03, 4.06131647e-03,-3.62024567e-03,-2.58354108e-02,
  6.05567233e-03,-2.90503297e-03,-1.78520004e-02, 1.16630482e-02,
  1.56527962e-02, 2.31129972e-03,-8.97461187e-03, 2.40525971e-02,
  1.04531059e+00,-9.39279182e-03, 7.50116738e-01, 6.24980546e-02,
  9.49526612e-02,-7.01823454e-02, 1.21376873e-01, 9.99977278e-01,
  1.81605102e-04,-3.35883228e-04, 6.73033207e-03]

qacc:
[ -6.17049181,  1.11799439, -5.76786029, 12.89848397, -2.40582775,
   2.14432456, -8.72424577, 15.70543153,-10.31151257,  2.02687994,
  -7.86737973, 12.63458734, -0.94382301,  1.43351742,  7.69198171,
 -28.68297029,  0.0758896 ,  1.83107486, -0.06600432,-30.94602965,
   2.66351631,  0.06323611]

qfrc_actuator:
[ 6.54894438e-05,-6.40763157e-05,-1.42174117e-04,-1.12597127e-04,
  1.15001118e-06,-3.34500847e-04,-2.83115722e-04,-1.09958542e-04,
 -7.47562732e-05,-4.78781849e-05,-1.46787391e-04,-1.85460297e-05,
  2.99667548e-02,-1.20893401e-03, 9.83828778e-03,-3.48106828e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006329172232178298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.77068109e-14,  3.50827244e-13,  1.00000000e+00,  3.07699387e-26,
        1.00000000e+00, -3.50827244e-13, -1.00000000e+00,  0.00000000e+00,
       -8.77068109e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09499955, -0.09310468,  0.06198463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60612972e-05,-9.58276698e-06,-8.99868540e-06, 1.96142245e-05,
 -1.40498057e-05, 2.73347193e-05,-1.28805912e-05, 2.02692140e-05,
 -6.01974467e-05, 1.15275064e-05,-2.25234593e-05, 1.21448777e-05,
 -1.89738087e-04,-4.29927187e-05,-1.07421093e-04,-1.70219971e-04,
 -2.41255908e-06, 2.69439913e-05,-7.84790184e+00, 7.52569726e-04,
  9.38452663e-03,-4.57774682e-06]


--- Step 678 ---
qpos:
[ 7.17733496e-03, 4.06013831e-03,-3.62042933e-03,-2.58362582e-02,
  6.05518759e-03,-2.90459016e-03,-1.78523771e-02, 1.16629738e-02,
  1.56508091e-02, 2.31197110e-03,-8.97537566e-03, 2.40528098e-02,
  1.04599073e+00,-9.39089330e-03, 7.50632018e-01, 6.24969861e-02,
  9.49445349e-02,-7.01709117e-02, 1.21375824e-01, 9.99977123e-01,
  8.15255770e-05,-4.00773610e-04, 6.75181147e-03]

qacc:
[ -6.93349146, -1.76885218,  8.14841603,-16.65888998, -4.52752254,
   3.43375576,-16.03545681, 33.43149817, -3.16654106,  1.1936236 ,
  -6.74491623, 16.20523037, -1.19122067,  2.14123783,  3.42993409,
 -12.59398752,  0.07670582,  1.80968963, -0.1856816 ,-30.55236426,
   2.52571542,  0.2046895 ]

qfrc_actuator:
[ 2.59236504e-05,-6.45811864e-05,-1.28167947e-04,-1.36210868e-04,
 -2.49921364e-05,-3.34801635e-04,-3.07683920e-04,-6.16242507e-05,
 -9.15747532e-05,-6.60958417e-05,-1.54867656e-04, 7.70483964e-06,
  2.99058289e-02,-1.19433817e-03, 9.86702247e-03,-3.53024739e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006314414763532311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.79117912e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.79117912e-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([ 0.09500035, -0.09310546,  0.06198466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.05898290e-05,-6.85408539e-06, 1.16158551e-05,-2.39479889e-05,
 -2.65343359e-05, 1.31790105e-05,-1.98086423e-05, 4.94564765e-05,
 -1.85225185e-05,-1.59501026e-05,-8.05316065e-06, 2.62045010e-05,
 -1.91486310e-04,-2.96491212e-05,-4.35835862e-05,-7.34279310e-05,
  1.84299497e-05, 2.12260668e-05,-7.84789600e+00, 7.40153173e-04,
  9.36356646e-03,-3.64578625e-06]


--- Step 679 ---
qpos:
[ 7.17753779e-03, 4.05897441e-03,-3.62024874e-03,-2.58367127e-02,
  6.05439368e-03,-2.90476213e-03,-1.78523939e-02, 1.16631786e-02,
  1.56489807e-02, 2.31207890e-03,-8.97575685e-03, 2.40537041e-02,
  1.04666958e+00,-9.38850691e-03, 7.51146687e-01, 6.24966225e-02,
  9.49412551e-02,-7.01621719e-02, 1.21376372e-01, 9.99976998e-01,
  5.54522131e-06,-4.25089510e-04, 6.76921038e-03]

qacc:
[-4.21237989,-0.182005  ,-0.96530827, 7.1505924 ,-2.6833557 ,-1.23814533,
  2.0666869 , 2.63092116, 1.41801087,-0.41396878,-2.4870474 ,14.09051956,
 -1.34478443, 2.6340882 ,-2.9711551 , 9.21656589, 1.21164751,-0.67345716,
  0.39948803,12.18546585,20.2052606 ,-2.04678898]

qfrc_actuator:
[ 2.38432392e-06,-4.66076418e-05,-1.02087281e-04,-1.14251791e-04,
 -4.01741708e-05,-4.06263248e-04,-3.04259875e-04,-5.09299363e-05,
 -8.29025146e-05,-1.12722447e-04,-1.41601580e-04, 4.08030083e-05,
  2.98448560e-02,-1.16875843e-03, 9.85507928e-03,-3.48754884e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006315386128376288
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.78982696e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.78982696e-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([ 0.08186769, -0.06205505,  0.06198466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.46899280e-05, 1.55448431e-05, 2.52858330e-05, 2.16075783e-05,
 -1.59367818e-05,-6.60850320e-05, 5.41794295e-06, 1.15372108e-05,
  8.14104806e-06,-5.61151399e-05, 9.88546777e-06, 3.26460839e-05,
 -1.89405405e-04,-1.72793800e-05,-4.70379881e-05, 3.13860422e-05,
  3.96645977e-05, 1.60133054e-05,-7.84776662e+00, 7.08206040e-04,
  9.34410899e-03,-1.61265703e-06]


--- Step 680 ---
qpos:
[ 7.17814663e-03, 4.05776324e-03,-3.61973180e-03,-2.58365458e-02,
  6.05342373e-03,-2.90552587e-03,-1.78520667e-02, 1.16641998e-02,
  1.56476150e-02, 2.31199966e-03,-8.97609102e-03, 2.40549630e-02,
  1.04734724e+00,-9.38608854e-03, 7.51660731e-01, 6.24947885e-02,
  9.49427534e-02,-7.01561009e-02, 1.21377980e-01, 9.99976911e-01,
 -4.69163309e-05,-4.09324241e-04, 6.78283811e-03]

qacc:
[  3.58563661,  0.26987946, -3.68268417, 13.93372791, -1.51923204,
  -0.05921399, -4.36544722, 18.37555971,  4.07635058,  0.36401848,
  -3.20983675,  9.59747623, -0.89581967,  1.31028637,  3.54865783,
 -13.68483223,  1.19452348, -0.66722196,  0.26469988, 11.89398854,
  19.96051921, -1.89078557]

qfrc_actuator:
[ 2.39727635e-05,-5.31191435e-05,-8.67296718e-05,-8.33776645e-05,
 -4.87803381e-05,-4.30949936e-04,-2.84662134e-04,-9.25747431e-06,
 -5.93103464e-05,-1.04898119e-04,-1.33719018e-04, 5.98953198e-05,
  2.97785776e-02,-1.17241050e-03, 9.80811514e-03,-3.56872299e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006328843791854194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31567044e-13, -8.77113625e-14,  1.00000000e+00, -1.15399247e-26,
        1.00000000e+00,  8.77113625e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31567044e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186731, -0.06205591,  0.06198463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08943011e-05, 8.36066360e-06, 2.24430235e-05, 3.28394259e-05,
 -9.08524217e-06,-6.00272663e-05, 7.01691226e-06, 3.92534061e-05,
  2.38022357e-05,-2.01190008e-05,-1.36261223e-06, 1.76628512e-05,
 -1.90719213e-04,-4.42909897e-05,-7.12931442e-05,-8.69279204e-05,
  2.23991956e-05, 4.87626898e-06,-7.84789524e+00, 6.84629386e-04,
  9.33582819e-03,-5.17398466e-07]


--- Step 681 ---
qpos:
[ 7.17866430e-03, 4.05662892e-03,-3.61930486e-03,-2.58363417e-02,
  6.05201272e-03,-2.90639382e-03,-1.78516959e-02, 1.16656698e-02,
  1.56472323e-02, 2.31209951e-03,-8.97676039e-03, 2.40560744e-02,
  1.04802386e+00,-9.38377259e-03, 7.52173461e-01, 6.24933773e-02,
  9.49489720e-02,-7.01526764e-02, 1.21380173e-01, 9.99976862e-01,
 -7.63382322e-05,-3.53897098e-04, 6.79294503e-03]

qacc:
[-8.06720290e-01, 4.31549767e-01,-1.54531009e+00, 2.27333440e+00,
 -3.85603153e+00, 6.71541917e-01,-4.47678882e+00, 1.22393375e+01,
  8.63728846e+00, 8.53220184e-01,-2.10554788e+00,-1.01842574e-02,
 -5.89271764e-01, 6.04319424e-01,-3.19693836e+00, 8.40824322e+00,
  1.18007807e+00,-6.61601561e-01, 1.46534352e-01, 1.16533498e+01,
  1.97524320e+01,-1.76427560e+00]

qfrc_actuator:
[ 1.86860566e-05,-5.65132153e-05,-9.56763175e-05,-8.30453551e-05,
 -7.12030534e-05,-4.09596129e-04,-2.73240648e-04, 1.48477198e-05,
 -9.38108940e-06,-8.23069680e-05,-1.46636655e-04, 5.28757823e-05,
  2.97357817e-02,-1.17558828e-03, 9.74548745e-03,-3.54480106e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006317292393254598
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  8.7871746e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -8.7871746e-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([ 0.08186656, -0.06205632,  0.06198466])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.68935254e-06, 7.36554809e-06,-3.31362276e-06, 2.10634429e-06,
 -2.27051458e-05,-9.06336387e-06, 1.24880611e-06, 2.25389138e-05,
  5.05974390e-05, 1.18238875e-05,-1.66305121e-05,-7.58826916e-06,
 -1.73899530e-04,-4.80420368e-05,-1.10519503e-04, 8.62972188e-06,
  1.19922653e-05,-2.80092725e-06,-7.84795049e+00, 6.68393249e-04,
  9.34047277e-03, 3.20689798e-07]


--- Step 682 ---
qpos:
[ 7.17842482e-03, 4.05572875e-03,-3.61937064e-03,-2.58354363e-02,
  6.04999864e-03,-2.90702727e-03,-1.78513214e-02, 1.16666849e-02,
  1.56474511e-02, 2.31256322e-03,-8.97766780e-03, 2.40563715e-02,
  1.04869955e+00,-9.38209254e-03, 7.52685002e-01, 6.24925364e-02,
  9.49598629e-02,-7.01518785e-02, 1.21382541e-01, 9.99976845e-01,
 -8.31137160e-05,-2.59157951e-04, 6.79973465e-03]

qacc:
[-6.68394340e+00, 3.14421919e+00,-1.36907059e+01, 2.63972517e+01,
 -5.28146917e+00,-6.26314249e-01, 4.62171327e+00,-1.26936255e+01,
  5.27786874e+00,-5.40713895e-01, 6.04647155e+00,-2.00095200e+01,
  9.01501655e-03,-1.10449093e+00,-3.48940721e+00, 9.62799299e+00,
  1.16808576e+00,-6.56660062e-01, 4.35480245e-02, 1.14558831e+01,
  1.95787614e+01,-1.66122759e+00]

qfrc_actuator:
[-2.01435919e-05,-4.03894109e-05,-1.18913713e-04,-4.74447308e-05,
 -1.01580285e-04,-3.78621499e-04,-2.66562330e-04,-7.05177899e-06,
  2.01396653e-05,-5.11470430e-05,-1.53918371e-04, 1.28026516e-05,
  2.96804763e-02,-1.21386514e-03, 9.70017512e-03,-3.51238449e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006285652283134074
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20785166e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.20785166e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818655 , -0.06205639,  0.06198473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.89571022e-05, 1.96807232e-05,-2.20438459e-05, 3.58436179e-05,
 -3.10300696e-05, 2.71461417e-05, 5.74354408e-06,-2.18072138e-05,
  3.09632216e-05, 3.40296387e-05,-7.14854530e-06,-4.02929369e-05,
 -1.76531761e-04,-8.01712599e-05,-9.79500339e-05, 1.80180181e-05,
  7.81183864e-06,-7.54794248e-06,-7.84793563e+00, 6.59375869e-04,
  9.35788267e-03, 9.02779399e-07]


--- Step 683 ---
qpos:
[ 7.17841206e-03, 4.05464237e-03,-3.61924809e-03,-2.58344498e-02,
  6.04763571e-03,-2.90714294e-03,-1.78512866e-02, 1.16670713e-02,
  1.56480224e-02, 2.31328572e-03,-8.97836078e-03, 2.40558224e-02,
  1.04937412e+00,-9.38079694e-03, 7.53195434e-01, 6.24927029e-02,
  9.49753872e-02,-7.01536903e-02, 1.21384726e-01, 9.99976847e-01,
 -6.75627989e-05,-1.25391983e-04, 6.80337319e-03]

qacc:
[  2.00481577, -0.60944503,  1.46689383, -0.22008047, -3.07255042,
   0.3449853 ,  2.42797395,-13.15983136,  3.10450449, -2.00542453,
  11.20917398,-26.37664491, -0.35982661, -0.18927101, -4.67002403,
  13.97510418,  1.1583273 , -0.65242402, -0.04572983, 11.29522053,
  19.43718596, -1.57684236]

qfrc_actuator:
[-7.38604495e-06,-6.60008071e-05,-1.14781583e-04,-4.46199181e-05,
 -1.18639148e-04,-3.42171409e-04,-2.80459957e-04,-3.80772074e-05,
  3.74037826e-05,-3.28548809e-05,-1.40028982e-04,-2.86240711e-05,
  2.96123669e-02,-1.23712174e-03, 9.65996225e-03,-3.45743517e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006238189008164752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33479006e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.33479006e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08186421, -0.06205617,  0.06198485])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16601078e-05,-1.76056709e-05, 6.73331728e-06, 3.60472573e-06,
 -1.79352448e-05, 5.18875156e-05,-8.33568124e-06,-3.00882930e-05,
  1.81582460e-05, 3.41230526e-05, 1.86475082e-05,-4.10008407e-05,
 -1.97549472e-04,-7.05825634e-05,-8.65366739e-05, 4.25661047e-05,
  9.41252208e-06,-9.77440250e-06,-7.84785318e+00, 6.57474958e-04,
  9.38792650e-03, 1.23019123e-06]


--- Step 684 ---
qpos:
[ 7.17820690e-03, 4.05354029e-03,-3.61908577e-03,-2.58341390e-02,
  6.04577637e-03,-2.90690972e-03,-1.78516659e-02, 1.16671098e-02,
  1.56487968e-02, 2.31386824e-03,-8.97841086e-03, 2.40544573e-02,
  1.05004755e+00,-9.37979204e-03, 7.53704930e-01, 6.24934761e-02,
  9.49955138e-02,-7.01580977e-02, 1.21386420e-01, 9.99976851e-01,
 -2.99428212e-05, 4.71756604e-05, 6.80399721e-03]

qacc:
[ -1.69239129, -1.5203754 ,  8.24222109,-19.97917111,  4.38751783,
   0.89299733, -1.06139783, -4.53767592,  1.80902091, -3.66533051,
  16.23974162,-31.28049386, -0.47491495,  0.13757572, -3.20286894,
   9.22138754,  1.15059613, -0.64889484, -0.1227335 , 11.16607708,
  19.32541855, -1.50729984]

qfrc_actuator:
[-1.76150694e-05,-6.30687467e-05,-1.12464319e-04,-7.88735770e-05,
 -9.22147211e-05,-3.38318396e-04,-3.06361249e-04,-5.64697474e-05,
  4.73221639e-05,-5.78291298e-05,-1.13794184e-04,-7.05053767e-05,
  2.95579292e-02,-1.25136326e-03, 9.62284457e-03,-3.42513655e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000617857602171909
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -8.9844571e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  8.9844571e-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([ 0.08186273, -0.06205575,  0.06198499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.90130022e-06,-5.32806048e-06,-3.56492399e-07,-3.47049428e-05,
  2.59317118e-05, 2.98539343e-05,-1.72511621e-05,-1.70431737e-05,
  1.04486088e-05,-3.80625750e-06, 3.41622884e-05,-4.05711835e-05,
 -1.95236928e-04,-6.45515033e-05,-7.60666946e-05, 2.26165342e-05,
  1.64972429e-05,-9.80462223e-06,-7.84770506e+00, 6.62605617e-04,
  9.43049829e-03, 1.30433587e-06]


--- Step 685 ---
qpos:
[ 7.17753585e-03, 4.05256666e-03,-3.61901535e-03,-2.58335600e-02,
  6.04424817e-03,-2.90658080e-03,-1.78520033e-02, 1.16672741e-02,
  1.56496840e-02, 2.31474823e-03,-8.97832237e-03, 2.40529249e-02,
  1.05071994e+00,-9.37929129e-03, 7.54212826e-01, 6.24940834e-02,
  9.50116111e-02,-7.01684193e-02, 1.21387685e-01, 9.99976813e-01,
  5.74882164e-05, 1.83453984e-04, 6.80708222e-03]

qacc:
[ -4.10605261,  0.98718878, -4.38909164,  9.06214452,  2.89751247,
   0.26304095, -1.29558563,  3.34715168,  0.99134182, -0.34035369,
   2.48678714, -5.81813281, -0.209347  , -0.5737671 , -1.86358879,
   3.08023377, -1.0073483 , -1.47855256, -0.10707256, 24.78143863,
 -18.31373281,  1.23123362]

qfrc_actuator:
[-4.13076170e-05,-4.31066202e-05,-1.11162742e-04,-6.36393381e-05,
 -7.59184735e-05,-3.36309207e-04,-3.03749273e-04,-4.95593299e-05,
  5.28416020e-05,-1.97047961e-05,-9.84190128e-05,-7.68458822e-05,
  2.95064100e-02,-1.27788835e-03, 9.51837326e-03,-3.44193592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006138288739147152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13042807e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.13042807e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887366, -0.0517602 ,  0.06198509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39708975e-05, 1.54575224e-05,-1.03244911e-06, 1.43198277e-05,
  1.70489419e-05, 1.44147809e-05, 6.06399351e-06, 7.26011708e-06,
  5.81680314e-06, 4.13025480e-05, 1.73901244e-05,-6.10956229e-06,
 -1.89538835e-04,-7.54906906e-05,-1.41480054e-04,-2.64002036e-05,
  2.88889019e-05,-7.90365625e-06,-7.84749266e+00, 6.74698451e-04,
  9.48551477e-03, 1.12667096e-06]


--- Step 686 ---
qpos:
[ 7.17727593e-03, 4.05181295e-03,-3.61928662e-03,-2.58324525e-02,
  6.04292717e-03,-2.90591568e-03,-1.78520998e-02, 1.16667840e-02,
  1.56506301e-02, 2.31634358e-03,-8.97802492e-03, 2.40519592e-02,
  1.05139108e+00,-9.37876249e-03, 7.54719133e-01, 6.24931470e-02,
  9.50280917e-02,-7.01714282e-02, 1.21388701e-01, 9.99976746e-01,
  8.25534522e-05, 3.23871158e-04, 6.81139008e-03]

qacc:
[  3.60472812,  2.32726414,-10.1125592 , 19.64013041,  1.81460418,
  -1.57939041,  9.03402995,-20.98911992,  0.51401684,  1.52700013,
  -6.46705193, 15.41540405, -0.91829253,  1.31297673,  2.34890327,
 -11.55367489,  0.09585044,  1.82816981, -0.06249442,-31.16820264,
   2.28167926,  0.60567723]

qfrc_actuator:
[-1.94699206e-05,-3.08169557e-05,-1.28107467e-04,-3.71387378e-05,
 -6.57281330e-05,-2.99787410e-04,-2.84319537e-04,-8.10595854e-05,
  5.57307561e-05, 5.58972232e-05,-7.15598100e-05,-4.44316346e-05,
  2.94406970e-02,-1.27594859e-03, 9.43216682e-03,-3.52316956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006147403563769027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.03001579e-14,  9.03001579e-14,  1.00000000e+00,  8.15411851e-27,
        1.00000000e+00, -9.03001579e-14, -1.00000000e+00,  0.00000000e+00,
       -9.03001579e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500099, -0.09311135,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11646241e-05, 2.13602558e-05,-1.33729678e-05, 2.74074652e-05,
  1.06819131e-05, 4.61436802e-05, 2.34044093e-05,-3.05324974e-05,
  3.07096383e-06, 1.02004386e-04, 3.73141681e-05, 3.46682483e-05,
 -2.02776621e-04,-4.73038522e-05,-1.55484974e-04,-1.01222751e-04,
  1.45850107e-05,-1.87977949e-05,-7.84757386e+00, 7.03293951e-04,
  9.52850698e-03,-7.81742267e-08]


--- Step 687 ---
qpos:
[ 7.17727959e-03, 4.05122880e-03,-3.61975066e-03,-2.58310399e-02,
  6.04173883e-03,-2.90496710e-03,-1.78522312e-02, 1.16659459e-02,
  1.56519494e-02, 2.31771694e-03,-8.97668895e-03, 2.40511066e-02,
  1.05206089e+00,-9.37788767e-03, 7.55224672e-01, 6.24906926e-02,
  9.50426360e-02,-7.01737378e-02, 1.21391495e-01, 9.99976665e-01,
  1.01636146e-04, 4.47438393e-04, 6.81606663e-03]

qacc:
[  2.31134636,  1.38684704, -5.91173155, 11.37499245,  1.15463116,
  -0.2465186 ,  2.88786633, -9.05908629,  3.31953604, -2.96941318,
   9.67262685, -9.19766485, -1.30956665,  2.38904733,  3.50099283,
 -13.77824831, -0.48409635,  0.17484177,  0.44464994, -3.04864618,
  -8.40438135,  0.18411405]

qfrc_actuator:
[-6.51001379e-06,-2.32736383e-05,-1.37960770e-04,-2.19984393e-05,
 -5.92098544e-05,-2.96094743e-04,-2.90520286e-04,-9.93709772e-05,
  7.48030011e-05,-6.32471752e-06,-3.79360146e-05,-4.26894010e-05,
  2.93771755e-02,-1.25726044e-03, 9.43153692e-03,-3.58836146e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006150117205940894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.51301572e-14,  4.26191874e-07,  1.00000000e+00, -1.92341063e-20,
        1.00000000e+00, -4.26191874e-07, -1.00000000e+00,  0.00000000e+00,
        4.51301572e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10197734, -0.07231535,  0.06198506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35703234e-05, 1.79355814e-05,-6.13139186e-06, 1.61249970e-05,
  6.83989064e-06, 3.30036750e-05, 5.15077360e-06,-1.61190880e-05,
  1.91973186e-05, 3.95799748e-06, 6.04707305e-05, 8.07736574e-06,
 -2.03374301e-04,-2.90060319e-05,-8.44614857e-05,-9.10901958e-05,
  1.78334823e-05,-1.32045865e-05,-7.84766918e+00, 7.11594728e-04,
  9.57348311e-03,-8.89785121e-07]


--- Step 688 ---
qpos:
[ 7.17743881e-03, 4.05069668e-03,-3.62000488e-03,-2.58294698e-02,
  6.04063831e-03,-2.90424521e-03,-1.78519383e-02, 1.16652746e-02,
  1.56531425e-02, 2.31853317e-03,-8.97494338e-03, 2.40503705e-02,
  1.05272948e+00,-9.37682278e-03, 7.55728776e-01, 6.24937355e-02,
  9.50529947e-02,-7.01766696e-02, 1.21395307e-01, 9.99976581e-01,
  1.25579150e-04, 5.34887846e-04, 6.82174495e-03]

qacc:
[  1.37517662, -0.19592639,  0.12946336,  2.22679994,  0.78586186,
  -1.14297717,  2.93414542, -0.55658252, -1.08715363, -1.63945491,
   4.28943121, -2.52379709, -0.82418099,  1.27814642,-18.67450002,
  62.34397344, -1.04639463, -0.15556119,  0.25445104,  2.30678366,
 -18.07498229,  0.50380383]

qfrc_actuator:
[ 1.10631786e-06,-1.86157130e-05,-1.25818850e-04,-1.36623639e-05,
 -5.49031391e-05,-3.29933908e-04,-2.76414642e-04,-9.20611682e-05,
  6.77421837e-05,-7.95793010e-05,-3.66718720e-05,-4.13709486e-05,
  2.93256735e-02,-1.24660509e-03, 9.41832690e-03,-3.28828413e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006159691887027974
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.75900097e-14,  1.12650016e-14,  1.00000000e+00,  7.61401568e-28,
        1.00000000e+00, -1.12650016e-14, -1.00000000e+00,  0.00000000e+00,
       -6.75900097e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10881559, -0.06840579,  0.06198504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.00963872e-06, 1.41396453e-05, 1.56576349e-05, 9.20458157e-06,
  4.51411170e-06,-1.50391342e-05, 2.09912793e-05, 8.58829347e-06,
 -6.51124912e-06,-5.82565780e-05, 9.78027185e-06, 3.73295233e-06,
 -1.87501473e-04,-3.46357780e-05,-6.69825565e-05, 2.83018123e-04,
  1.37743675e-05,-1.16510694e-05,-7.84774580e+00, 7.17931745e-04,
  9.61288540e-03,-1.18490507e-06]


--- Step 689 ---
qpos:
[ 7.17768821e-03, 4.05025170e-03,-3.62009268e-03,-2.58281589e-02,
  6.03925307e-03,-2.90368988e-03,-1.78511730e-02, 1.16646852e-02,
  1.56538970e-02, 2.31886583e-03,-8.97317904e-03, 2.40503656e-02,
  1.05339692e+00,-9.37563533e-03, 7.56231943e-01, 6.25012950e-02,
  9.50592065e-02,-7.01802197e-02, 1.21399744e-01, 9.99976502e-01,
  1.54331736e-04, 5.86725560e-04, 6.82842274e-03]

qacc:
[  0.79739171, -0.88563393,  4.41354242, -9.22072263, -2.47385099,
  -1.3660083 ,  4.21396361, -3.43774121, -3.8501818 ,  0.82152351,
  -6.93138432, 19.9006122 , -0.76661371,  1.121238  ,-14.98350856,
  50.48962836, -1.03670682, -0.15458511,  0.15607559,  2.28299994,
 -17.82179603,  0.50323057]

qfrc_actuator:
[ 5.51908861e-06,-1.56393347e-05,-1.18557900e-04,-2.71359574e-05,
 -6.96842356e-05,-3.32637514e-04,-2.50570370e-04,-8.75068276e-05,
  4.53514760e-05,-1.05771625e-04,-3.68573737e-05,-4.84995682e-06,
  2.92707682e-02,-1.24075189e-03, 9.38700483e-03,-3.05949533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006145028248846218
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.90431799e-14,  9.03350627e-14,  1.00000000e+00,  7.14037061e-27,
        1.00000000e+00, -9.03350627e-14, -1.00000000e+00,  0.00000000e+00,
       -7.90431799e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10881574, -0.06840575,  0.06198507])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.64581856e-06, 1.45322990e-05, 1.24332501e-05,-1.21493599e-05,
 -1.46585811e-05,-6.43625255e-06, 2.56104011e-05, 4.80252933e-06,
 -2.25923480e-05,-5.66363680e-05,-1.09122463e-05, 3.44319381e-05,
 -1.81393904e-04,-3.72336558e-05,-3.43283818e-05, 2.35066719e-04,
  5.55000629e-06,-1.01357459e-05,-7.84786641e+00, 7.25728517e-04,
  9.64069096e-03,-1.57074756e-06]


--- Step 690 ---
qpos:
[ 7.17764370e-03, 4.04988531e-03,-3.62007775e-03,-2.58270141e-02,
  6.03770142e-03,-2.90314821e-03,-1.78504381e-02, 1.16645155e-02,
  1.56550673e-02, 2.31874272e-03,-8.97167803e-03, 2.40504693e-02,
  1.05406319e+00,-9.37434950e-03, 7.56734959e-01, 6.25062193e-02,
  9.50613046e-02,-7.01843851e-02, 1.21404462e-01, 9.99976434e-01,
  1.87853977e-04, 6.03370246e-04, 6.83609929e-03]

qacc:
[ -2.58531801, -0.52008095,  2.71253739, -5.81203135, -1.45666042,
   0.93319233, -5.12084222, 12.43810637,  3.65802182,  0.34997621,
  -2.59261535,  5.24137186, -1.00264542,  1.5967061 ,  7.76882598,
 -27.42254713, -1.02846225, -0.15382372,  0.07044677,  2.26432131,
 -17.61231142,  0.50344343]

qfrc_actuator:
[-9.73974609e-06,-1.37277923e-05,-1.14266064e-04,-3.55888782e-05,
 -7.78279622e-05,-3.34381879e-04,-2.53405969e-04,-6.68350237e-05,
  6.73836597e-05,-1.39082570e-04,-5.54383063e-05,-1.12683071e-06,
  2.92085341e-02,-1.23778847e-03, 9.33949657e-03,-3.21199797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006114066873707524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13490645e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.13490645e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10881622, -0.06840568,  0.06198515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51205656e-05, 1.21007105e-05, 8.40709619e-06,-7.63909271e-06,
 -8.56600211e-06, 1.19179317e-07,-8.57532521e-07, 2.13747198e-05,
  2.13724195e-05,-6.57990529e-05,-3.04554959e-05, 1.58495572e-06,
 -1.85199315e-04,-3.93407565e-05,-4.27616458e-05,-1.45160142e-04,
 -2.78260519e-07,-7.15201441e-06,-7.84794302e+00, 7.34908052e-04,
  9.65711292e-03,-2.10398381e-06]


--- Step 691 ---
qpos:
[ 7.17707177e-03, 4.04959765e-03,-3.61998485e-03,-2.58263230e-02,
  6.03709892e-03,-2.90269960e-03,-1.78499712e-02, 1.16646219e-02,
  1.56561473e-02, 2.31827643e-03,-8.97072262e-03, 2.40502771e-02,
  1.05472821e+00,-9.37321829e-03, 7.57237177e-01, 6.25073747e-02,
  9.50593162e-02,-7.01891636e-02, 1.21409165e-01, 9.99976377e-01,
  2.26115528e-04, 5.85163824e-04, 6.84477528e-03]

qacc:
[-4.64182661e+00,-1.03946366e+00, 5.78362912e+00,-1.38251909e+01,
  8.29903727e+00, 1.17792836e+00,-5.57278954e+00, 1.08801906e+01,
 -8.05688071e-01, 4.63787895e-01,-1.05971975e+00,-2.93942268e+00,
 -8.32918382e-01, 9.62933382e-01, 1.02249186e+01,-3.74310051e+01,
 -1.02159900e+00,-1.53267398e-01,-3.62965145e-03, 2.25017322e+00,
 -1.74412520e+01, 5.04375353e-01]

qfrc_actuator:
[-3.64535322e-05,-1.24814735e-05,-1.11758565e-04,-5.87716077e-05,
 -2.87357978e-05,-3.53389597e-04,-2.73135743e-04,-5.46158564e-05,
  6.21327856e-05,-1.58746436e-04,-8.47819047e-05,-1.67522084e-05,
  2.91259679e-02,-1.25433643e-03, 9.27158806e-03,-3.41040393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006070362606819396
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.57230934e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.57230934e-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([ 0.10881696, -0.06840556,  0.06198526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71381117e-05, 9.42767483e-06, 5.78008325e-06,-2.25236296e-05,
  4.88466200e-05,-1.82332225e-05,-1.90853651e-05, 1.26084825e-05,
 -4.66430344e-06,-6.26843731e-05,-4.66477478e-05,-1.94720733e-05,
 -2.08849321e-04,-5.97884113e-05,-1.10864958e-04,-2.13686978e-04,
 -3.78845233e-06,-2.73100093e-06,-7.84797746e+00, 7.45459871e-04,
  9.66228519e-03,-2.78305883e-06]


--- Step 692 ---
qpos:
[ 7.17618415e-03, 4.04914928e-03,-3.61945367e-03,-2.58262545e-02,
  6.03743425e-03,-2.90224891e-03,-1.78497857e-02, 1.16648630e-02,
  1.56564662e-02, 2.31741529e-03,-8.96984835e-03, 2.40495283e-02,
  1.05539188e+00,-9.37194442e-03, 7.57737770e-01, 6.25084874e-02,
  9.50554143e-02,-7.01906517e-02, 1.21413975e-01, 9.99976337e-01,
  2.36359807e-04, 5.51332719e-04, 6.85319185e-03]

qacc:
[ -2.76253595, -2.7143428 , 11.99935868,-23.34715091,  8.19798622,
   1.05012349, -4.3369499 ,  7.14666335, -6.69359655, -1.42807911,
   6.70789148,-15.94694728, -1.05367305,  1.64390529, -2.22927043,
   4.40396452, -0.47837914,  0.8225964 ,  0.02640036,-14.06170385,
  -7.71630466, -0.13619582]

qfrc_actuator:
[-5.19365744e-05,-2.94184778e-05,-9.25853869e-05,-9.04380256e-05,
  1.81436481e-05,-3.47165214e-04,-2.84999537e-04,-4.74926135e-05,
  2.30991412e-05,-1.70152331e-04,-8.46902336e-05,-4.36256867e-05,
  2.90578805e-02,-1.24687227e-03, 9.20748038e-03,-3.40337984e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006013053073581067
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.77145963e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.77145963e-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([ 0.1020917 , -0.08043606,  0.06198539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.62491337e-05,-1.14356085e-05, 2.10554463e-05,-3.15012260e-05,
  4.82688747e-05,-7.37835137e-06,-1.75575767e-05, 5.92256540e-06,
 -3.91858787e-05,-5.69216842e-05,-1.92801097e-05,-3.15530629e-05,
 -2.14174990e-04,-4.35942672e-05,-1.42818192e-04,-2.00796603e-05,
 -5.05323564e-06, 3.10461557e-06,-7.84797113e+00, 7.57375755e-04,
  9.65631692e-03,-3.60678613e-06]


--- Step 693 ---
qpos:
[ 7.17511768e-03, 4.04854302e-03,-3.61868843e-03,-2.58262066e-02,
  6.03798451e-03,-2.90193377e-03,-1.78496850e-02, 1.16648463e-02,
  1.56559697e-02, 2.31626726e-03,-8.96904041e-03, 2.40481025e-02,
  1.05605426e+00,-9.37059929e-03, 7.58236849e-01, 6.25112434e-02,
  9.50496111e-02,-7.01888683e-02, 1.21418648e-01, 9.99976310e-01,
  2.18795228e-04, 5.01919230e-04, 6.86139567e-03]

qacc:
[ -1.56432339, -0.90257753,  3.00698551, -3.62619167,  1.88017881,
  -0.47673491,  2.52238416, -6.74349043, -7.17313177, -1.57346377,
   7.94266509,-19.36797272, -0.88532457,  1.25597987, -7.15876678,
  21.87854554, -0.47531922,  0.81788196, -0.03406247,-13.95743797,
  -7.69574758, -0.11224379]

qfrc_actuator:
[-6.06819443e-05,-3.93049109e-05,-8.15569114e-05,-9.13391265e-05,
  2.78218467e-05,-3.61364732e-04,-2.92023100e-04,-6.11485356e-05,
 -1.77445884e-05,-1.76414508e-04,-8.49362513e-05,-7.68688573e-05,
  2.89985348e-02,-1.24298892e-03, 9.16173378e-03,-3.31082175e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005962345650940671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.65514367e-14, -7.94614683e-07,  1.00000000e+00, -3.69904551e-20,
        1.00000000e+00,  7.94614683e-07, -1.00000000e+00,  0.00000000e+00,
       -4.65514367e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10209234, -0.08043681,  0.06198552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.20953659e-06,-1.32742220e-05, 1.01702692e-05,-1.27528017e-06,
  1.10551245e-05,-2.17004590e-05,-1.05154318e-05,-1.44683793e-05,
 -4.19767783e-05,-4.34179488e-05,-1.54671172e-05,-3.69603621e-05,
 -2.05441528e-04,-4.58517163e-05,-1.14998746e-04, 7.27483642e-05,
 -2.63526039e-07, 4.95060199e-06,-7.84797978e+00, 7.60472492e-04,
  9.64574162e-03,-3.81036987e-06]


--- Step 694 ---
qpos:
[ 7.17498943e-03, 4.04783655e-03,-3.61778374e-03,-2.58265162e-02,
  6.03795724e-03,-2.90185722e-03,-1.78499025e-02, 1.16646960e-02,
  1.56549868e-02, 2.31533058e-03,-8.96856173e-03, 2.40472787e-02,
  1.05671554e+00,-9.36981552e-03, 7.58735051e-01, 6.25165879e-02,
  9.50441658e-02,-7.01800932e-02, 1.21421308e-01, 9.99976286e-01,
  1.42003036e-04, 4.56974712e-04, 6.87004801e-03]

qacc:
[  8.26467576, -1.27449803,  5.82867359,-12.1230312 , -5.0596301 ,
   0.30857727, -0.97687116, -0.66890307, -4.29431486,  2.44744825,
 -10.84870747, 21.62360151, -0.13177541, -0.82217978, -9.11431948,
  29.9939619 ,  0.08946919,  1.74793805, -0.50310949,-29.59788614,
   2.4376736 ,  0.20889592]

qfrc_actuator:
[-1.21373650e-05,-4.48995408e-05,-7.53863605e-05,-1.09639142e-04,
 -2.22554810e-06,-3.87681798e-04,-3.13979307e-04,-6.91806767e-05,
 -4.15629712e-05,-1.26282567e-04,-8.53672437e-05,-4.25803864e-05,
  2.89391511e-02,-1.27674499e-03, 9.15900697e-03,-3.16861214e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005911083553703511
  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([ 0.09500314, -0.09311951,  0.06198564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.82791542e-05,-1.09584727e-05, 4.63674751e-06,-1.85412931e-05,
 -2.97380972e-05,-4.12525374e-05,-2.82397915e-05,-9.60883653e-06,
 -2.50270496e-05, 2.10925635e-05,-1.25752308e-05, 3.11789286e-05,
 -2.00083815e-04,-8.21638230e-05,-4.97771638e-05, 1.30930887e-04,
  4.82837311e-06, 5.74601348e-06,-7.84795516e+00, 7.54679149e-04,
  9.63021782e-03,-3.45488409e-06]


--- Step 695 ---
qpos:
[ 7.17544376e-03, 4.04721340e-03,-3.61689146e-03,-2.58270558e-02,
  6.03791500e-03,-2.90199872e-03,-1.78501455e-02, 1.16647731e-02,
  1.56540701e-02, 2.31503370e-03,-8.96834972e-03, 2.40468110e-02,
  1.05737569e+00,-9.36944918e-03, 7.59232562e-01, 6.25235702e-02,
  9.50346546e-02,-7.01719202e-02, 1.21423778e-01, 9.99976261e-01,
  7.00096238e-05, 3.77104624e-04, 6.87974551e-03]

qacc:
[  5.12628947, -0.33890435,  2.31952725, -6.31764704, -0.128009  ,
   0.25147737, -2.27478611,  6.4123597 ,  0.56445232,  2.32274093,
  -8.56003511, 14.67899078, -0.32439848, -0.2954065 , -5.95891115,
  19.37756259, -1.01648062, -0.15055142, -0.04761786,  2.27912387,
 -17.47878071,  0.52614501]

qfrc_actuator:
[ 1.64777490e-05,-3.01609633e-05,-7.21295749e-05,-1.20280898e-04,
 -2.14394104e-06,-3.85606875e-04,-3.09122497e-04,-5.61070654e-05,
 -3.74163167e-05,-6.04502800e-05,-8.56197529e-05,-2.20390361e-05,
  2.88851002e-02,-1.29697532e-03, 9.12883146e-03,-3.08697716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005862844092197061
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.18353717e-14,  4.73414868e-14,  1.00000000e+00,  5.60304093e-28,
        1.00000000e+00, -4.73414868e-14, -1.00000000e+00,  0.00000000e+00,
       -1.18353717e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10882032, -0.06840519,  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:
[ 2.99844595e-05, 8.80735264e-06, 9.19585266e-07,-1.13133728e-05,
 -7.80864040e-07,-2.72482595e-05,-7.47203382e-06, 1.01435773e-05,
  3.43954930e-06, 7.63842513e-05, 3.64158447e-06, 2.16206388e-05,
 -1.98384912e-04,-7.32756578e-05,-4.37382523e-05, 8.12802475e-05,
  1.31120289e-05, 2.64657332e-06,-7.84787062e+00, 7.30140638e-04,
  9.61641295e-03,-1.90803469e-06]


--- Step 696 ---
qpos:
[ 7.17485822e-03, 4.04651648e-03,-3.61594787e-03,-2.58270124e-02,
  6.03821886e-03,-2.90257721e-03,-1.78502402e-02, 1.16650221e-02,
  1.56528652e-02, 2.31523410e-03,-8.96812469e-03, 2.40465912e-02,
  1.05803461e+00,-9.36904161e-03, 7.59729772e-01, 6.25251971e-02,
  9.50212423e-02,-7.01694997e-02, 1.21424704e-01, 9.99976214e-01,
  4.64062521e-05, 2.62208629e-04, 6.89204459e-03]

qacc:
[ -9.1503236 ,  0.9775188 , -6.05098346, 16.06498948,  3.0408166 ,
  -0.64371727,  0.7214125 ,  2.34879013, -2.5451372 ,  1.13629933,
  -4.13620792,  8.03131126, -1.07461278,  1.6606171 , 15.75882284,
 -55.69995896, -0.97525488, -1.43812046, -0.38602718, 24.0734717 ,
 -17.67889832,  1.31118406]

qfrc_actuator:
[-3.78949961e-05,-3.88711861e-05,-7.05249759e-05,-9.08068516e-05,
  1.56835381e-05,-4.19679761e-04,-3.06095927e-04,-4.84302177e-05,
 -5.23540988e-05,-3.89686627e-05,-8.56960663e-05,-9.74074267e-06,
  2.88289653e-02,-1.29125696e-03, 9.06089831e-03,-3.37907185e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005820720627961046
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.57630662e-14, -4.76840883e-14,  1.00000000e+00,  1.70532920e-27,
        1.00000000e+00,  4.76840883e-14, -1.00000000e+00,  0.00000000e+00,
        3.57630662e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887564, -0.05175312,  0.06198586])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.35164610e-05,-4.05734455e-06, 3.14193716e-06, 2.96619567e-05,
  1.77955402e-05,-5.04111444e-05,-3.16663609e-06, 6.44883614e-06,
 -1.48152678e-05, 6.58825506e-05, 1.68995472e-05, 1.61193716e-05,
 -1.97546312e-04,-4.56366101e-05,-8.48376051e-05,-2.94581579e-04,
  1.80407641e-05, 6.78010919e-06,-7.84781133e+00, 7.06701149e-04,
  9.59114282e-03,-4.73491596e-07]


--- Step 697 ---
qpos:
[ 7.17397104e-03, 4.04549314e-03,-3.61461503e-03,-2.58259164e-02,
  6.03804419e-03,-2.90354857e-03,-1.78502906e-02, 1.16653630e-02,
  1.56518358e-02, 2.31567374e-03,-8.96777271e-03, 2.40465462e-02,
  1.05869237e+00,-9.36859843e-03, 7.60226543e-01, 6.25202706e-02,
  9.50039412e-02,-7.01727990e-02, 1.21423831e-01, 9.99976138e-01,
  7.07406271e-05, 1.12620783e-04, 6.90693261e-03]

qacc:
[ -2.63675341,  0.65328318, -7.38032239, 25.18322264, -4.17931844,
  -0.44532624,  0.46050589,  1.33368469,  1.54490499,  0.31807108,
  -1.4182647 ,  4.0688461 , -1.05879456,  1.65604587, 19.17013079,
 -67.93539627, -0.97222821, -1.42993958, -0.44976009, 23.84841566,
 -17.51064316,  1.30162811]

qfrc_actuator:
[-5.19078710e-05,-6.15269150e-05,-5.22177937e-05,-3.79842769e-05,
 -9.45443911e-06,-4.39629897e-04,-3.04331064e-04,-4.40268358e-05,
 -4.29091646e-05,-4.42108536e-05,-8.58396738e-05,-2.42261497e-06,
  2.87769551e-02,-1.28801372e-03, 9.02888407e-03,-3.71153989e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005787850589828031
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.79548931e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.79548931e-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([ 0.10887596, -0.05175233,  0.06198594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55343774e-05,-2.30082335e-05, 1.88819977e-05, 5.33368127e-05,
 -2.46472938e-05,-4.84897685e-05,-8.80788563e-06, 2.25941988e-06,
  9.04648242e-06, 3.57629949e-05, 1.60995485e-05, 1.10398555e-05,
 -1.87798840e-04,-4.34615445e-05,-1.09483820e-04,-3.61136261e-04,
  1.77661691e-05, 2.04194000e-05,-7.84777605e+00, 6.98312530e-04,
  9.55425100e-03,-3.16106182e-07]


--- Step 698 ---
qpos:
[ 7.17326697e-03, 4.04471994e-03,-3.61379852e-03,-2.58248980e-02,
  6.03791436e-03,-2.90453513e-03,-1.78505089e-02, 1.16660653e-02,
  1.56516177e-02, 2.31610623e-03,-8.96725804e-03, 2.40462738e-02,
  1.05934891e+00,-9.36781327e-03, 7.60721743e-01, 6.25173282e-02,
  9.49869515e-02,-7.01688803e-02, 1.21422103e-01, 9.99976044e-01,
  3.39435695e-05,-3.19100608e-05, 6.92165730e-03]

qacc:
[  1.59121012,  1.61116347, -4.94184007,  4.24373844,  0.38761618,
   1.19129675, -5.8038607 , 12.33819791,  7.14379372, -0.94603535,
   4.29488671, -8.45714732, -1.08867023,  1.96176999, -8.25988866,
  25.6370212 ,  0.07787854,  1.80448892, -0.21371188,-30.54751301,
   2.73955087, -0.08522034]

qfrc_actuator:
[-4.20271052e-05,-3.90099086e-05,-7.75054413e-05,-4.28659381e-05,
 -6.42760723e-06,-4.15470449e-04,-3.03278534e-04,-2.38237165e-05,
 -1.43052277e-06,-6.54282046e-05,-8.61428008e-05,-1.58711695e-05,
  2.87221324e-02,-1.26851377e-03, 9.00779285e-03,-3.58557065e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000579232487723888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.58357005e-14,  9.58357005e-14,  1.00000000e+00,  9.18448150e-27,
        1.00000000e+00, -9.58357005e-14, -1.00000000e+00,  0.00000000e+00,
       -9.58357005e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500578, -0.09312403,  0.06198593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.43021810e-06, 1.58511207e-05,-2.58738577e-05,-4.17739744e-06,
  2.30600081e-06,-4.65173560e-06,-9.95766636e-06, 1.78670737e-05,
  4.17487712e-05, 2.56020260e-06, 9.43865387e-06,-1.11462818e-05,
 -1.84146144e-04,-2.47623902e-05,-1.16280671e-04, 9.06732473e-05,
  1.55091824e-05, 3.97735870e-05,-7.84762693e+00, 7.04930141e-04,
  9.50587224e-03,-1.32619579e-06]


--- Step 699 ---
qpos:
[ 7.17303147e-03, 4.04448118e-03,-3.61400099e-03,-2.58242928e-02,
  6.03851117e-03,-2.90521671e-03,-1.78511904e-02, 1.16673279e-02,
  1.56518986e-02, 2.31622368e-03,-8.96629793e-03, 2.40458632e-02,
  1.06000432e+00,-9.36706665e-03, 7.61215451e-01, 6.25175188e-02,
  9.49702748e-02,-7.01578031e-02, 1.21419176e-01, 9.99975925e-01,
 -6.33880893e-05,-1.71686317e-04, 6.93655851e-03]

qacc:
[  4.0830133 ,  2.69607662, -6.85832593,  0.95925315,  6.33919639,
   2.83830214,-11.92387489, 22.16480352,  4.41174721, -1.95450993,
   6.93346292, -9.78962474, -0.62320742,  0.67835991,-11.63544859,
  37.56217793,  0.07821563,  1.78963998, -0.29971451,-30.25011763,
   2.58673944,  0.0892295 ]

qfrc_actuator:
[-1.81742537e-05,-7.58787584e-06,-1.28200101e-04,-6.39083671e-05,
  3.09187827e-05,-3.82818401e-04,-3.20211706e-04, 5.55314231e-06,
  2.30571835e-05,-9.60799432e-05,-6.88755290e-05,-2.36949944e-05,
  2.86603435e-02,-1.27508569e-03, 8.95609258e-03,-3.42123953e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005793048810577434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.43735587e-13,  2.87471173e-13,  1.00000000e+00,  4.13198377e-26,
        1.00000000e+00, -2.87471173e-13, -1.00000000e+00,  0.00000000e+00,
       -1.43735587e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500668, -0.09312435,  0.06198593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41288540e-05, 3.47847122e-05,-5.07541103e-05,-2.13427209e-05,
  3.74103068e-05, 2.87973054e-05,-1.84898712e-05, 2.91817103e-05,
  2.56766345e-05,-2.77552253e-05, 1.85606376e-05,-7.60773079e-06,
 -1.84427771e-04,-4.74337698e-05,-9.70967086e-05, 1.53957490e-04,
  2.93094113e-05, 2.95713532e-05,-7.84763784e+00, 6.93117555e-04,
  9.46065326e-03,-2.42531636e-07]


--- Step 700 ---
qpos:
[ 7.17308399e-03, 4.04443936e-03,-3.61476127e-03,-2.58235876e-02,
  6.03920590e-03,-2.90548657e-03,-1.78518455e-02, 1.16681936e-02,
  1.56524713e-02, 2.31606910e-03,-8.96509194e-03, 2.40450254e-02,
  1.06065861e+00,-9.36664371e-03, 7.61708443e-01, 6.25172647e-02,
  9.49584273e-02,-7.01494206e-02, 1.21417845e-01, 9.99975818e-01,
 -1.36845529e-04,-2.70271406e-04, 6.94784858e-03]

qacc:
[  2.51432159,  2.02086457, -7.25564103,  9.73585024,  0.85048422,
  -0.34874199,  3.70628688,-10.91935485,  2.57907009, -1.93134132,
   8.15978504,-15.73731734, -0.47496287,  0.11556823,  0.29582364,
  -2.54843292,  1.20732041, -0.67367371,  0.39890958, 12.07937525,
  20.51240096, -1.8063061 ]

qfrc_actuator:
[-4.04948437e-06,-6.71243986e-06,-1.57924525e-04,-5.87753485e-05,
  3.48992788e-05,-3.45384907e-04,-3.12068324e-04,-1.31673149e-05,
  3.73379233e-05,-1.14328955e-04,-5.91664747e-05,-4.58947525e-05,
  2.85944109e-02,-1.29705700e-03, 8.91803108e-03,-3.44886530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000584557302806793
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.74813598e-14, -9.49627196e-14,  1.00000000e+00, -4.50895906e-27,
        1.00000000e+00,  9.49627196e-14, -1.00000000e+00,  0.00000000e+00,
       -4.74813598e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185512, -0.0620595 ,  0.0619858 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.48259932e-05, 8.94900324e-06,-2.95256516e-05, 4.44981444e-06,
  5.05888752e-06, 5.10111469e-05, 1.28352811e-05,-1.75597401e-05,
  1.50013847e-05,-3.02666838e-05, 5.98628465e-06,-2.28975262e-05,
 -1.93256987e-04,-6.64604071e-05,-6.81964492e-05,-3.21563250e-05,
  4.32405042e-05, 2.05044298e-05,-7.84752688e+00, 6.61939826e-04,
  9.41695749e-03, 1.92951417e-06]


--- Step 701 ---
qpos:
[ 7.17261587e-03, 4.04425486e-03,-3.61545432e-03,-2.58231713e-02,
  6.03959851e-03,-2.90550870e-03,-1.78523469e-02, 1.16688402e-02,
  1.56528660e-02, 2.31577850e-03,-8.96408162e-03, 2.40435963e-02,
  1.06131164e+00,-9.36640370e-03, 7.62201502e-01, 6.25125693e-02,
  9.49513503e-02,-7.01437101e-02, 1.21417631e-01, 9.99975737e-01,
 -1.86943594e-04,-3.28245962e-04, 6.95573800e-03]

qacc:
[ -4.57843048, -0.96273803,  4.39112828, -9.40358312, -2.64338118,
  -0.54749946,  3.36127075, -7.5906924 , -1.57114381, -0.84728685,
   5.26248772,-15.09045147, -0.86318525,  0.98816976, 13.53211892,
 -47.14387313,  1.19264188, -0.66803155,  0.27930751, 11.82002508,
  20.22386328, -1.70076026]

qfrc_actuator:
[-3.12737020e-05,-2.40412494e-05,-1.57367738e-04,-7.37902828e-05,
  1.91982947e-05,-3.40816523e-04,-3.06936177e-04,-2.45076884e-05,
  2.77496378e-05,-1.25053307e-04,-7.17235956e-05,-7.63757803e-05,
  2.85207056e-02,-1.31021475e-03, 8.91476569e-03,-3.67810385e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005896933327598081
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70678132e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.70678132e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185576, -0.06206057,  0.06198568])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67982321e-05,-1.82184451e-05,-1.06991774e-06,-1.55668990e-05,
 -1.55384365e-05, 3.50096149e-05, 1.66507159e-05,-9.05222703e-06,
 -9.17135597e-06,-2.73939662e-05,-1.88745287e-05,-3.20175624e-05,
 -2.10627211e-04,-6.24167274e-05,-4.32685111e-05,-2.40995058e-04,
  2.32540700e-05, 1.10008305e-05,-7.84775343e+00, 6.39001421e-04,
  9.38514882e-03, 2.75677764e-06]


--- Step 702 ---
qpos:
[ 7.17251525e-03, 4.04390696e-03,-3.61611987e-03,-2.58229326e-02,
  6.03945511e-03,-2.90538457e-03,-1.78527604e-02, 1.16700544e-02,
  1.56524531e-02, 2.31495221e-03,-8.96278546e-03, 2.40418314e-02,
  1.06196337e+00,-9.36628885e-03, 7.62693607e-01, 6.25088328e-02,
  9.49489929e-02,-7.01406512e-02, 1.21418108e-01, 9.99975693e-01,
 -2.14110531e-04,-3.46105392e-04, 6.96039678e-03]

qacc:
[  3.23846144, -0.66481155,  2.79362295, -5.77345861, -4.6897747 ,
   1.12481021, -6.11099196, 15.66972977, -7.08785095, -2.18416948,
   8.20179676,-14.10002274, -0.74550873,  0.76717919, -4.27664991,
  12.97458907,  1.17987509, -0.66285741,  0.17270394, 11.60427416,
  19.97763234, -1.61542503]

qfrc_actuator:
[-1.16033461e-05,-3.42791291e-05,-1.56796793e-04,-8.27923778e-05,
 -7.95069296e-06,-3.38215278e-04,-3.03748482e-04, 4.06613997e-06,
 -1.35596077e-05,-1.66795331e-04,-6.17919593e-05,-9.37379182e-05,
  2.84530414e-02,-1.31809564e-03, 8.89505270e-03,-3.61582503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000592256712283315
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.37281927e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.37281927e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185594, -0.06206123,  0.06198561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89047846e-05,-2.13071033e-05,-3.85129054e-06,-1.01201079e-05,
 -2.75809982e-05, 2.52296125e-05, 1.21621702e-05, 3.04743782e-05,
 -4.15774399e-05,-6.23318511e-05, 8.35913615e-07,-1.98102409e-05,
 -2.14883150e-04,-6.01488139e-05,-7.39669343e-05, 4.15294245e-05,
  9.82799078e-06, 4.58194626e-06,-7.84790416e+00, 6.23371259e-04,
  9.36640307e-03, 3.33404043e-06]


--- Step 703 ---
qpos:
[ 7.17334085e-03, 4.04348913e-03,-3.61709461e-03,-2.58227921e-02,
  6.03864245e-03,-2.90530783e-03,-1.78524846e-02, 1.16719298e-02,
  1.56512034e-02, 2.31354414e-03,-8.96162698e-03, 2.40402534e-02,
  1.06261372e+00,-9.36570593e-03, 7.63184223e-01, 6.25079101e-02,
  9.49513113e-02,-7.01402251e-02, 1.21418898e-01, 9.99975689e-01,
 -2.18700317e-04,-3.24267054e-04, 6.96196261e-03]

qacc:
[ 8.14444665e+00, 5.53636676e-01,-1.72086347e+00, 5.95809613e-01,
 -5.83372867e+00,-6.15991408e-01,-6.66609278e-01, 1.10231148e+01,
 -7.35820291e+00, 1.49188683e-02,-1.93289664e+00, 5.78818446e+00,
 -1.29121183e+00, 2.41629303e+00,-1.06342495e+01, 3.41418465e+01,
  1.16895584e+00,-6.58244559e-01, 7.83674306e-02, 1.14259260e+01,
  1.97701669e+01,-1.54622629e+00]

qfrc_actuator:
[ 3.55238821e-05,-4.01846555e-05,-1.73957132e-04,-8.81826092e-05,
 -4.16137587e-05,-3.36791938e-04,-2.66217965e-04, 3.81368578e-05,
 -5.54481325e-05,-2.08941243e-04,-7.42755813e-05,-8.54952206e-05,
  2.83997025e-02,-1.28728976e-03, 8.82828007e-03,-3.47102277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005926964640025206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.68293255e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.68293255e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185573, -0.06206155,  0.0619856 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.76590333e-05,-1.90223669e-05,-2.23748483e-05,-6.63193070e-06,
 -3.44440106e-05, 1.93375399e-05, 4.52963069e-05, 3.61648631e-05,
 -4.30923674e-05,-7.76756841e-05,-2.59419575e-05, 5.21943835e-06,
 -2.02655454e-04,-2.20704300e-05,-1.00667945e-04, 1.36559097e-04,
  2.40266543e-06, 8.62658215e-07,-7.84798269e+00, 6.14937425e-04,
  9.36054475e-03, 3.66106249e-06]


--- Step 704 ---
qpos:
[ 7.17369027e-03, 4.04282179e-03,-3.61820628e-03,-2.58227059e-02,
  6.03743242e-03,-2.90525486e-03,-1.78519676e-02, 1.16738817e-02,
  1.56498057e-02, 2.31175981e-03,-8.96071365e-03, 2.40387677e-02,
  1.06326287e+00,-9.36481105e-03, 7.63673459e-01, 6.25077500e-02,
  9.49582689e-02,-7.01424161e-02, 1.21419670e-01, 9.99975720e-01,
 -2.01002988e-04,-2.63076975e-04, 6.96054742e-03]

qacc:
[-4.19162700e+00,-5.04885216e-02,-5.54849895e-02,-4.95570980e-01,
 -3.46924011e+00,-5.40702085e-01, 1.57154336e+00,-6.29547230e-01,
 -1.30314722e+00, 3.80447937e-01,-2.46333619e+00, 4.72479022e+00,
 -1.09800892e+00, 1.95187615e+00,-4.28969916e+00, 1.21563275e+01,
  1.15979353e+00,-6.54243743e-01,-4.58974171e-03, 1.12797899e+01,
  1.95981431e+01,-1.48991308e+00]

qfrc_actuator:
[ 9.65635337e-06,-6.12715129e-05,-1.83677932e-04,-9.14139974e-05,
 -6.10849730e-05,-3.53692827e-04,-2.61976271e-04, 3.96797145e-05,
 -6.18266281e-05,-2.15563863e-04,-8.21465397e-05,-8.00305121e-05,
  2.83496863e-02,-1.26932024e-03, 8.74933165e-03,-3.43871846e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005914076978336541
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69313736e-14, -2.34656868e-14,  1.00000000e+00,  1.10127691e-27,
        1.00000000e+00,  2.34656868e-14, -1.00000000e+00,  0.00000000e+00,
        4.69313736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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 , -0.0620616 ,  0.06198564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.45170996e-05,-3.65891231e-05,-1.66214084e-05,-4.94844091e-06,
 -2.04518663e-05, 4.79595646e-06, 1.50603555e-05, 4.63927582e-06,
 -7.63264585e-06,-5.51724045e-05,-2.69237874e-05, 1.34555447e-06,
 -1.83661039e-04,-2.65096790e-05,-1.12714635e-04, 2.63462476e-05,
  5.71951385e-07,-4.55540878e-07,-7.84799189e+00, 6.13605389e-04,
  9.36742767e-03, 3.73796867e-06]


--- Step 705 ---
qpos:
[ 7.17303738e-03, 4.04214550e-03,-3.61980159e-03,-2.58230110e-02,
  6.03599799e-03,-2.90501578e-03,-1.78517154e-02, 1.16755004e-02,
  1.56483416e-02, 2.31000695e-03,-8.96014077e-03, 2.40376579e-02,
  1.06391103e+00,-9.36405855e-03, 7.64161690e-01, 6.25039714e-02,
  9.49698356e-02,-7.01472106e-02, 1.21420134e-01, 9.99975779e-01,
 -1.61253285e-04,-1.62816042e-04, 6.95624251e-03]

qacc:
[ -8.83818263,  0.55124707, -0.30272823, -5.71889319, -1.97531179,
   0.30347332,  0.68835669, -6.1766043 , -0.59550827,  1.7680417 ,
  -7.82855058, 14.85208256, -0.65049972,  0.72213867,  9.45711505,
 -35.20556656,  1.15228367, -0.65087615, -0.07712865, 11.16151944,
  19.4584983 , -1.44388959]

qfrc_actuator:
[-4.12234895e-05,-5.57543585e-05,-2.06736208e-04,-1.11107431e-04,
 -7.20452682e-05,-3.46087657e-04,-2.77535303e-04, 2.20261870e-05,
 -6.50058882e-05,-1.83092681e-04,-8.70873524e-05,-5.84601565e-05,
  2.83070244e-02,-1.27683629e-03, 8.67377296e-03,-3.63276098e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005887355721271442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.71443835e-14, -1.41433151e-13,  1.00000000e+00, -6.66777870e-27,
        1.00000000e+00,  1.41433151e-13, -1.00000000e+00,  0.00000000e+00,
       -4.71443835e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185443, -0.06206143,  0.0619857 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.15848340e-05,-1.85608658e-05,-3.28123153e-05,-2.19268005e-05,
 -1.15437329e-05, 1.35770613e-05,-1.25628718e-05,-1.68413534e-05,
 -3.41934760e-06,-3.83525267e-06,-1.95947641e-05, 1.83058735e-05,
 -1.65305391e-04,-4.86426254e-05,-1.26934417e-04,-2.07656593e-04,
  4.05436340e-06, 3.90008209e-07,-7.84793399e+00, 6.19296225e-04,
  9.38693160e-03, 3.56515117e-06]


--- Step 706 ---
qpos:
[ 7.17246945e-03, 4.04159870e-03,-3.62177807e-03,-2.58235749e-02,
  6.03444296e-03,-2.90441586e-03,-1.78514774e-02, 1.16768548e-02,
  1.56471950e-02, 2.30908073e-03,-8.96035209e-03, 2.40370874e-02,
  1.06455828e+00,-9.36343951e-03, 7.64648727e-01, 6.24961985e-02,
  9.49859875e-02,-7.01545976e-02, 1.21420036e-01, 9.99975849e-01,
 -9.96378915e-05,-2.37056263e-05, 6.94912275e-03]

qacc:
[ 7.33385804e-01, 7.02525646e-01,-1.16831255e+00,-2.78907620e+00,
 -1.06214301e+00,-2.53901191e-02, 1.90191821e+00,-6.72261662e+00,
  2.75484708e+00, 4.38935774e+00,-1.63519155e+01, 2.63419482e+01,
 -6.17352393e-01, 6.97046045e-01, 1.03131442e+01,-3.86063290e+01,
  1.14631635e+00,-6.48142791e-01,-1.40228141e-01, 1.10674756e+01,
  1.93484475e+01,-1.40608126e+00]

qfrc_actuator:
[-3.53835903e-05,-3.44155451e-05,-2.19642874e-04,-1.22566555e-04,
 -7.79130355e-05,-3.06226588e-04,-2.69060122e-04, 1.09865398e-05,
 -4.85353281e-05,-9.19171847e-05,-1.07829351e-04,-2.75468692e-05,
  2.82687978e-02,-1.28156149e-03, 8.61091577e-03,-3.83426711e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005849794903914629
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.84682551e-13, -1.89788367e-13,  1.00000000e+00, -5.40294366e-26,
        1.00000000e+00,  1.89788367e-13, -1.00000000e+00,  0.00000000e+00,
       -2.84682551e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185346, -0.0620611 ,  0.06198579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.37439161e-06, 3.27158095e-06,-2.15096641e-05,-1.38079385e-05,
 -6.19162583e-06, 4.41174826e-05, 9.14021520e-06,-1.12246421e-05,
  1.63669154e-05, 8.58211247e-05,-2.32994152e-05, 3.04321527e-05,
 -1.54113514e-04,-4.52793143e-05,-1.47072215e-04,-2.30053333e-04,
  1.26713815e-05, 3.20397938e-06,-7.84781067e+00, 6.31944989e-04,
  9.41895948e-03, 3.14319595e-06]


--- Step 707 ---
qpos:
[ 7.17163082e-03, 4.04069227e-03,-3.62320550e-03,-2.58235831e-02,
  6.03282965e-03,-2.90351960e-03,-1.78514183e-02, 1.16780855e-02,
  1.56462542e-02, 2.30923234e-03,-8.96075261e-03, 2.40368163e-02,
  1.06520456e+00,-9.36284956e-03, 7.65134554e-01, 6.24862803e-02,
  9.50006545e-02,-7.01669200e-02, 1.21419901e-01, 9.99975894e-01,
  4.45190120e-06, 1.01868480e-04, 6.94265542e-03]

qacc:
[-2.35895662e+00,-8.61171468e-01, 4.67973248e-02, 8.94007473e+00,
 -5.20688010e-01, 6.37518141e-01,-1.18095565e+00,-8.93962515e-01,
  1.78745083e+00, 2.56629420e+00,-8.35363646e+00, 1.30513276e+01,
 -7.02205068e-01, 9.34536945e-01, 4.71450124e+00,-1.90379356e+01,
 -3.71242801e-01,-1.23382020e+00,-9.43694777e-03, 2.11896605e+01,
 -6.91560389e+00, 3.25115156e-01]

qfrc_actuator:
[-4.94560785e-05,-5.69764942e-05,-1.90862316e-04,-9.35559960e-05,
 -8.07393201e-05,-3.00519057e-04,-2.81814324e-04, 3.97955099e-06,
 -3.83848044e-05,-1.83212701e-06,-1.01966879e-04,-9.09433188e-06,
  2.82172842e-02,-1.28456416e-03, 8.57703573e-03,-3.93191250e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005806685233748234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.69825698e-07, -2.34912849e-07,  1.00000000e+00,  1.10368093e-13,
        1.00000000e+00,  2.34912849e-07, -1.00000000e+00,  1.26217745e-29,
        4.69825698e-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([ 0.10081701, -0.05482627,  0.06198589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.39417980e-05,-2.57178818e-05, 2.63608258e-05, 2.81444915e-05,
 -2.98768573e-06, 3.17549778e-05,-2.91680738e-06,-5.02338024e-06,
  1.06418789e-05, 1.34607466e-04, 2.17859661e-05, 2.19193111e-05,
 -1.59706694e-04,-4.06475658e-05,-1.28831954e-04,-1.29786860e-04,
  2.63311454e-05, 7.81859265e-06,-7.84762315e+00, 6.51499267e-04,
  9.46343497e-03, 2.47282779e-06]


--- Step 708 ---
qpos:
[ 7.17028507e-03, 4.03958913e-03,-3.62404562e-03,-2.58229223e-02,
  6.03154016e-03,-2.90260593e-03,-1.78519417e-02, 1.16792873e-02,
  1.56457879e-02, 2.30995116e-03,-8.96087258e-03, 2.40364556e-02,
  1.06584978e+00,-9.36223429e-03, 7.65619486e-01, 6.24760953e-02,
  9.50133983e-02,-7.01785403e-02, 1.21421261e-01, 9.99975914e-01,
  1.02629872e-04, 2.10403107e-04, 6.93661775e-03]

qacc:
[-4.44163575,-0.51550799,-1.34324077,12.09898224, 2.81507632, 1.58561008,
 -5.50857141, 5.93947518, 4.1740161 ,-0.22711428, 2.26174619,-4.66337171,
 -0.76082496, 1.06104908,-0.48683494,-0.1531652 ,-0.48079957, 0.17550498,
  0.37372702,-3.01501144,-8.49901049, 0.21465191]

qfrc_actuator:
[-7.51543360e-05,-5.21820826e-05,-1.55599800e-04,-5.87271823e-05,
 -6.40021712e-05,-3.33136104e-04,-3.24888453e-04,-6.42690901e-07,
 -1.42890901e-05,-1.74632014e-06,-9.81756588e-05,-1.58466657e-05,
  2.81578369e-02,-1.28658428e-03, 8.57123800e-03,-3.93198735e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005803622704833545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.16559704e-07,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.16559704e-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([ 0.1019794 , -0.07231886,  0.0619859 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.61011039e-05,-2.88983573e-06, 3.41994488e-05, 3.51934971e-05,
  1.66631988e-05,-1.57145946e-05,-3.70621183e-05,-3.46503034e-06,
  2.44432607e-05, 8.07992385e-05, 3.50402863e-05, 1.97113693e-07,
 -1.70002186e-04,-4.02434541e-05,-8.16727956e-05,-2.43818813e-05,
  2.71150387e-05, 6.27154378e-08,-7.84756672e+00, 6.85232311e-04,
  9.50337508e-03, 9.06079076e-07]


--- Step 709 ---
qpos:
[ 7.16898646e-03, 4.03869680e-03,-3.62486051e-03,-2.58222085e-02,
  6.03046130e-03,-2.90177451e-03,-1.78526429e-02, 1.16800646e-02,
  1.56459595e-02, 2.31074777e-03,-8.96062984e-03, 2.40353848e-02,
  1.06649390e+00,-9.36159684e-03, 7.66102684e-01, 6.24719791e-02,
  9.50265475e-02,-7.01829199e-02, 1.21422003e-01, 9.99975909e-01,
  1.39041084e-04, 3.22606121e-04, 6.93235738e-03]

qacc:
[  0.41211721,  0.31662537, -0.94962778,  1.67301349,  1.83872843,
  -0.48965326,  3.37461825,-10.37167701,  5.62324544, -2.38384677,
  11.62827548,-24.53520503, -0.55340115,  0.59962751,-20.85456774,
  69.30052091,  0.1013373 ,  1.81016792, -0.15444379,-30.87009796,
   2.04846952,  0.88202577]

qfrc_actuator:
[-7.19780882e-05,-3.09935260e-05,-1.52211269e-04,-5.62482125e-05,
 -5.36383784e-05,-3.35329618e-04,-3.32421354e-04,-2.16321228e-05,
  1.78228301e-05,-3.78279564e-05,-9.60212815e-05,-5.52052890e-05,
  2.80989978e-02,-1.28805765e-03, 8.52904697e-03,-3.60825075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005832431676459915
  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([ 0.09500501, -0.09312495,  0.06198583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43530772e-06, 2.81865852e-05, 8.24452296e-06, 4.22781628e-06,
  1.08360161e-05,-1.88086633e-05,-1.54721880e-05,-2.30170532e-05,
  3.28352301e-05, 1.63315681e-05, 2.31597351e-05,-3.46813931e-05,
 -1.75446590e-04,-4.19986138e-05,-8.66323004e-05, 3.10913466e-04,
  2.18584753e-05,-1.80701900e-07,-7.84765112e+00, 7.16904048e-04,
  9.53772791e-03,-9.85764591e-07]


--- Step 710 ---
qpos:
[ 7.16704601e-03, 4.03780397e-03,-3.62525529e-03,-2.58214705e-02,
  6.02986012e-03,-2.90116191e-03,-1.78528197e-02, 1.16802075e-02,
  1.56461703e-02, 2.31129727e-03,-8.96015381e-03, 2.40339031e-02,
  1.06713687e+00,-9.36092599e-03, 7.66584380e-01, 6.24705003e-02,
  9.50400995e-02,-7.01801231e-02, 1.21421752e-01, 9.99975887e-01,
  1.14422318e-04, 4.38561211e-04, 6.92968344e-03]

qacc:
[ -5.63645339, -1.11449839,  3.88913019, -4.16160193,  4.19979325,
  -3.0676531 , 13.18410939,-24.82960842,  0.35571919, -1.82521862,
   7.76767088,-15.0685915 , -0.71989822,  0.9329664 ,-10.14987424,
  32.35298598,  0.1007139 ,  1.7941132 , -0.24821014,-30.50150342,
   2.08764653,  0.78315528]

qfrc_actuator:
[-1.05086440e-04,-3.58025713e-05,-1.32114700e-04,-5.50782126e-05,
 -2.93623040e-05,-3.36928943e-04,-3.01048760e-04,-5.20346153e-05,
  1.88859516e-05,-7.75948910e-05,-9.50433700e-05,-7.79660653e-05,
  2.80352396e-02,-1.28920996e-03, 8.43317295e-03,-3.48701419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005841425205191514
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.50301498e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.50301498e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500461, -0.09312484,  0.06198581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30263289e-05, 1.28818146e-05, 2.70994287e-05, 2.74684601e-06,
  2.45806779e-05,-1.63190550e-05, 2.47814513e-05,-3.21943160e-05,
  2.00476485e-06,-2.73537802e-05, 5.99310956e-06,-2.19357585e-05,
 -1.83841093e-04,-4.32515884e-05,-1.03328021e-04, 1.26906650e-04,
  1.50799588e-05, 3.79238789e-06,-7.84777357e+00, 7.28793933e-04,
  9.57318111e-03,-1.93103048e-06]


--- Step 711 ---
qpos:
[ 7.16472396e-03, 4.03692682e-03,-3.62537752e-03,-2.58207161e-02,
  6.02989977e-03,-2.90103279e-03,-1.78521862e-02, 1.16796534e-02,
  1.56460476e-02, 2.31143430e-03,-8.95931541e-03, 2.40328639e-02,
  1.06777872e+00,-9.36025623e-03, 7.67065261e-01, 6.24694038e-02,
  9.50494578e-02,-7.01779336e-02, 1.21422617e-01, 9.99975861e-01,
  9.49842699e-05, 5.18257130e-04, 6.92824578e-03]

qacc:
[ -3.35078423, -0.70054577,  2.46855903, -2.63956934,  5.6410015 ,
  -4.34762232, 17.4994309 ,-30.48299335, -2.91499646, -0.64126212,
  -0.36307925,  7.73552884, -0.76683957,  1.01013283, -2.32775008,
   6.461088  , -1.04842262, -0.151837  ,  0.27903798,  2.46439357,
 -18.14702726,  0.62134267]

qfrc_actuator:
[-1.23790174e-04,-3.83305678e-05,-1.20150906e-04,-5.46858119e-05,
  2.90984103e-06,-3.73507545e-04,-2.64716404e-04,-8.77051707e-05,
  1.66341390e-06,-1.01526577e-04,-7.70343733e-05,-5.52780669e-05,
  2.79792254e-02,-1.29018973e-03, 8.40099494e-03,-3.46852099e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005854224668446206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.74111897e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.74111897e-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([ 0.10881838, -0.06840682,  0.06198578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96353566e-05, 1.04201183e-05, 1.80734996e-05, 1.93793040e-06,
  3.29690582e-05,-4.19769664e-05, 3.48938702e-05,-3.61411447e-05,
 -1.71725173e-05,-3.89509650e-05, 1.23293036e-05, 2.12972132e-05,
 -1.81992045e-04,-4.49171725e-05,-6.78847153e-05, 1.17319490e-05,
  1.18795408e-05, 7.83638229e-06,-7.84777155e+00, 7.21202284e-04,
  9.61002003e-03,-1.76145615e-06]


--- Step 712 ---
qpos:
[ 7.16288559e-03, 4.03600798e-03,-3.62555921e-03,-2.58202772e-02,
  6.02998123e-03,-2.90137029e-03,-1.78507923e-02, 1.16786776e-02,
  1.56457195e-02, 2.31124013e-03,-8.95828585e-03, 2.40324514e-02,
  1.06841939e+00,-9.35956064e-03, 7.67545420e-01, 6.24701284e-02,
  9.50546574e-02,-7.01763493e-02, 1.21424230e-01, 9.99975840e-01,
  8.05979036e-05, 5.62188207e-04, 6.92798227e-03]

qacc:
[  4.25629077, -0.54716974,  3.18581663, -8.49923155,  0.39747183,
  -3.60916842, 13.75420143,-21.92552733, -1.79583198,  0.3215045 ,
  -4.42116687, 15.19784022, -0.77734596,  1.03316525, -6.53254955,
  21.37549794, -1.03968481, -0.15130287,  0.18696627,  2.40158144,
 -17.89943446,  0.5900543 ]

qfrc_actuator:
[-9.83493632e-05,-5.72585493e-05,-1.30839902e-04,-7.25147266e-05,
  4.12013619e-06,-3.95216268e-04,-2.25903973e-04,-1.08467728e-04,
 -8.42101408e-06,-1.15692930e-04,-6.67817646e-05,-2.37624552e-05,
  2.79172459e-02,-1.29104484e-03, 8.39104935e-03,-3.36845275e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000586834520250254
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.45942158e-14,  3.54728309e-14,  1.00000000e+00, -3.35552462e-27,
        1.00000000e+00, -3.54728309e-14, -1.00000000e+00,  0.00000000e+00,
        9.45942158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10881808, -0.06840708,  0.06198575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48887239e-05,-9.25320224e-06,-6.23082754e-06,-1.67179476e-05,
  2.13766506e-06,-3.95227179e-05, 3.31808127e-05,-2.20589678e-05,
 -1.05862012e-05,-3.25073419e-05, 4.45374103e-06, 3.06883184e-05,
 -1.87025201e-04,-4.47336835e-05,-4.46003178e-05, 9.08782863e-05,
  5.66900268e-06, 3.37686296e-06,-7.84789059e+00, 7.15391840e-04,
  9.63553372e-03,-1.23655822e-06]


--- Step 713 ---
qpos:
[ 7.16171144e-03, 4.03482228e-03,-3.62575223e-03,-2.58200289e-02,
  6.03007666e-03,-2.90173479e-03,-1.78496733e-02, 1.16778212e-02,
  1.56459626e-02, 2.31112805e-03,-8.95730659e-03, 2.40323828e-02,
  1.06905883e+00,-9.35908491e-03, 7.68024545e-01, 6.24747201e-02,
  9.50557551e-02,-7.01772872e-02, 1.21426020e-01, 9.99975823e-01,
  8.73610400e-05, 5.70669078e-04, 6.92966446e-03]

qacc:
[  5.85093928, -0.72494564,  2.85572258, -5.91299083,  0.11412372,
   0.97746399, -4.04151299,  6.56703156,  5.02322288,  0.94759625,
  -4.69099944, 10.68410314, -0.49894714,  0.20284422,-13.18403752,
  43.94523328, -1.02546543, -0.63052702,  0.04421124, 10.45114959,
 -17.79785949,  0.98018924]

qfrc_actuator:
[-6.48871055e-05,-8.59754158e-05,-1.37144947e-04,-8.31982711e-05,
  4.78863740e-06,-3.90073900e-04,-2.39135582e-04,-1.02529313e-04,
  2.12881043e-05,-8.84110837e-05,-6.11567158e-05,-5.06400381e-06,
  2.78410800e-02,-1.30960428e-03, 8.35718369e-03,-3.16777325e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005864668315798854
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.48589738e-07, -7.42948747e-08,  1.00000000e+00, -1.10394559e-14,
        1.00000000e+00,  7.42948747e-08, -1.00000000e+00,  0.00000000e+00,
       -1.48589738e-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([ 0.10883696, -0.06249616,  0.06198575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41698769e-05,-3.58450581e-05,-9.54911053e-06,-1.16200512e-05,
  7.15360920e-07,-1.10514194e-05,-1.80812655e-05, 4.96353279e-06,
  2.93959101e-05, 1.13298191e-05, 5.11867830e-07, 1.80561548e-05,
 -2.04130027e-04,-6.35926787e-05,-4.98498112e-05, 1.98696623e-04,
  1.79347326e-06, 8.00684135e-07,-7.84796525e+00, 7.11019560e-04,
  9.64961035e-03,-8.66469715e-07]


--- Step 714 ---
qpos:
[ 7.16129260e-03, 4.03358147e-03,-3.62638480e-03,-2.58199076e-02,
  6.03052426e-03,-2.90204868e-03,-1.78490735e-02, 1.16773949e-02,
  1.56462147e-02, 2.31118876e-03,-8.95632724e-03, 2.40325231e-02,
  1.06969708e+00,-9.35882883e-03, 7.68502941e-01, 6.24823195e-02,
  9.50527771e-02,-7.01807338e-02, 1.21427695e-01, 9.99975810e-01,
  1.15039114e-04, 5.44045824e-04, 6.93325094e-03]

qacc:
[ 6.63569948e+00, 8.81243625e-01,-2.73354620e+00, 1.30098406e+00,
  3.06484283e+00, 2.39673912e+00,-1.02762643e+01, 1.85276591e+01,
  7.65355473e-02, 6.57874793e-01,-2.89629253e+00, 6.38340685e+00,
 -5.21625174e-01, 2.61356353e-01,-1.01367150e+01, 3.39427707e+01,
 -1.01892801e+00,-6.27187507e-01,-2.88763021e-02, 1.03350427e+01,
 -1.76240228e+01, 9.59604468e-01]

qfrc_actuator:
[-2.69859909e-05,-8.48185115e-05,-1.58596604e-04,-8.95934060e-05,
  2.28958186e-05,-3.86826485e-04,-2.65109883e-04,-8.09426484e-05,
  2.09210318e-05,-7.20463939e-05,-5.81432083e-05, 5.97605188e-06,
  2.77830777e-02,-1.32079830e-03, 8.33032329e-03,-3.01601718e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005848095397091139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.96991719e-07, -3.48495753e-07,  1.00000000e+00, -2.42898653e-13,
        1.00000000e+00,  3.48495753e-07, -1.00000000e+00,  0.00000000e+00,
       -6.96991719e-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([ 0.10883727, -0.06249607,  0.0619858 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.88638670e-05,-2.12970203e-05,-3.04176965e-05,-8.48529550e-06,
  1.81242853e-05,-6.45221602e-06,-3.03195570e-05, 2.05842022e-05,
  4.71899572e-07, 2.35837043e-05, 6.03073339e-06, 1.18917398e-05,
 -2.00678579e-04,-6.27877586e-05,-3.24617713e-05, 1.55286204e-04,
 -1.05338906e-07,-2.92001219e-07,-7.84799810e+00, 7.13238964e-04,
  9.65230058e-03,-9.46195942e-07]


--- Step 715 ---
qpos:
[ 7.16064156e-03, 4.03245114e-03,-3.62736729e-03,-2.58202370e-02,
  6.03084064e-03,-2.90250830e-03,-1.78487285e-02, 1.16772377e-02,
  1.56461159e-02, 2.31114662e-03,-8.95515352e-03, 2.40321260e-02,
  1.07033411e+00,-9.35818427e-03, 7.68980770e-01, 6.24897202e-02,
  9.50457052e-02,-7.01847869e-02, 1.21429340e-01, 9.99975805e-01,
  1.47483104e-04, 4.82655008e-04, 6.93786364e-03]

qacc:
[-2.05720347e+00, 2.00220011e-01, 1.40371712e+00,-8.72372522e+00,
 -1.15364241e+00, 1.07504249e+00,-5.24498418e+00, 1.04123716e+01,
 -3.07957975e+00,-1.77943836e+00, 8.42681096e+00,-1.79735416e+01,
 -1.23708214e+00, 2.28916154e+00,-1.83401998e-01,-4.53585010e-01,
 -1.02346742e+00,-1.51623090e-01,-7.30317866e-03, 2.26209429e+00,
 -1.73998252e+01, 5.16367423e-01]

qfrc_actuator:
[-4.00362437e-05,-6.58423464e-05,-1.70950833e-04,-1.11155367e-04,
  1.56171560e-05,-4.02535470e-04,-2.80622813e-04,-6.80782731e-05,
  2.84191581e-06,-9.78608103e-05,-5.67269050e-05,-2.30865805e-05,
  2.77413415e-02,-1.29198010e-03, 8.28104671e-03,-3.03632371e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00058240452650625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.1914217e-14,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -1.1914217e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10881897, -0.06840728,  0.06198585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19477472e-05, 4.88103822e-07,-2.07719571e-05,-2.36890108e-05,
 -6.76273969e-06,-2.46858828e-05,-1.98714197e-05, 1.19388526e-05,
 -1.80569939e-05,-1.08839129e-05, 7.42990186e-06,-2.76144711e-05,
 -1.81976631e-04,-2.19789574e-05,-5.28371632e-05,-1.72301837e-05,
 -9.61241559e-07, 2.21123268e-06,-7.84797612e+00, 7.21905942e-04,
  9.64365182e-03,-1.55292313e-06]


--- Step 716 ---
qpos:
[ 7.15949466e-03, 4.03140373e-03,-3.62856937e-03,-2.58201374e-02,
  6.03037766e-03,-2.90306567e-03,-1.78488774e-02, 1.16772466e-02,
  1.56461463e-02, 2.31095667e-03,-8.95390356e-03, 2.40310531e-02,
  1.07096998e+00,-9.35722028e-03, 7.69457942e-01, 6.24932183e-02,
  9.50345576e-02,-7.01894458e-02, 1.21430730e-01, 9.99975802e-01,
  1.84661225e-04, 3.86707456e-04, 6.94349226e-03]

qacc:
[ -4.37292207,  1.61547025, -7.39194039, 15.07782472, -6.83357434,
   1.60593697, -6.59249072, 10.30573602,  1.14099662, -1.80199064,
   8.9911678 ,-20.6962118 , -1.23605805,  2.2661442 , 10.86199641,
 -39.30038793, -1.0189287 , -0.1514618 , -0.06380814,  2.24688842,
 -17.29429757,  0.5116289 ]

qfrc_actuator:
[-6.52192860e-05,-5.40708026e-05,-1.77760427e-04,-8.81851693e-05,
 -2.43031200e-05,-4.11689576e-04,-3.07668352e-04,-6.04581839e-05,
  9.99706998e-06,-1.13270894e-04,-5.64632202e-05,-5.77955328e-05,
  2.76881076e-02,-1.27518010e-03, 8.21300640e-03,-3.24662770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005789462984112509
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19853843e-14,  1.43824612e-13,  1.00000000e+00,  1.72379326e-27,
        1.00000000e+00, -1.43824612e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19853843e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10881969, -0.06840722,  0.06198594])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.55157341e-05, 6.79091620e-06,-1.00597796e-05, 2.18173121e-05,
 -4.01217966e-05,-2.65405684e-05,-3.41772039e-05, 6.10789560e-06,
  6.64018479e-06,-2.11630125e-05,-2.03660947e-06,-3.54566169e-05,
 -1.73362035e-04,-2.36324158e-05,-1.00017427e-04,-2.19427705e-04,
  1.11907651e-06, 6.47093452e-06,-7.84792175e+00, 7.31933829e-04,
  9.62393800e-03,-2.31164083e-06]


--- Step 717 ---
qpos:
[ 7.15839958e-03, 4.03066868e-03,-3.62971481e-03,-2.58194675e-02,
  6.02978468e-03,-2.90377211e-03,-1.78493738e-02, 1.16776888e-02,
  1.56466069e-02, 2.31082405e-03,-8.95305064e-03, 2.40299247e-02,
  1.07160487e+00,-9.35637079e-03, 7.69934277e-01, 6.24892003e-02,
  9.50237675e-02,-7.01869630e-02, 1.21430940e-01, 9.99975795e-01,
  1.61140476e-04, 2.95299478e-04, 6.94961563e-03]

qacc:
[  0.45280761,  1.42823141, -6.89670137, 16.43448601, -1.14576445,
   1.6672531 , -8.05638228, 16.21633614,  3.77230609,  1.06366626,
  -3.46058356,  3.10444512, -0.81603392,  1.08805236, 21.47678723,
 -76.88691602,  0.08936083,  1.78543492, -0.29498499,-30.333036  ,
   2.48050893,  0.23523444]

qfrc_actuator:
[-6.18202049e-05,-1.11333988e-05,-1.63480971e-04,-5.69476467e-05,
 -2.98498555e-05,-4.16900439e-04,-3.23539722e-04,-3.82367610e-05,
  3.19531466e-05,-1.04599644e-04,-7.46033829e-05,-6.00336567e-05,
  2.76386638e-02,-1.28342998e-03, 8.13373632e-03,-3.63815716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000577498388686426
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.80617369e-14, -9.61234738e-14,  1.00000000e+00, -4.61986111e-27,
        1.00000000e+00,  9.61234738e-14, -1.00000000e+00,  0.00000000e+00,
       -4.80617369e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500537, -0.09312786,  0.06198597])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68078801e-06, 4.56377950e-05, 1.52262012e-05, 3.16112189e-05,
 -6.70114643e-06,-2.68418436e-05,-2.53422744e-05, 2.00235522e-05,
  2.21393688e-05,-5.10633170e-06,-2.39996241e-05,-3.90580250e-06,
 -1.64939580e-04,-4.69167957e-05,-1.53932735e-04,-4.17633079e-04,
  5.32349825e-06, 1.21630329e-05,-7.84782803e+00, 7.43322330e-04,
  9.59317725e-03,-3.21459399e-06]


--- Step 718 ---
qpos:
[ 7.15666366e-03, 4.03017903e-03,-3.63064496e-03,-2.58187769e-02,
  6.02947430e-03,-2.90459749e-03,-1.78500737e-02, 1.16780344e-02,
  1.56469822e-02, 2.31073143e-03,-8.95245048e-03, 2.40287701e-02,
  1.07223859e+00,-9.35525333e-03, 7.70408980e-01, 6.24818032e-02,
  9.50133324e-02,-7.01773880e-02, 1.21429671e-01, 9.99975779e-01,
  7.74804465e-05, 2.08271381e-04, 6.95638668e-03]

qacc:
[ -5.63830165, -0.22383114,  1.19988753, -1.38585882,  2.46863944,
   0.20806164, -0.5707991 , -0.67786091, -0.7597749 ,  0.70712278,
  -2.3319024 ,  2.25247161, -1.15302631,  2.0364892 ,  7.83630129,
 -30.81892107,  0.08875145,  1.77305144, -0.36985553,-30.05378819,
   2.3989138 ,  0.31462363]

qfrc_actuator:
[-9.48790733e-05,-3.01698425e-06,-1.54489100e-04,-5.65679064e-05,
 -1.51100649e-05,-4.19654943e-04,-3.32655577e-04,-4.30933280e-05,
  2.69317809e-05,-9.93782397e-05,-8.55904132e-05,-6.08917900e-05,
  2.75755429e-02,-1.27089837e-03, 8.07439718e-03,-3.79594750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005762369896855496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.63338908e-14,  1.92667782e-13,  1.00000000e+00,  1.85604370e-26,
        1.00000000e+00, -1.92667782e-13, -1.00000000e+00,  0.00000000e+00,
       -9.63338908e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500573, -0.09312845,  0.061986  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29653551e-05, 3.81781592e-05, 2.14081171e-05, 3.47901963e-06,
  1.45391617e-05,-2.21126283e-05,-1.70755712e-05,-6.49202438e-06,
 -4.39278984e-06,-2.75240135e-06,-1.51393570e-05,-1.98331603e-06,
 -1.78667057e-04,-2.77446123e-05,-1.78878843e-04,-2.01404339e-04,
  1.06243257e-05, 7.02818850e-06,-7.84785501e+00, 7.35706511e-04,
  9.56441398e-03,-2.51639857e-06]


--- Step 719 ---
qpos:
[ 7.15489015e-03, 4.02987688e-03,-3.63143069e-03,-2.58177290e-02,
  6.02934290e-03,-2.90550760e-03,-1.78508958e-02, 1.16779637e-02,
  1.56469497e-02, 2.31050686e-03,-8.95193094e-03, 2.40276245e-02,
  1.07287107e+00,-9.35390074e-03, 7.70881593e-01, 6.24787509e-02,
  9.50032492e-02,-7.01607618e-02, 1.21426659e-01, 9.99975741e-01,
 -6.58654971e-05, 1.25490344e-04, 6.96393330e-03]

qacc:
[ -0.32944694,  0.58047021, -3.21377848,  9.01848124,  1.56351293,
  -0.63044924,  3.83806245,-10.78040777, -3.58822901,  0.07621743,
  -0.55020439,  0.91689072, -0.91020047,  1.4531443 ,-16.15732781,
  52.14145481,  0.08799785,  1.7627868 , -0.43561915,-29.82754218,
   2.33110975,  0.3814738 ]

qfrc_actuator:
[-9.58829001e-05, 1.90148440e-06,-1.48851093e-04,-3.88760844e-05,
 -6.31160754e-06,-4.20906125e-04,-3.37722967e-04,-6.38402277e-05,
  6.06743655e-06,-1.13984990e-04,-9.22710442e-05,-6.09292223e-05,
  2.75042675e-02,-1.26398718e-03, 8.04309577e-03,-3.54833540e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005736718478394076
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.83823212e-14,  9.67646424e-14,  1.00000000e+00, -4.68169801e-27,
        1.00000000e+00, -9.67646424e-14, -1.00000000e+00,  0.00000000e+00,
        4.83823212e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09500598, -0.09312946,  0.06198606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.92541129e-06, 3.08591636e-05, 1.62983123e-05, 2.01382703e-05,
  9.20708227e-06,-1.73790990e-05,-1.19463776e-05,-2.24096434e-05,
 -2.09893169e-05,-1.93595871e-05,-9.18533808e-06,-7.16125314e-07,
 -1.91431789e-04,-3.33239396e-05,-1.35939854e-04, 2.13397459e-04,
  1.71009839e-05, 2.17488094e-06,-7.84776248e+00, 7.08889938e-04,
  9.53711019e-03,-7.32830382e-07]


--- Step 720 ---
qpos:
[ 7.15380784e-03, 4.02998211e-03,-3.63192628e-03,-2.58168613e-02,
  6.02931811e-03,-2.90656282e-03,-1.78514898e-02, 1.16776283e-02,
  1.56470123e-02, 2.31027444e-03,-8.95157180e-03, 2.40268223e-02,
  1.07350241e+00,-9.35274108e-03, 7.71352932e-01, 6.24811746e-02,
  9.49891184e-02,-7.01500793e-02, 1.21423444e-01, 9.99975668e-01,
 -1.59043689e-04, 6.26267320e-06, 6.97405158e-03]

qacc:
[ 6.08639915e+00,-6.55437054e-01, 3.85522440e+00,-7.70723135e+00,
  9.42378833e-01,-1.37556307e+00, 5.74159474e+00,-1.05794720e+01,
  8.31491513e-01, 1.14330550e+00,-5.54432101e+00, 1.17529639e+01,
 -4.03639113e-01, 7.20661676e-02,-1.83962833e+01, 6.16632376e+01,
 -1.01191767e+00,-1.48590210e+00,-5.08043398e-02, 2.49561992e+01,
 -1.83976395e+01, 1.28786898e+00]

qfrc_actuator:
[-6.02479668e-05, 4.03661900e-05,-1.27488012e-04,-4.66470795e-05,
 -1.08735731e-06,-4.21241957e-04,-3.22608617e-04,-7.60103144e-05,
  1.15590888e-05,-1.04827398e-04,-9.64388666e-05,-4.27461273e-05,
  2.74441262e-02,-1.27827520e-03, 8.02871679e-03,-3.25913309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005771217529357692
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.01163781e-14,  4.80931025e-14,  1.00000000e+00, -2.89118313e-27,
        1.00000000e+00, -4.80931025e-14, -1.00000000e+00,  0.00000000e+00,
        6.01163781e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887192, -0.05175445,  0.06198598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.55910870e-05, 5.99723020e-05, 3.04528478e-05,-5.49313798e-06,
  5.48264601e-06,-1.34358217e-05, 9.29766335e-06,-1.37606811e-05,
  4.88857240e-06,-3.59928099e-06,-9.32305057e-06, 1.70244582e-05,
 -1.88829762e-04,-5.84227719e-05,-5.32786616e-05, 2.83585526e-04,
  2.50904372e-05,-2.39681947e-06,-7.84755335e+00, 6.63021083e-04,
  9.51124730e-03, 2.13053149e-06]


--- Step 721 ---
qpos:
[ 7.15247118e-03, 4.03028997e-03,-3.63178910e-03,-2.58160913e-02,
  6.02901103e-03,-2.90745243e-03,-1.78517657e-02, 1.16771026e-02,
  1.56474848e-02, 2.31016791e-03,-8.95104732e-03, 2.40258584e-02,
  1.07413261e+00,-9.35174050e-03, 7.71824230e-01, 6.24819747e-02,
  9.49709668e-02,-7.01452812e-02, 1.21419610e-01, 9.99975561e-01,
 -2.02768820e-04,-1.48903531e-04, 6.98670301e-03]

qacc:
[ -2.22251339, -1.69791395,  6.85932214, -9.7112288 , -2.46325886,
  -1.0565524 ,  4.89669752, -8.82939482,  3.61017033, -0.63554879,
   3.17776278, -6.31898998, -0.71829162,  0.75202077,  4.86265544,
 -17.05064987, -1.00519126, -1.47110212, -0.15463028, 24.60059894,
 -18.14147526,  1.26396271]

qfrc_actuator:
[-7.43540709e-05, 4.54058588e-05,-9.68933840e-05,-5.15486794e-05,
 -1.57594889e-05,-3.85429043e-04,-2.95686610e-04,-8.30193203e-05,
  3.25246738e-05,-8.14825399e-05,-8.12343421e-05,-4.94740504e-05,
  2.73853743e-02,-1.28719612e-03, 8.00319000e-03,-3.35615619e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005804112642458781
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.78205323e-14, -9.56410646e-14,  1.00000000e+00, -4.57360662e-27,
        1.00000000e+00,  9.56410646e-14, -1.00000000e+00,  0.00000000e+00,
       -4.78205323e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887116, -0.05175521,  0.0619859 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.30753093e-05, 4.46462892e-05, 4.65439414e-05,-1.38941893e-06,
 -1.45199838e-05, 2.96784509e-05, 2.48358705e-05,-7.52657515e-06,
  2.11023579e-05, 2.01437898e-05, 1.39019532e-05,-6.87211916e-06,
 -1.90437137e-04,-5.67135106e-05,-2.24896028e-05,-8.90197073e-05,
  2.97785096e-05, 8.62678163e-06,-7.84762675e+00, 6.32504477e-04,
  9.47349981e-03, 3.77136705e-06]


--- Step 722 ---
qpos:
[ 7.15132130e-03, 4.03056077e-03,-3.63084588e-03,-2.58153671e-02,
  6.02853057e-03,-2.90817663e-03,-1.78520425e-02, 1.16772093e-02,
  1.56475148e-02, 2.31042089e-03,-8.95044390e-03, 2.40244513e-02,
  1.07476154e+00,-9.35052778e-03, 7.72295130e-01, 6.24780298e-02,
  9.49576340e-02,-7.01431852e-02, 1.21417464e-01, 9.99975468e-01,
 -2.22769969e-04,-2.62398942e-04, 6.99608268e-03]

qacc:
[  1.67027462, -2.39984164,  8.67004332,-10.70962398, -1.51960759,
   1.52547582, -7.787295  , 18.60725523, -3.89773485, -0.65023735,
   4.89228723,-12.9676405 , -1.25211508,  2.13466088, 13.78641076,
 -48.97876011,  1.20469965, -0.67554651,  0.42193852, 12.00703072,
  20.75234415, -1.63342962]

qfrc_actuator:
[-6.43778240e-05, 3.04323120e-05,-6.12185045e-05,-5.47390208e-05,
 -2.42705555e-05,-3.81437444e-04,-2.97366551e-04,-5.13950406e-05,
  9.16381686e-06,-4.97559206e-05,-7.24206283e-05,-7.07809068e-05,
  2.73221723e-02,-1.27510083e-03, 7.94428051e-03,-3.60899494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005858203013601043
  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([ 0.08185263, -0.062065  ,  0.06198577])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.61738790e-06, 1.95313390e-05, 5.05750236e-05, 3.02568923e-07,
 -8.91623425e-06, 2.54266898e-05, 7.26460019e-06, 3.36133577e-05,
 -2.27545571e-05, 4.55770405e-05, 1.44461353e-05,-2.00958928e-05,
 -1.95763848e-04,-3.57034078e-05,-8.67168104e-05,-2.62463574e-04,
  3.25117454e-05, 2.55827246e-05,-7.84757690e+00, 6.17470229e-04,
  9.42385036e-03, 4.19738358e-06]


--- Step 723 ---
qpos:
[ 7.15064490e-03, 4.03059757e-03,-3.62901659e-03,-2.58150119e-02,
  6.02829667e-03,-2.90881641e-03,-1.78523394e-02, 1.16787420e-02,
  1.56476104e-02, 2.30997838e-03,-8.94848946e-03, 2.40238836e-02,
  1.07538927e+00,-9.34918793e-03, 7.72764544e-01, 6.24754241e-02,
  9.49490638e-02,-7.01437690e-02, 1.21416515e-01, 9.99975403e-01,
 -2.19516708e-04,-3.34902550e-04, 7.00231926e-03]

qacc:
[  4.19950659, -3.55444058, 13.76133995,-21.35971465,  2.15642261,
   3.09826351,-16.91457933, 41.57640547,  0.63311293, -2.96857217,
   5.70479842,  7.17644997, -0.88635468,  1.33178714, -6.19996384,
  18.58480092,  1.19063543, -0.66994819,  0.29914434, 11.76990085,
  20.414408  , -1.57009809]

qfrc_actuator:
[-4.02915685e-05, 3.60946186e-06,-2.29218661e-05,-7.46680797e-05,
 -1.13283556e-05,-3.78852050e-04,-2.98263237e-04, 2.04153425e-05,
  1.31534281e-05,-1.19800002e-04,-1.41632304e-05,-2.94784017e-05,
  2.72670039e-02,-1.26845602e-03, 7.90265543e-03,-3.52548897e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005912818071017317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.38827317e-14,  4.69413658e-14,  1.00000000e+00,  4.40698365e-27,
        1.00000000e+00, -4.69413658e-14, -1.00000000e+00,  0.00000000e+00,
       -9.38827317e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818536 , -0.06206598,  0.06198564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43622129e-05,-5.45772531e-06, 4.85544925e-05,-1.73417647e-05,
  1.26946434e-05, 1.97709317e-05, 6.42519735e-06, 7.38078791e-05,
  3.36044615e-06,-4.24551704e-05, 6.87500665e-05, 4.33666173e-05,
 -1.87287605e-04,-3.87489834e-05,-1.15867442e-04, 5.65293459e-05,
  1.54939905e-05, 1.52602942e-05,-7.84778387e+00, 6.11534791e-04,
  9.38735520e-03, 4.10081142e-06]


--- Step 724 ---
qpos:
[ 7.14991752e-03, 4.03045051e-03,-3.62668460e-03,-2.58148776e-02,
  6.02787461e-03,-2.90934514e-03,-1.78520536e-02, 1.16807323e-02,
  1.56484431e-02, 2.30876594e-03,-8.94568315e-03, 2.40242054e-02,
  1.07601604e+00,-9.34813653e-03, 7.73233064e-01, 6.24746818e-02,
  9.49452066e-02,-7.01470126e-02, 1.21416324e-01, 9.99975375e-01,
 -1.93398379e-04,-3.66989658e-04, 7.00551503e-03]

qacc:
[ -0.42984385, -2.10247941,  8.07395059,-12.55767365, -1.62995828,
  -0.53604796,  0.19787139,  6.70288765,  6.52569192, -1.5796806 ,
   0.37744943, 14.24929227, -0.32699141, -0.08560783, -6.93720731,
  22.36999507,  1.17826468, -0.66492236,  0.1895921 , 11.57325254,
  20.12803825, -1.51988093]

qfrc_actuator:
[-4.36059662e-05,-1.23585655e-05,-1.20723519e-06,-8.65462223e-05,
 -2.13700512e-05,-3.59342919e-04,-2.63165184e-04, 4.42802268e-05,
  5.09747736e-05,-1.78984776e-04, 1.91988151e-05, 1.27792852e-05,
  2.72273462e-02,-1.28283399e-03, 7.89281647e-03,-3.42188877e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00059408374451346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67199715e-14, -2.33599858e-14,  1.00000000e+00, -1.09137787e-27,
        1.00000000e+00,  2.33599858e-14, -1.00000000e+00,  0.00000000e+00,
       -4.67199715e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185403, -0.06206655,  0.06198557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.62766163e-06,-9.74691751e-06, 2.59441329e-05,-1.07756882e-05,
 -9.67544166e-06, 3.50824500e-05, 4.25344702e-05, 2.63690350e-05,
  3.78979061e-05,-6.68703136e-05, 3.45444601e-05, 4.36589031e-05,
 -1.66838881e-04,-5.85509893e-05,-5.87541468e-05, 9.14018806e-05,
  4.65995799e-06, 7.62998050e-06,-7.84791438e+00, 6.12897987e-04,
  9.36401905e-03, 3.75553133e-06]


--- Step 725 ---
qpos:
[ 7.14915598e-03, 4.03055564e-03,-3.62454408e-03,-2.58148945e-02,
  6.02733592e-03,-2.91026467e-03,-1.78504994e-02, 1.16826647e-02,
  1.56493771e-02, 2.30775666e-03,-8.94424139e-03, 2.40254060e-02,
  1.07664172e+00,-9.34695668e-03, 7.73701539e-01, 6.24688108e-02,
  9.49460197e-02,-7.01528983e-02, 1.21416504e-01, 9.99975384e-01,
 -1.44734927e-04,-3.59142719e-04, 7.00575110e-03]

qacc:
[ -0.31105634,  0.55761961, -0.86579384, -1.63110003, -0.97422185,
  -4.17681818, 14.39258214,-17.1412597 ,  0.84596265,  5.88973941,
 -24.32364399, 41.56666889, -1.06597558,  1.76437293, 15.45596397,
 -54.08391919,  1.16757748, -0.6605433 ,  0.09256477, 11.4116237 ,
  19.88785503, -1.48022356]

qfrc_actuator:
[-4.52730625e-05, 1.37350157e-05,-7.16550119e-06,-9.35942816e-05,
 -2.71133429e-05,-4.00750472e-04,-2.07065043e-04, 3.97758363e-05,
  5.51397215e-05,-1.60290821e-04,-5.11807631e-05, 5.52240168e-05,
  2.71757147e-02,-1.27395563e-03, 7.85411730e-03,-3.69784978e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005946879212300055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.33450121e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.33450121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185402, -0.06206681,  0.06198556])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.74766971e-06, 2.55194094e-05,-5.17410907e-06,-6.78266915e-06,
 -6.01029148e-06,-1.18661544e-05, 6.94974425e-05,-1.01948955e-06,
  5.21419446e-06,-9.66749832e-06,-7.84470837e-05, 4.16183184e-05,
 -1.69577189e-04,-3.42862396e-05,-6.01103436e-05,-2.79499132e-04,
 -4.36929602e-07, 2.43327128e-06,-7.84797225e+00, 6.21452500e-04,
  9.35364850e-03, 3.16068158e-06]


--- Step 726 ---
qpos:
[ 7.14906996e-03, 4.03137275e-03,-3.62328662e-03,-2.58150074e-02,
  6.02742241e-03,-2.91149727e-03,-1.78487525e-02, 1.16845937e-02,
  1.56500089e-02, 2.30705792e-03,-8.94374503e-03, 2.40263724e-02,
  1.07726629e+00,-9.34564627e-03, 7.74168502e-01, 6.24614726e-02,
  9.49514670e-02,-7.01614114e-02, 1.21416712e-01, 9.99975427e-01,
 -7.37860739e-05,-3.11760988e-04, 7.00309146e-03]

qacc:
[ 5.90600179e+00, 3.20072763e+00,-9.65993431e+00, 8.90418183e+00,
  5.48214514e+00,-9.69067870e-01, 2.85065988e+00,-2.96594661e+00,
 -2.69419087e+00, 2.57595569e+00,-7.59130381e+00, 4.81111709e+00,
 -9.20475386e-01, 1.45050099e+00, 2.23351647e+00,-1.09779868e+01,
  1.15852441e+00,-6.56846430e-01, 7.17425198e-03, 1.12803942e+01,
  1.96890621e+01,-1.44907523e+00]

qfrc_actuator:
[-1.04429539e-05, 6.47030737e-05,-4.69870559e-05,-9.77255558e-05,
  5.23140365e-06,-4.42745350e-04,-2.10292994e-04, 3.63350041e-05,
  3.94516440e-05,-1.31039995e-04,-9.31664843e-05, 4.41781092e-05,
  2.71169440e-02,-1.26917762e-03, 7.77142881e-03,-3.76923752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005935008875619235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.67658536e-14, -7.01487804e-14,  1.00000000e+00, -3.28056759e-27,
        1.00000000e+00,  7.01487804e-14, -1.00000000e+00,  0.00000000e+00,
       -4.67658536e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185365, -0.06206681,  0.06198558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47873532e-05, 6.38522786e-05,-3.54479642e-05,-3.35434959e-06,
  3.21661287e-05,-3.43105695e-05, 2.83546324e-06,-1.56962864e-06,
 -1.55433659e-05, 9.44564141e-06,-5.22120603e-05,-1.33683006e-05,
 -1.73780209e-04,-3.50099445e-05,-1.47911063e-04,-9.62015081e-05,
 -1.14919727e-07,-5.35354816e-07,-7.84796049e+00, 6.37108597e-04,
  9.35608239e-03, 2.31588736e-06]


--- Step 727 ---
qpos:
[ 7.14525890e-03, 4.03752065e-03,-3.62668169e-03,-2.58158507e-02,
  6.02823965e-03,-2.91143888e-03,-1.78485860e-02, 1.16863832e-02,
  1.56504469e-02, 2.30772741e-03,-8.94375209e-03, 2.40263396e-02,
  1.07788994e+00,-9.34512377e-03, 7.74633717e-01, 6.24572332e-02,
  9.49615183e-02,-7.01725398e-02, 1.21416650e-01, 9.99975491e-01,
  1.92409366e-05,-2.25169057e-04, 6.99758632e-03]

qacc:
[-33.02856347, 18.61321435,-52.93939942, 43.67045092,  6.32286365,
   5.82012841,-17.70993701, 16.89514066, -1.74624871,  1.16141063,
   2.70828315,-20.21347791,  0.2426722 , -1.69301497,-11.95807671,
  38.03373365,  1.15103224, -0.65384057, -0.06755005, 11.17566109,
  19.5274186 , -1.42478773]

qfrc_actuator:
[-2.02947367e-04, 5.73850932e-04,-1.95121558e-04,-1.17854255e-04,
  4.19811780e-05,-3.07487702e-04,-2.66301938e-04, 3.35008629e-05,
  2.99673536e-05, 2.86247276e-05,-8.24839535e-05, 1.79920418e-06,
  2.70539308e-02,-1.32017121e-03, 7.73171563e-03,-3.59522306e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005908779591361352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.69734489e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.69734489e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.081853  , -0.0620666 ,  0.06198565])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91496384e-04, 5.37356995e-04,-1.39453235e-04,-1.86919447e-05,
  3.76567416e-05, 1.16620948e-04,-6.28124913e-05,-4.24357343e-06,
 -9.92144117e-06, 1.53602667e-04, 5.74155127e-06,-4.40418311e-05,
 -1.81162965e-04,-9.16255046e-05,-1.19361188e-04, 1.49423188e-04,
  5.41407566e-06,-1.44476660e-06,-7.84788144e+00, 6.59792237e-04,
  9.37118807e-03, 1.22113354e-06]


--- Step 728 ---
qpos:
[ 7.13053736e-03, 4.06062415e-03,-3.64288121e-03,-2.58178737e-02,
  6.02776409e-03,-2.90681508e-03,-1.78511326e-02, 1.16884674e-02,
  1.56507661e-02, 2.31175465e-03,-8.94559478e-03, 2.40263218e-02,
  1.07851255e+00,-9.34492947e-03, 7.75097986e-01, 6.24543171e-02,
  9.49761497e-02,-7.01862743e-02, 1.21416057e-01, 9.99975561e-01,
  1.34184799e-04,-9.96243603e-05, 6.98927476e-03]

qacc:
[-9.67361575e+01, 5.59681112e+01,-1.61701109e+02, 1.48843652e+02,
 -1.14756448e+01, 1.42396504e+01,-4.32281598e+01, 4.92749381e+01,
 -1.16014948e+00, 9.60156164e+00,-2.78553292e+01, 2.85736441e+01,
 -3.50727685e-01,-1.03952031e-01,-5.38343744e+00, 1.68218769e+01,
  1.14501469e+00,-6.51516751e-01,-1.32601773e-01, 1.10941292e+01,
  1.93991971e+01,-1.40603442e+00]

qfrc_actuator:
[-7.58506370e-04, 2.08086097e-03,-5.99400084e-04,-1.29155895e-04,
 -2.54974615e-05, 1.45674202e-04,-3.16778380e-04, 6.66736703e-05,
  2.42179385e-05, 3.18613770e-04,-1.29027454e-04, 1.24898709e-05,
  2.70096993e-02,-1.33275099e-03, 7.70188596e-03,-3.52648316e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005871274995718073
  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([ 0.08185211, -0.06206623,  0.06198574])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.60819714e-04, 1.77765815e-03,-3.11131595e-04, 6.52422801e-06,
 -6.63593716e-05, 5.05225072e-04,-3.42810249e-05, 3.59076344e-05,
 -5.97396585e-06, 3.75157097e-04,-1.56382116e-05, 1.66138331e-05,
 -1.78473008e-04,-6.38482898e-05,-6.90911586e-05, 6.14791393e-05,
  1.60277659e-05,-4.39600563e-07,-7.84773683e+00, 6.89443387e-04,
  9.39885814e-03,-1.23331600e-07]


--- Step 729 ---
qpos:
[ 7.09683711e-03, 4.11695560e-03,-3.67783237e-03,-2.58220751e-02,
  6.02268289e-03,-2.88933807e-03,-1.78582989e-02, 1.16896376e-02,
  1.56513545e-02, 2.32537338e-03,-8.95507284e-03, 2.40263701e-02,
  1.07913397e+00,-9.34405442e-03, 7.75560648e-01, 6.24566185e-02,
  9.49911870e-02,-7.01926509e-02, 1.21415433e-01, 9.99975600e-01,
  1.86604970e-04, 2.93147191e-05, 6.98316838e-03]

qacc:
[-1.68225305e+02, 9.21866157e+01,-2.55164782e+02, 2.22265515e+02,
 -4.06675260e+01, 2.80833892e+01,-7.14964093e+01, 5.34663778e+01,
  1.96321943e+00, 3.41491370e+01,-1.03651824e+02, 1.09943158e+02,
 -1.28425657e+00, 2.64083272e+00,-1.80574716e+01, 5.98770673e+01,
  1.01459882e-01, 1.83949510e+00,-7.97596293e-03,-3.12491078e+01,
  1.91579377e+00, 1.10555508e+00]

qfrc_actuator:
[-1.71850161e-03, 4.82967858e-03,-1.12959946e-03,-1.52172546e-04,
 -2.60297697e-04, 1.37162469e-03,-3.26665074e-04, 6.78140839e-05,
  3.84644452e-05, 1.11032377e-03,-4.03651951e-04, 3.66549676e-05,
  2.69714536e-02,-1.28692176e-03, 7.64602240e-03,-3.25408251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005900033074449224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.70430848e-14,  1.88172339e-13,  1.00000000e+00,  8.85220730e-27,
        1.00000000e+00, -1.88172339e-13, -1.00000000e+00,  0.00000000e+00,
       -4.70430848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950071 , -0.09312678,  0.06198567])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.75346983e-04, 3.67810062e-03,-2.01169627e-04, 4.24817614e-05,
 -2.36519934e-04, 1.50276192e-03, 9.14611105e-05, 2.22951029e-05,
  1.42185326e-05, 9.98856619e-04,-1.98506690e-04, 4.00198835e-05,
 -1.64729144e-04,-6.47746729e-07,-8.49616754e-05, 2.65966957e-04,
  3.16808314e-05, 2.35022637e-06,-7.84752791e+00, 7.26014529e-04,
  9.43900774e-03,-1.71706832e-06]


--- Step 730 ---
qpos:
[ 7.03979470e-03, 4.22619502e-03,-3.73217339e-03,-2.58294058e-02,
  6.01240317e-03,-2.84887214e-03,-1.78709721e-02, 1.16888504e-02,
  1.56531339e-02, 2.36207001e-03,-8.97860382e-03, 2.40253966e-02,
  1.07975424e+00,-9.34237176e-03, 7.76022085e-01, 6.24611814e-02,
  9.50066253e-02,-7.01917517e-02, 1.21414320e-01, 9.99975618e-01,
  1.77343606e-04, 1.61777934e-04, 6.97900365e-03]

qacc:
[-2.06994831e+02, 1.18103203e+02,-3.05692247e+02, 2.42748967e+02,
 -4.60578299e+01, 4.18163428e+01,-9.66061615e+01, 5.44661416e+01,
  9.63936394e+00, 6.76554834e+01,-1.92689362e+02, 1.80506470e+02,
 -1.46905313e+00, 3.16996035e+00,-8.56030296e+00, 2.74885238e+01,
  1.00253467e-01, 1.81893849e+00,-1.22114405e-01,-3.08277370e+01,
  1.97757271e+00, 9.69642428e-01]

qfrc_actuator:
[-2.89097354e-03, 8.99287878e-03,-1.51125081e-03,-1.80747536e-04,
 -5.20650392e-04, 3.28191859e-03,-3.09206150e-04, 3.30734835e-05,
  9.98733554e-05, 3.11862636e-03,-7.90838416e-04, 5.10950425e-05,
  2.69262001e-02,-1.24243006e-03, 7.57463210e-03,-3.14795113e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005930118940958157
  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([ 0.09500653, -0.0931262 ,  0.0619856 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19902527e-03, 6.17838819e-03, 3.54555204e-04, 1.22798099e-04,
 -2.66590380e-04, 2.76984197e-03, 3.39779660e-04, 3.32353422e-05,
  6.22012978e-05, 2.52720469e-03,-2.03972428e-04, 5.11457652e-05,
 -1.49611084e-04, 1.07475620e-05,-8.32913505e-05, 1.09453094e-04,
  2.17205392e-05, 6.18359963e-06,-7.84768465e+00, 7.43098275e-04,
  9.47962218e-03,-3.01051861e-06]


--- Step 731 ---
qpos:
[ 6.96359717e-03, 4.40182398e-03,-3.80066895e-03,-2.58378020e-02,
  5.99907008e-03,-2.77323128e-03,-1.78903640e-02, 1.16861319e-02,
  1.56556227e-02, 2.43924588e-03,-9.02037611e-03, 2.40222674e-02,
  1.08037325e+00,-9.33872517e-03, 7.76482938e-01, 6.24613263e-02,
  9.50224619e-02,-7.01836475e-02, 1.21412314e-01, 9.99975613e-01,
  1.07109561e-04, 2.97873398e-04, 6.97656005e-03]

qacc:
[-1.70205196e+02, 1.25467537e+02,-3.14928902e+02, 2.69540442e+02,
 -2.75333469e+01, 6.13173798e+01,-1.42947806e+02, 9.43039634e+01,
  4.97085786e+00, 1.00035236e+02,-2.69967136e+02, 2.32025746e+02,
 -2.91117788e+00, 7.11476402e+00, 1.26221331e+01,-4.50832474e+01,
  9.95863292e-02, 1.80124580e+00,-2.23297711e-01,-3.04730600e+01,
  2.02899833e+00, 8.55365575e-01]

qfrc_actuator:
[-3.84167655e-03, 1.35456742e-02,-1.72462391e-03,-1.22072125e-04,
 -6.69631017e-04, 5.96034681e-03,-2.90357282e-04, 1.37184121e-05,
  1.35292408e-04, 6.37214043e-03,-1.23609036e-03, 4.30089483e-05,
  2.68927566e-02,-1.12812951e-03, 7.50460073e-03,-3.38924906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005936538051298096
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.80522844e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.80522844e-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([ 0.09500605, -0.09312633,  0.06198558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.82909506e-04, 8.08266386e-03, 1.11011059e-03, 3.37845854e-04,
 -1.55645949e-04, 4.29750386e-03, 6.33654729e-04, 1.11687496e-04,
  3.81663940e-05, 4.62577760e-03, 5.32721586e-05, 9.41236222e-05,
 -1.25974203e-04, 8.55814176e-05,-9.94218667e-05,-2.46690077e-04,
  1.62775264e-05, 1.02168426e-05,-7.84771330e+00, 7.40483737e-04,
  9.52160347e-03,-3.17366880e-06]


--- Step 732 ---
qpos:
[ 6.87312263e-03, 4.64823900e-03,-3.87563675e-03,-2.58462332e-02,
  5.98782863e-03,-2.64128615e-03,-1.79206032e-02, 1.16807172e-02,
  1.56585099e-02, 2.56948266e-03,-9.07953458e-03, 2.40176816e-02,
  1.08099047e+00,-9.32994035e-03, 7.76942450e-01, 6.24573141e-02,
  9.50386960e-02,-7.01683982e-02, 1.21409058e-01, 9.99975574e-01,
 -2.35091519e-05, 4.37693254e-04, 6.97565098e-03]

qacc:
[-1.27099218e+02, 1.11841277e+02,-2.62423926e+02, 2.19549574e+02,
  1.70018780e+01, 9.91046402e+01,-2.34094386e+02, 1.63445886e+02,
  2.04437460e+00, 1.15718980e+02,-3.04702939e+02, 2.68221811e+02,
 -6.28039786e+00, 1.66321456e+01, 1.09118142e+01,-4.02874052e+01,
  9.93665242e-02, 1.78627499e+00,-3.12522143e-01,-3.01788326e+01,
  2.07287753e+00, 7.58178840e-01]

qfrc_actuator:
[-4.54765258e-03, 1.76762398e-02,-1.79900420e-03,-6.51164757e-05,
 -5.56575178e-04, 1.03032056e-02,-2.49507488e-04, 4.35159064e-06,
  1.55122626e-04, 1.00443542e-02,-1.70637204e-03, 5.84550108e-05,
  2.68717778e-02,-8.31401962e-04, 7.41939380e-03,-3.60244553e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005923657778239971
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.81132807e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.81132807e-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([ 0.09500564, -0.09312704,  0.06198561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.31614765e-04, 8.88845637e-03, 1.74230539e-03, 4.47873872e-04,
  1.10077911e-04, 6.87910145e-03, 1.00977840e-03, 1.98768292e-04,
  2.27241603e-05, 6.27173857e-03, 4.94651869e-04, 2.17282368e-04,
 -8.32941572e-05, 2.84940803e-04,-1.62733691e-04,-2.40750814e-04,
  1.45881839e-05, 1.44285362e-05,-7.84761872e+00, 7.18399980e-04,
  9.56494310e-03,-2.22123825e-06]


--- Step 733 ---
qpos:
[ 6.77210239e-03, 4.97119662e-03,-3.95435338e-03,-2.58559162e-02,
  5.98353233e-03,-2.43701311e-03,-1.79605053e-02, 1.16730216e-02,
  1.56640291e-02, 2.75727333e-03,-9.14917202e-03, 2.40125625e-02,
  1.08160573e+00,-9.31381060e-03, 7.77400218e-01, 6.24526997e-02,
  9.50507454e-02,-7.01592951e-02, 1.21407015e-01, 9.99975503e-01,
 -1.01875303e-04, 5.40009958e-04, 6.97785355e-03]

qacc:
[ -94.26895751, 109.26739202,-237.20361968, 164.85424507,  59.25013672,
  117.73730372,-271.70328299, 194.71790884,  21.84173201, 104.21453311,
 -259.03411098, 224.26209054,  -8.37906581,  22.82798242,  -0.28911664,
   -1.67822203,  -1.04615026,  -1.53655984,   0.30328186,  25.99415705,
  -18.93339625,   1.56688426]

qfrc_actuator:
[-5.06850325e-03, 2.20373416e-02,-1.77425665e-03,-8.08074742e-05,
 -2.01457965e-04, 1.52189656e-02,-2.24146131e-04, 2.51504483e-06,
  2.89895278e-04, 1.34951985e-02,-1.98995122e-03, 8.81835930e-05,
  2.68423930e-02,-4.29178089e-04, 7.36245114e-03,-3.61974845e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006019446365951586
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.61098479e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.61098479e-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([ 0.10886596, -0.05176259,  0.06198538])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.39318130e-04, 9.70251771e-03, 2.08877886e-03, 4.33594306e-04,
  3.60612678e-04, 8.97522059e-03, 1.57633184e-03, 3.31523622e-04,
  1.37929434e-04, 7.06553373e-03, 1.07956595e-03, 3.19694946e-04,
 -2.31283095e-05, 4.30922548e-04,-1.59988877e-04,-5.19534403e-05,
  1.60769202e-05, 1.88941491e-05,-7.84740470e+00, 6.77036751e-04,
  9.60963639e-03,-1.65498425e-07]


--- Step 734 ---
qpos:
[ 6.65972955e-03, 5.37741553e-03,-4.03692401e-03,-2.58669475e-02,
  5.98593815e-03,-2.15851695e-03,-1.80027443e-02, 1.16649068e-02,
  1.56731936e-02, 3.01059121e-03,-9.22696742e-03, 2.40052358e-02,
  1.08221951e+00,-9.29156247e-03, 7.77857339e-01, 6.24492699e-02,
  9.50586717e-02,-7.01562529e-02, 1.21405566e-01, 9.99975426e-01,
 -1.29028976e-04, 6.05580484e-04, 6.98312263e-03]

qacc:
[-1.01492653e+02, 1.18257948e+02,-2.55943937e+02, 1.77123347e+02,
  5.73326781e+01, 1.03612386e+02,-2.25555232e+02, 1.67673408e+02,
  3.06930489e+01, 1.04801288e+02,-2.38796934e+02, 1.65501016e+02,
 -6.82405238e+00, 1.87686489e+01,-4.14651956e+00, 1.39859449e+01,
 -1.03079450e+00,-1.51521394e+00, 1.48647254e-01, 2.54765789e+01,
 -1.85514699e+01, 1.54519381e+00]

qfrc_actuator:
[-5.63607286e-03, 2.67334783e-02,-1.76117743e-03,-1.03350460e-04,
  1.33432212e-04, 1.93215051e-02,-1.69418082e-04, 2.36125845e-05,
  4.73487748e-04, 1.74621040e-02,-2.12595636e-03, 3.73778252e-05,
  2.67760904e-02,-1.27692091e-04, 7.39711271e-03,-3.53916002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006097513614850419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.68993720e-14,  1.82077990e-13,  1.00000000e+00, -1.03601233e-26,
        1.00000000e+00, -1.82077990e-13, -1.00000000e+00,  0.00000000e+00,
        5.68993720e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886464, -0.05176458,  0.06198519])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.80542235e-04, 1.05610958e-02, 2.28657945e-03, 4.73144816e-04,
  3.48245893e-04, 9.45442850e-03, 2.11230293e-03, 4.66320603e-04,
  1.90442955e-04, 8.14878946e-03, 1.46614775e-03, 2.95301931e-04,
  9.02187423e-06, 3.65695407e-04,-4.54333221e-05, 5.69813071e-05,
  1.26429636e-05, 3.88767911e-06,-7.84772969e+00, 6.52772844e-04,
  9.64295172e-03, 2.09860967e-06]


--- Step 735 ---
qpos:
[ 6.51966587e-03, 5.86703040e-03,-4.12097724e-03,-2.58780285e-02,
  5.99268568e-03,-1.80401493e-03,-1.80458556e-02, 1.16560597e-02,
  1.56851858e-02, 3.33659321e-03,-9.31100302e-03, 2.39959204e-02,
  1.08283310e+00,-9.26873116e-03, 7.78313832e-01, 6.24474459e-02,
  9.50625293e-02,-7.01591961e-02, 1.21404160e-01, 9.99975352e-01,
 -1.05852416e-04, 6.35049237e-04, 6.99142012e-03]

qacc:
[-2.45250111e+02, 1.14761751e+02,-2.48210763e+02, 1.87438442e+02,
  3.66931597e+01, 1.01272012e+02,-2.12399081e+02, 1.45367313e+02,
  2.34377813e+01, 1.09364984e+02,-2.42244441e+02, 1.64377092e+02,
 -6.11412806e-01, 1.68674492e+00,-5.73628340e+00, 1.88070366e+01,
 -1.01719386e+00,-1.49635695e+00, 1.06203887e-02, 2.50375303e+01,
 -1.82263703e+01, 1.52706833e+00]

qfrc_actuator:
[-7.04326975e-03, 3.10074633e-02,-1.78899977e-03,-9.39021322e-05,
  3.47135344e-04, 2.33135965e-02,-1.36036130e-04, 4.26323522e-06,
  6.13295605e-04, 2.17254038e-02,-2.18929915e-03,-6.60305379e-06,
  2.66876635e-02,-1.54649723e-04, 7.38018517e-03,-3.45464044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006140410432945026
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.26007495e-14,  3.39011243e-14,  1.00000000e+00,  7.66190818e-28,
        1.00000000e+00, -3.39011243e-14, -1.00000000e+00,  0.00000000e+00,
       -2.26007495e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886394, -0.05176563,  0.06198509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.42130810e-03, 1.06586580e-02, 2.44782799e-03, 5.49345762e-04,
  2.26845020e-04, 9.72575753e-03, 2.25978834e-03, 4.67420031e-04,
  1.48712493e-04, 9.12751327e-03, 1.80868095e-03, 3.61325953e-04,
 -5.58259536e-06, 3.33252539e-05,-3.72671199e-05, 8.05188454e-05,
  6.51768438e-06,-3.87284096e-06,-7.84791793e+00, 6.44494072e-04,
  9.66403263e-03, 3.08620020e-06]


--- Step 736 ---
qpos:
[ 6.33239201e-03, 6.44989243e-03,-4.21005275e-03,-2.58899624e-02,
  6.00227582e-03,-1.35535780e-03,-1.80974181e-02, 1.16448566e-02,
  1.56994573e-02, 3.75109349e-03,-9.40457246e-03, 2.39853325e-02,
  1.08344825e+00,-9.25502054e-03, 7.78769895e-01, 6.24416981e-02,
  9.50623655e-02,-7.01680592e-02, 1.21402308e-01, 9.99975282e-01,
 -3.30869590e-05, 6.28959978e-04, 7.00271392e-03]

qacc:
[-4.17362770e+02, 1.36361212e+02,-3.02357132e+02, 2.25458297e+02,
  2.30242497e+01, 1.43104619e+02,-3.19862821e+02, 2.23457957e+02,
  1.82358350e+01, 1.40955600e+02,-3.27562815e+02, 2.55695276e+02,
  9.67113488e+00,-2.72448365e+01, 1.06495725e+01,-3.94469185e+01,
 -1.00533258e+00,-1.47997875e+00,-1.11686584e-01, 2.46685850e+01,
 -1.79520764e+01, 1.51197252e+00]

qfrc_actuator:
[-9.43043739e-03, 3.63439182e-02,-1.78893496e-03,-8.37708768e-05,
  4.87805821e-04, 2.92139945e-02,-1.15991707e-04,-2.11208200e-05,
  7.26192013e-04, 2.73048461e-02,-2.22545173e-03, 2.51857034e-05,
  2.65645953e-02,-7.30638322e-04, 7.31634817e-03,-3.67045216e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006154191139030457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.63753526e-14,  1.35300846e-13,  1.00000000e+00, -7.62763290e-27,
        1.00000000e+00, -1.35300846e-13, -1.00000000e+00,  0.00000000e+00,
        5.63753526e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886376, -0.05176593,  0.06198505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.42539156e-03, 1.18090422e-02, 2.51746702e-03, 5.61128564e-04,
  1.50432659e-04, 1.18135064e-02, 2.31982890e-03, 4.77976227e-04,
  1.21163846e-04, 1.10619884e-02, 2.08174921e-03, 4.92033633e-04,
 -1.19282626e-04,-5.71207257e-04,-7.70391703e-05,-2.17331663e-04,
 -2.12379238e-06,-4.69327963e-06,-7.84797731e+00, 6.51934354e-04,
  9.67310639e-03, 2.82992561e-06]


--- Step 737 ---
qpos:
[ 6.10824932e-03, 7.13632207e-03,-4.30544132e-03,-2.59029693e-02,
  6.01381296e-03,-7.99715428e-04,-1.81561756e-02, 1.16316338e-02,
  1.57163585e-02, 4.27426589e-03,-9.50838389e-03, 2.39722448e-02,
  1.08406440e+00,-9.25412994e-03, 7.79225481e-01, 6.24316872e-02,
  9.50582211e-02,-7.01827864e-02, 1.21399577e-01, 9.99975204e-01,
  8.86516389e-05, 5.87766640e-04, 7.01697696e-03]

qacc:
[-3.26533286e+02, 1.52980949e+02,-3.41199283e+02, 2.55286209e+02,
  1.50052512e+01, 1.57253035e+02,-3.47103267e+02, 2.45047693e+02,
  2.09489529e+01, 1.67065083e+02,-3.76797542e+02, 2.69977001e+02,
  1.27833291e+01,-3.72165782e+01, 1.14111093e+01,-4.26489583e+01,
 -9.95147378e-01,-1.46599741e+00,-2.19424034e-01, 2.43621198e+01,
 -1.77231245e+01, 1.49942876e+00]

qfrc_actuator:
[-1.12565760e-02, 4.23101508e-02,-1.80351039e-03,-7.24068628e-05,
  5.84419124e-04, 3.56249879e-02,-6.05166566e-05,-3.04563733e-05,
  8.57864190e-04, 3.43036862e-02,-2.13298466e-03, 3.15049316e-05,
  2.64046158e-02,-1.46680122e-03, 7.29360575e-03,-3.88404886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006144173092012678
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.90541813e-14,  1.80695271e-13,  1.00000000e+00, -1.42847167e-26,
        1.00000000e+00, -1.80695271e-13, -1.00000000e+00,  0.00000000e+00,
        7.90541813e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.108864  , -0.05176561,  0.06198508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.89276345e-03, 1.30934804e-02, 2.74847604e-03, 6.14119234e-04,
  1.04918324e-04, 1.35010723e-02, 2.79325794e-03, 5.85585651e-04,
  1.40085805e-04, 1.36220718e-02, 2.64720536e-03, 5.61285262e-04,
 -3.55977565e-04,-8.50428215e-04,-8.53355825e-05,-2.36419808e-04,
 -1.31868123e-05, 1.12296378e-06,-7.84791408e+00, 6.74869111e-04,
  9.67036282e-03, 1.35650817e-06]


--- Step 738 ---
qpos:
[ 5.87045579e-03, 7.92436151e-03,-4.40236459e-03,-2.59155180e-02,
  6.02642152e-03,-1.40747431e-04,-1.82140477e-02, 1.16182617e-02,
  1.57364595e-02, 4.90693939e-03,-9.60872271e-03, 2.39578610e-02,
  1.08467899e+00,-9.26134948e-03, 7.79679977e-01, 6.24224704e-02,
  9.50499067e-02,-7.02000835e-02, 1.21397396e-01, 9.99975110e-01,
  2.31365698e-04, 5.11330548e-04, 7.03312768e-03]

qacc:
[-1.21952745e+02, 1.39788815e+02,-3.05072621e+02, 2.40211312e+02,
  7.65302166e+00, 1.33710632e+02,-2.78043547e+02, 1.98096108e+02,
  2.63855758e+01, 1.32298164e+02,-2.56347948e+02, 1.47857711e+02,
  6.67590055e+00,-2.17488453e+01,-4.42652081e+00, 1.21998903e+01,
 -1.04248963e+00,-6.42507992e-01, 1.37421707e-01, 1.03632680e+01,
 -1.76944439e+01, 9.51598596e-01]

qfrc_actuator:
[-1.19031808e-02, 4.74172042e-02,-1.85907555e-03,-4.19892623e-05,
  6.36604043e-04, 4.07828727e-02, 5.88303560e-07,-2.95567738e-05,
  1.01729241e-03, 4.02878232e-02,-1.72803991e-03, 2.42788543e-05,
  2.62384613e-02,-1.88341055e-03, 7.27423653e-03,-3.82811839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006117079493747102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.92998502e-07, -3.96499285e-07,  1.00000000e+00, -3.14423339e-13,
        1.00000000e+00,  3.96499285e-07, -1.00000000e+00, -5.04870979e-29,
       -7.92998502e-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([ 0.10883223, -0.06250203,  0.06198514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.97979767e-04, 1.29991636e-02, 3.00194576e-03, 6.96971396e-04,
  5.97551018e-05, 1.32902247e-02, 3.20834515e-03, 6.86395330e-04,
  1.69580103e-04, 1.41549594e-02, 3.55941086e-03, 6.78149574e-04,
 -5.70892898e-04,-6.24894337e-04,-8.78793245e-05, 3.10213896e-05,
 -2.66462580e-05, 1.32693881e-05,-7.84773308e+00, 7.13110921e-04,
  9.65595860e-03,-1.31246654e-06]


--- Step 739 ---
qpos:
[ 5.63601034e-03, 8.81506730e-03,-4.50067774e-03,-2.59281274e-02,
  6.04059430e-03, 6.20338666e-04,-1.82703760e-02, 1.16054325e-02,
  1.57597345e-02, 5.64627985e-03,-9.69691800e-03, 2.39428774e-02,
  1.08529007e+00,-9.27163576e-03, 7.80133472e-01, 6.24159178e-02,
  9.50419288e-02,-7.02098579e-02, 1.21396032e-01, 9.99975012e-01,
  3.10349619e-04, 4.40471195e-04, 7.04870426e-03]

qacc:
[ 2.76572405e+01, 1.39419283e+02,-3.00050034e+02, 2.25759633e+02,
  1.20220884e+01, 1.31692133e+02,-2.76099707e+02, 2.07986929e+02,
  2.64783869e+01, 1.05751797e+02,-1.70071607e+02, 6.18627547e+01,
  5.20975684e-01,-5.61775394e+00,-9.60001502e+00, 3.12599041e+01,
  8.41102735e-02, 1.88070546e+00, 2.03954763e-01,-3.18445186e+01,
  3.01234561e+00,-3.03993333e-01]

qfrc_actuator:
[-1.17085147e-02, 5.26616336e-02,-1.88822977e-03,-3.67467689e-05,
  7.15486613e-04, 4.58421105e-02, 5.98688776e-05,-5.82590311e-06,
  1.17399952e-03, 4.56898513e-02,-1.07421584e-03, 8.72172857e-06,
  2.60474911e-02,-2.01910645e-03, 7.25163777e-03,-3.68483407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006129400691161496
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.05653816e-14,  2.71696145e-13,  1.00000000e+00,  2.46062650e-26,
        1.00000000e+00, -2.71696145e-13, -1.00000000e+00,  0.00000000e+00,
       -9.05653816e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501053, -0.09312314,  0.06198511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76863143e-04, 1.31364929e-02, 3.04175652e-03, 6.77871979e-04,
  8.50683995e-05, 1.31599430e-02, 3.21637698e-03, 7.16288509e-04,
  1.68190702e-04, 1.40602955e-02, 4.03345495e-03, 7.26243115e-04,
 -6.84013358e-04,-3.53925905e-04,-6.29756958e-05, 1.32959197e-04,
 -3.22574584e-05, 2.90043231e-05,-7.84757604e+00, 7.57828365e-04,
  9.63062953e-03,-4.48206870e-06]


--- Step 740 ---
qpos:
[ 5.41532127e-03, 9.80619660e-03,-4.59802408e-03,-2.59408296e-02,
  6.05801629e-03, 1.48527789e-03,-1.83269376e-02, 1.15925124e-02,
  1.57857856e-02, 6.49409215e-03,-9.77161448e-03, 2.39274620e-02,
  1.08589649e+00,-9.28167476e-03, 7.80585754e-01, 6.24141371e-02,
  9.50342927e-02,-7.02122204e-02, 1.21394892e-01, 9.99974926e-01,
  3.26650799e-04, 3.74835713e-04, 7.06406735e-03]

qacc:
[ 1.19344346e+02, 1.29621232e+02,-2.69599371e+02, 1.92994387e+02,
  2.67335441e+01, 1.37614560e+02,-2.91264770e+02, 2.13801740e+02,
  2.29862802e+01, 1.04702055e+02,-1.63565571e+02, 5.47584056e+01,
 -3.35266985e+00, 4.71431374e+00,-1.60585369e+01, 5.38915938e+01,
  8.54626536e-02, 1.85294101e+00, 5.64312544e-02,-3.13221309e+01,
  2.83275088e+00,-1.21390718e-01]

qfrc_actuator:
[-1.10028720e-02, 5.76094881e-02,-1.86556313e-03,-4.62736709e-05,
  8.80476937e-04, 5.11393374e-02, 8.15370090e-05,-4.53413445e-06,
  1.31006732e-03, 5.13229897e-02,-3.16629388e-04, 5.74080091e-06,
  2.58258882e-02,-1.98805366e-03, 7.21115514e-03,-3.43806729e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006179819017729932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.79653e-13,  0.00000e+00,  1.00000e+00,  0.00000e+00,
        1.00000e+00,  0.00000e+00, -1.00000e+00,  0.00000e+00,
       -1.79653e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501169, -0.09312207,  0.06198499])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.12417224e-04, 1.29207080e-02, 3.12496536e-03, 6.69729479e-04,
  1.71849793e-04, 1.33242947e-02, 3.15266598e-03, 6.88893657e-04,
  1.47807044e-04, 1.43344532e-02, 4.17633456e-03, 7.51837916e-04,
 -7.28889094e-04,-1.68441197e-04,-6.04198999e-05, 2.44857963e-04,
 -1.53494436e-05, 2.27925478e-05,-7.84781814e+00, 7.83085566e-04,
  9.60905918e-03,-5.68350957e-06]


--- Step 741 ---
qpos:
[ 5.20889355e-03, 1.08882900e-02,-4.68869082e-03,-2.59527530e-02,
  6.08038743e-03, 2.45162504e-03,-1.83817069e-02, 1.15795028e-02,
  1.58133184e-02, 7.44957861e-03,-9.83297230e-03, 2.39128977e-02,
  1.08649808e+00,-9.29016792e-03, 7.81036487e-01, 6.24161121e-02,
  9.50270017e-02,-7.02072674e-02, 1.21393456e-01, 9.99974851e-01,
  2.81160744e-04, 3.14137393e-04, 7.07950490e-03]

qacc:
[ 1.24087172e+02, 1.02932635e+02,-1.96286568e+02, 1.32637422e+02,
  4.17855436e+01, 1.28698884e+02,-2.64218565e+02, 1.85391629e+02,
  1.16050440e+01, 1.06758379e+02,-1.77805749e+02, 9.20039986e+01,
 -4.75695273e+00, 8.64601479e+00,-1.34058723e+01, 4.40707223e+01,
  8.62480945e-02, 1.82891777e+00,-7.42273233e-02,-3.08774207e+01,
  2.68677755e+00, 2.47970121e-02]

qfrc_actuator:
[-1.02864331e-02, 6.16304686e-02,-1.72484153e-03,-4.68532935e-05,
  1.13032649e-03, 5.61107123e-02, 1.35055196e-04,-1.62891127e-05,
  1.37962192e-03, 5.66775173e-02, 3.37228100e-04, 4.58827290e-05,
  2.56127623e-02,-1.89454421e-03, 7.11739105e-03,-3.25665278e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006198999568674257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.79097129e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.79097129e-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([ 0.09501257, -0.09312191,  0.06198494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.38036515e-04, 1.18864979e-02, 3.20719981e-03, 6.71909201e-04,
  2.59241480e-04, 1.30722717e-02, 3.20845466e-03, 6.79917642e-04,
  8.11598723e-05, 1.42356779e-02, 4.14630353e-03, 8.11881675e-04,
 -7.09544939e-04,-8.62714208e-05,-1.00532597e-04, 1.86001014e-04,
  1.75433785e-07, 1.73833021e-05,-7.84792592e+00, 7.88307193e-04,
  9.58906383e-03,-5.76599703e-06]


--- Step 742 ---
qpos:
[ 5.01777850e-03, 1.20539118e-02,-4.76998909e-03,-2.59631502e-02,
  6.10938114e-03, 3.51200957e-03,-1.84311766e-02, 1.15678203e-02,
  1.58422232e-02, 8.51017022e-03,-9.88508603e-03, 2.38998571e-02,
  1.08709544e+00,-9.29850061e-03, 7.81486001e-01, 6.24199079e-02,
  9.50200571e-02,-7.01950806e-02, 1.21391263e-01, 9.99974780e-01,
  1.74629075e-04, 2.58143070e-04, 7.09524775e-03]

qacc:
[ 1.33481542e+02, 8.71075232e+01,-1.57308810e+02, 1.07804135e+02,
  5.67536072e+01, 1.12050998e+02,-2.25020317e+02, 1.70575907e+02,
  1.05519167e+01, 1.16192586e+02,-2.19206208e+02, 1.53474353e+02,
 -3.06364110e+00, 4.26198055e+00,-7.17433213e+00, 2.27604326e+01,
  8.66187413e-02, 1.80842138e+00,-1.89252085e-01,-3.05034369e+01,
  2.56805437e+00, 1.42387249e-01]

qfrc_actuator:
[-9.51626590e-03, 6.53486570e-02,-1.43062332e-03,-7.39375754e-06,
  1.46359723e-03, 6.03859116e-02, 2.41256292e-04, 1.74207053e-05,
  1.44495780e-03, 6.16447612e-02, 6.75072007e-04, 9.30355603e-05,
  2.54155593e-02,-1.88922669e-03, 7.05564140e-03,-3.16860008e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000619259139919684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.96412304e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.96412304e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09501323, -0.09312249,  0.06198496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.91842865e-04, 1.10190442e-02, 3.15613354e-03, 6.70328560e-04,
  3.45058149e-04, 1.22426252e-02, 3.21443474e-03, 7.16105995e-04,
  7.53655867e-05, 1.37854505e-02, 3.80685597e-03, 8.14520124e-04,
 -6.64322492e-04,-1.57289615e-04,-9.18814185e-05, 8.45780075e-05,
  1.53581091e-05, 1.24858427e-05,-7.84790581e+00, 7.73788381e-04,
  9.57061796e-03,-4.73984942e-06]


--- Step 743 ---
qpos:
[ 4.84938547e-03, 1.33075508e-02,-4.84611744e-03,-2.59726255e-02,
  6.14387057e-03, 4.66771986e-03,-1.84792623e-02, 1.15570521e-02,
  1.58724429e-02, 9.67594627e-03,-9.93442737e-03, 2.38878925e-02,
  1.08768916e+00,-9.30827779e-03, 7.81934242e-01, 6.24224621e-02,
  9.50134592e-02,-7.01757290e-02, 1.21387910e-01, 9.99974692e-01,
  7.67673749e-06, 2.06663013e-04, 7.11148194e-03]

qacc:
[ 1.98279131e+02, 1.03406961e+02,-2.04478245e+02, 1.48145411e+02,
  4.67302128e+01, 1.23859523e+02,-2.62881257e+02, 2.06573598e+02,
  9.84073355e+00, 1.33463877e+02,-2.78743053e+02, 2.15545089e+02,
 -1.24532784e+00,-6.07007039e-01, 1.88765118e+00,-9.29459387e+00,
  8.66898111e-02, 1.79120271e+00,-2.90013010e-01,-3.01936197e+01,
  2.47147057e+00, 2.37528553e-01]

qfrc_actuator:
[-8.36556508e-03, 7.00101411e-02,-1.08517311e-03, 5.50304762e-05,
  1.73675181e-03, 6.51688549e-02, 3.03832482e-04, 5.92759553e-05,
  1.50727950e-03, 6.67474447e-02, 7.33303698e-04, 1.25629329e-04,
  2.52280276e-02,-1.97156253e-03, 6.96519447e-03,-3.24264769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006165524700441627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.0034756e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.0034756e-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([ 0.09501371, -0.09312366,  0.06198502])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.17334173e-03, 1.14634784e-02, 3.02074960e-03, 6.54136409e-04,
  2.87087353e-04, 1.22857630e-02, 3.00026408e-03, 6.89384082e-04,
  7.23846750e-05, 1.35952003e-02, 3.39118791e-03, 7.68714830e-04,
 -6.41009727e-04,-2.46669771e-04,-1.28353663e-04,-8.22040459e-05,
  3.09561211e-05, 7.96670012e-06,-7.84776286e+00, 7.39776092e-04,
  9.55369556e-03,-2.61420994e-06]


--- Step 744 ---
qpos:
[ 4.71050519e-03, 1.46556633e-02,-4.91899541e-03,-2.59823830e-02,
  6.18205685e-03, 5.92125070e-03,-1.85277771e-02, 1.15462806e-02,
  1.59039368e-02, 1.09476124e-02,-9.98397561e-03, 2.38771783e-02,
  1.08827933e+00,-9.31966638e-03, 7.82380842e-01, 6.24244620e-02,
  9.50027567e-02,-7.01624682e-02, 1.21385256e-01, 9.99974570e-01,
 -1.08014761e-04, 1.17438411e-04, 7.12979022e-03]

qacc:
[ 2.57546164e+02, 1.14711687e+02,-2.27527664e+02, 1.48904645e+02,
  3.08267875e+01, 1.30362156e+02,-2.77356602e+02, 2.06174042e+02,
  9.36925419e+00, 1.43082150e+02,-3.12418181e+02, 2.56475109e+02,
 -9.68695712e-01,-1.26084167e+00,-7.43931467e-01,-9.08793794e-01,
 -1.02616779e+00,-1.52269703e+00, 1.74780448e-01, 2.54953472e+01,
 -1.90540538e+01, 1.04258203e+00]

qfrc_actuator:
[-6.87581005e-03, 7.52174552e-02,-7.44037801e-04, 7.79693255e-05,
  1.91905661e-03, 7.02352941e-02, 3.42029396e-04, 7.03951737e-05,
  1.56730087e-03, 7.20490442e-02, 7.15305282e-04, 1.84831033e-04,
  2.50570519e-02,-2.05169173e-03, 6.88420678e-03,-3.26960045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006154427201053719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.38239141e-14,  6.76478282e-14,  1.00000000e+00, -2.28811433e-27,
        1.00000000e+00, -6.76478282e-14, -1.00000000e+00,  0.00000000e+00,
        3.38239141e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886106, -0.05176532,  0.06198505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52313410e-03, 1.22259884e-02, 3.08986960e-03, 6.28456306e-04,
  1.94605430e-04, 1.25444971e-02, 2.95635878e-03, 6.52350092e-04,
  7.02868671e-05, 1.35960633e-02, 3.22161584e-03, 7.71652794e-04,
 -6.28918841e-04,-2.53563911e-04,-1.52705346e-04,-4.87631811e-05,
  4.75241867e-05, 3.82436772e-06,-7.84750100e+00, 6.86474149e-04,
  9.53827155e-03, 6.03027402e-07]


--- Step 745 ---
qpos:
[ 4.60117382e-03, 1.61052542e-02,-4.99023364e-03,-2.59929973e-02,
  6.22281891e-03, 7.27836303e-03,-1.85783725e-02, 1.15350374e-02,
  1.59366622e-02, 1.23396274e-02,-1.00392678e-02, 2.38653677e-02,
  1.08886613e+00,-9.33296407e-03, 7.82826539e-01, 6.24288752e-02,
  9.49879882e-02,-7.01552125e-02, 1.21382727e-01, 9.99974422e-01,
 -1.73354448e-04,-8.75927392e-06, 7.15025473e-03]

qacc:
[ 2.57409597e+02, 1.27290097e+02,-2.56517290e+02, 1.65369600e+02,
  2.08208380e+01, 1.41641424e+02,-3.04519347e+02, 2.23603798e+02,
  8.56545687e+00, 1.72836212e+02,-3.80869668e+02, 2.82513873e+02,
 -4.88245591e-01,-2.42545106e+00,-8.63607575e+00, 2.82373226e+01,
 -1.01651924e+00,-1.50128318e+00, 3.12926243e-02, 2.50433319e+01,
 -1.86656854e+01, 1.07914527e+00]

qfrc_actuator:
[-5.39378098e-03, 8.08348725e-02,-4.58897759e-04, 7.80522613e-05,
  2.04645213e-03, 7.58572687e-02, 4.02363570e-04, 8.13773684e-05,
  1.62545699e-03, 7.90604561e-02, 7.95460202e-04, 2.06134950e-04,
  2.48961306e-02,-2.14750487e-03, 6.90483779e-03,-3.12646576e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000619851613559888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.95555485e-14, -1.79111097e-13,  1.00000000e+00, -1.60403925e-26,
        1.00000000e+00,  1.79111097e-13, -1.00000000e+00,  0.00000000e+00,
       -8.95555485e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088597 , -0.05176621,  0.06198494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.52534330e-03, 1.30722278e-02, 3.19780755e-03, 6.39909774e-04,
  1.37153489e-04, 1.32304773e-02, 3.02411599e-03, 6.60847094e-04,
  6.87030698e-05, 1.52676261e-02, 3.29792960e-03, 7.27743563e-04,
 -6.12738516e-04,-2.67775768e-04,-5.70014600e-05, 1.20416486e-04,
  4.30368817e-05, 1.60858528e-05,-7.84765089e+00, 6.48713560e-04,
  9.50981800e-03, 2.86952852e-06]


--- Step 746 ---
qpos:
[ 4.51830684e-03, 1.76624691e-02,-5.06116948e-03,-2.60046495e-02,
  6.26478249e-03, 8.75115746e-03,-1.86344872e-02, 1.15229591e-02,
  1.59695591e-02, 1.38660552e-02,-1.00998440e-02, 2.38505802e-02,
  1.08944966e+00,-9.34782704e-03, 7.83272627e-01, 6.24324295e-02,
  9.49691870e-02,-7.01538871e-02, 1.21379815e-01, 9.99974242e-01,
 -1.89112902e-04,-1.71294484e-04, 7.17292404e-03]

qacc:
[ 2.29898154e+02, 1.38832941e+02,-2.85029456e+02, 1.88260600e+02,
  8.41304448e+00, 1.66507946e+02,-3.68408943e+02, 2.77761124e+02,
 -9.66056856e-01, 1.86285093e+02,-3.93879360e+02, 2.51850449e+02,
 -8.94147418e-01,-1.23639798e+00, 3.17396304e+00,-1.02569929e+01,
 -1.00813330e+00,-1.48256280e+00,-9.58434509e-02, 2.46600787e+01,
 -1.83457485e+01, 1.09910998e+00]

qfrc_actuator:
[-4.07024981e-03, 8.67068152e-02,-2.60302292e-04, 6.51092456e-05,
  2.10503916e-03, 8.25310386e-02, 4.60050598e-04, 1.10499518e-04,
  1.62876887e-03, 8.69344249e-02, 9.75632150e-04, 1.53288764e-04,
  2.47573320e-02,-2.21628085e-03, 6.94382639e-03,-3.16806661e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006212324884656006
  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([ 0.10885901, -0.05176636,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36690875e-03, 1.38189644e-02, 3.29850879e-03, 6.66849295e-04,
  6.69432876e-05, 1.46764695e-02, 3.17062256e-03, 7.10669899e-04,
  1.47690471e-05, 1.70745301e-02, 3.74978609e-03, 7.26760425e-04,
 -5.82544419e-04,-2.39994591e-04, 2.01729753e-05,-4.35290968e-05,
  3.77817108e-05, 3.40885940e-05,-7.84767041e+00, 6.26731596e-04,
  9.46917597e-03, 3.88744219e-06]


--- Step 747 ---
qpos:
[ 4.46048334e-03, 1.93311325e-02,-5.13072309e-03,-2.60173586e-02,
  6.30781165e-03, 1.03400867e-02,-1.86914106e-02, 1.15108517e-02,
  1.60023344e-02, 1.55252026e-02,-1.01582813e-02, 2.38355715e-02,
  1.09003013e+00,-9.36348002e-03, 7.83719064e-01, 6.24321484e-02,
  9.49552434e-02,-7.01552607e-02, 1.21378954e-01, 9.99974079e-01,
 -1.80538661e-04,-2.91737952e-04, 7.19193377e-03]

qacc:
[ 217.0524301 , 140.85563694,-284.78676436, 183.11004468,   7.35769778,
  155.60875817,-332.07487852, 247.50457004,  -3.26550876, 168.97984024,
 -347.05285706, 242.09831847,  -1.57392867,   0.9567094 ,  12.13522505,
  -41.61413531,   1.21436216,  -0.6747685 ,   0.51290627,  12.31668244,
   20.95840863,  -1.82790194]

qfrc_actuator:
[-2.81504715e-03, 9.26669838e-02,-4.19415834e-05, 4.48743753e-05,
  2.15819029e-03, 8.85751736e-02, 5.20420300e-04, 1.33305224e-04,
  1.61749439e-03, 9.37369979e-02, 1.16439413e-03, 1.64787521e-04,
  2.46585486e-02,-2.23290946e-03, 6.93516183e-03,-3.37145983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006259797390236466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.86788306e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.86788306e-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([ 0.08185752, -0.06208085,  0.06198479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29401926e-03, 1.43426766e-02, 3.48456768e-03, 6.95310880e-04,
  6.00050450e-05, 1.48836614e-02, 3.49047779e-03, 7.72115590e-04,
 -3.23275849e-07, 1.71020435e-02, 4.18575115e-03, 8.83875683e-04,
 -5.17237290e-04,-1.77232923e-04,-1.50655852e-05,-2.05660906e-04,
  3.14129126e-05, 5.77257013e-05,-7.84756617e+00, 6.20286217e-04,
  9.41654708e-03, 3.68519161e-06]


--- Step 748 ---
qpos:
[ 4.43737692e-03, 2.11084430e-02,-5.19320831e-03,-2.60303229e-02,
  6.35149537e-03, 1.20363168e-02,-1.87439984e-02, 1.14994816e-02,
  1.60348286e-02, 1.73088428e-02,-1.02106129e-02, 2.38218789e-02,
  1.09060790e+00,-9.37933470e-03, 7.84164255e-01, 6.24296399e-02,
  9.49460896e-02,-7.01593115e-02, 1.21379557e-01, 9.99973946e-01,
 -1.48228676e-04,-3.70878327e-04, 7.20748381e-03]

qacc:
[ 301.20492862, 122.74389087,-229.26072726, 134.76463397,   4.05363993,
  131.15218448,-265.03061832, 191.97640416,  -4.38897849, 150.18688158,
 -302.30947388, 223.67357901,  -1.77960171,   2.07828135,   4.94653278,
  -19.84037009,   1.19747534,  -0.66927834,   0.36581689,  12.01558691,
   20.5659751 ,  -1.7296443 ]

qfrc_actuator:
[-1.05967486e-03, 9.81183873e-02, 3.29098532e-04, 3.84512718e-05,
  2.18998259e-03, 9.34669441e-02, 5.62144069e-04, 1.34096436e-04,
  1.59769248e-03, 9.95073615e-02, 1.29974293e-03, 1.95575552e-04,
  2.45838722e-02,-2.21839878e-03, 6.83931151e-03,-3.49108199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006298681559860353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.81313823e-14, -6.60985367e-14,  1.00000000e+00, -5.82535540e-27,
        1.00000000e+00,  6.60985367e-14, -1.00000000e+00,  0.00000000e+00,
       -8.81313823e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185824, -0.06208199,  0.0619847 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.79197238e-03, 1.41622605e-02, 3.76798194e-03, 7.38294581e-04,
  3.85018952e-05, 1.39116362e-02, 3.55481216e-03, 7.70988333e-04,
 -8.87600229e-06, 1.61771669e-02, 4.19558639e-03, 9.22186817e-04,
 -4.38966456e-04,-1.22115043e-04,-1.35332726e-04,-1.35188334e-04,
  1.12324720e-05, 3.83316463e-05,-7.84776316e+00, 6.23867099e-04,
  9.37761039e-03, 3.08149581e-06]


--- Step 749 ---
qpos:
[ 4.45505432e-03, 2.29836044e-02,-5.24204442e-03,-2.60417046e-02,
  6.39488358e-03, 1.38307050e-02,-1.87912064e-02, 1.14892661e-02,
  1.60666074e-02, 1.92059856e-02,-1.02556927e-02, 2.38092571e-02,
  1.09118353e+00,-9.39583930e-03, 7.84607883e-01, 6.24266839e-02,
  9.49416668e-02,-7.01660197e-02, 1.21381104e-01, 9.99973849e-01,
 -9.26729330e-05,-4.09381958e-04, 7.21973122e-03]

qacc:
[ 3.53615547e+02, 9.37594631e+01,-1.54556906e+02, 8.94881870e+01,
 -4.11408003e+00, 1.17032770e+02,-2.33949675e+02, 1.73142351e+02,
 -7.94152605e+00, 1.31960997e+02,-2.57351302e+02, 1.80714921e+02,
 -8.91055875e-01, 1.45926383e-01,-9.33469985e-01,-3.95848748e-02,
  1.18274977e+00,-6.64349770e-01, 2.36028821e-01, 1.17684111e+01,
  2.02343225e+01,-1.65269921e+00]

qfrc_actuator:
[ 9.93860841e-04, 1.02441638e-01, 8.03259875e-04, 7.54414924e-05,
  2.17343912e-03, 9.77539445e-02, 5.87859367e-04, 1.38676858e-04,
  1.55522974e-03, 1.04418260e-01, 1.36271613e-03, 1.83230508e-04,
  2.45184123e-02,-2.23873475e-03, 6.77649337e-03,-3.50725766e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006308138948799696
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.79992525e-14, -2.19998131e-14,  1.00000000e+00, -1.93596711e-27,
        1.00000000e+00,  2.19998131e-14, -1.00000000e+00,  0.00000000e+00,
       -8.79992525e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185838, -0.06208264,  0.06198468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10398970e-03, 1.29896388e-02, 3.86882569e-03, 7.84343689e-04,
 -1.07902046e-05, 1.27725868e-02, 3.34460559e-03, 7.35080254e-04,
 -3.17080419e-05, 1.47995897e-02, 3.93317327e-03, 8.40210602e-04,
 -3.69282557e-04,-1.31288494e-04,-1.42824043e-04,-4.16765790e-05,
 -2.28796590e-06, 2.23948472e-05,-7.84788171e+00, 6.34863183e-04,
  9.35195010e-03, 2.22534775e-06]


--- Step 750 ---
qpos:
[ 4.50642084e-03, 2.49507151e-02,-5.27967749e-03,-2.60513344e-02,
  6.43808109e-03, 1.57241576e-02,-1.88371312e-02, 1.14789508e-02,
  1.60960264e-02, 2.12138723e-02,-1.02976470e-02, 2.37975199e-02,
  1.09175745e+00,-9.41360702e-03, 7.85050859e-01, 6.24239816e-02,
  9.49419245e-02,-7.01753681e-02, 1.21383140e-01, 9.99973789e-01,
 -1.42703161e-05,-4.07806630e-04, 7.22879877e-03]

qacc:
[ 2.91029276e+02, 9.32671043e+01,-1.64612753e+02, 1.10476368e+02,
 -3.33444454e+00, 1.27088052e+02,-2.62774745e+02, 1.86144915e+02,
 -2.22981634e+01, 1.39491589e+02,-2.88658403e+02, 2.17374774e+02,
  7.73305146e-03,-2.00393660e+00,-1.75475223e+00, 4.68143414e+00,
  1.17010966e+00,-6.60077196e-01, 1.22264059e-01, 1.15671685e+01,
  1.99566355e+01,-1.59284051e+00]

qfrc_actuator:
[ 0.00267376, 0.10657016, 0.00117011, 0.00011899, 0.00216409, 0.10270946,
  0.0006367 , 0.00012707, 0.00142871, 0.10968006, 0.00139643, 0.00019798,
  0.02445853,-0.0022972 , 0.00679215,-0.00348001, 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: -0.0006293634653100205
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32303083e-13,  8.82020554e-14,  1.00000000e+00,  1.16694039e-26,
        1.00000000e+00, -8.82020554e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32303083e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185803, -0.06208289,  0.06198471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73863230e-03, 1.21582566e-02, 3.53197068e-03, 7.44803767e-04,
 -5.38894949e-06, 1.27555442e-02, 3.10409960e-03, 6.61874640e-04,
 -1.16523953e-04, 1.43182125e-02, 3.58278027e-03, 7.97326195e-04,
 -3.21520437e-04,-1.56153569e-04,-5.60746458e-05, 6.28090234e-06,
 -9.73082948e-06, 9.46055170e-06,-7.84792637e+00, 6.53145092e-04,
  9.33933825e-03, 1.11591811e-06]


--- Step 751 ---
qpos:
[ 4.57638494e-03, 2.70094611e-02,-5.31193104e-03,-2.60606769e-02,
  6.48186512e-03, 1.77164575e-02,-1.88817398e-02, 1.14688704e-02,
  1.61234851e-02, 2.33259839e-02,-1.03359055e-02, 2.37867834e-02,
  1.09232969e+00,-9.43160592e-03, 7.85492589e-01, 6.24256236e-02,
  9.49468200e-02,-7.01873426e-02, 1.21385268e-01, 9.99973758e-01,
  8.66581331e-05,-3.66613734e-04, 7.23478169e-03]

qacc:
[ 1.59375303e+02, 1.06372010e+02,-2.05309782e+02, 1.34877419e+02,
  3.49568043e+00, 1.27384850e+02,-2.65685841e+02, 1.94983301e+02,
 -1.86340060e+01, 1.29512959e+02,-2.66081990e+02, 2.00705327e+02,
 -7.99553504e-01, 5.64707576e-01,-1.49228154e+01, 4.96051020e+01,
  1.15944579e+00,-6.56507838e-01, 2.31261826e-02, 1.14051860e+01,
  1.97268759e+01,-1.54669165e+00]

qfrc_actuator:
[ 3.58768484e-03, 1.11010176e-01, 1.36304970e-03, 1.12416869e-04,
  2.19457015e-03, 1.07706376e-01, 7.19104159e-04, 1.42037921e-04,
  1.32468844e-03, 1.14470653e-01, 1.41380940e-03, 2.10997598e-04,
  2.44180085e-02,-2.28891282e-03, 6.75900551e-03,-3.24969608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006259933354898911
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86769045e-14, -8.86769045e-14,  1.00000000e+00,  7.86359339e-27,
        1.00000000e+00,  8.86769045e-14, -1.00000000e+00,  0.00000000e+00,
        8.86769045e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0818573 , -0.06208283,  0.06198479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.61702133e-04, 1.19298874e-02, 3.14226043e-03, 6.46430571e-04,
  3.46015342e-05, 1.27309863e-02, 3.10081858e-03, 6.77756589e-04,
 -9.62519029e-05, 1.34995276e-02, 3.42104217e-03, 7.61749004e-04,
 -2.76615728e-04,-8.35406345e-05,-6.36028103e-05, 2.22230556e-04,
 -1.15089992e-05,-8.22067317e-07,-7.84790067e+00, 6.78605202e-04,
  9.33958585e-03,-2.47030834e-07]


--- Step 752 ---
qpos:
[ 4.65147695e-03, 2.91577994e-02,-5.34041404e-03,-2.60700719e-02,
  6.52602986e-03, 1.97931903e-02,-1.89185984e-02, 1.14600415e-02,
  1.61506589e-02, 2.55289807e-02,-1.03673002e-02, 2.37770312e-02,
  1.09290071e+00,-9.44974236e-03, 7.85933493e-01, 6.24289995e-02,
  9.49563179e-02,-7.02019318e-02, 1.21387145e-01, 9.99973744e-01,
  2.09858159e-04,-2.86178934e-04, 7.23775312e-03]

qacc:
[ 4.27542305e+01, 1.07696619e+02,-2.12120722e+02, 1.39452917e+02,
  2.13548401e+00, 9.24659347e+01,-1.73097885e+02, 1.20287300e+02,
 -3.77731092e+00, 1.02967012e+02,-1.96992997e+02, 1.36144058e+02,
 -6.59574645e-01, 5.99192302e-01,-6.43226473e+00, 2.07819187e+01,
  1.15063215e+00,-6.53656952e-01,-6.28039145e-02, 1.12768965e+01,
  1.95397452e+01,-1.51155293e+00]

qfrc_actuator:
[ 3.83060484e-03, 1.15352085e-01, 1.48848593e-03, 9.42841192e-05,
  2.21274672e-03, 1.11073226e-01, 7.85602452e-04, 1.37159707e-04,
  1.30572810e-03, 1.18141885e-01, 1.41957126e-03, 1.86995639e-04,
  2.44104665e-02,-2.27660079e-03, 6.71263126e-03,-3.16803090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006211161315155672
  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([ 0.08185626, -0.06208252,  0.06198491])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68086690e-04, 1.16156739e-02, 2.97507678e-03, 6.09509522e-04,
  2.34196373e-05, 1.10835994e-02, 3.07881063e-03, 6.56824499e-04,
 -1.05652239e-05, 1.18835975e-02, 3.21789263e-03, 6.83114813e-04,
 -1.99705234e-04,-5.85024684e-05,-5.47662855e-05, 8.49891951e-05,
 -7.89922933e-06,-8.72924787e-06,-7.84780729e+00, 7.11155170e-04,
  9.35253786e-03,-1.86332225e-06]


--- Step 753 ---
qpos:
[ 4.72808656e-03, 3.13901886e-02,-5.36425336e-03,-2.60790373e-02,
  6.57007928e-03, 2.19424798e-02,-1.89476857e-02, 1.14523540e-02,
  1.61775370e-02, 2.78152142e-02,-1.03934808e-02, 2.37684523e-02,
  1.09347092e+00,-9.46792796e-03, 7.86374105e-01, 6.24283315e-02,
  9.49661692e-02,-7.02091621e-02, 1.21389071e-01, 9.99973718e-01,
  2.70264695e-04,-2.01771894e-04, 7.24214751e-03]

qacc:
[ 1.17402758e+01, 9.89845374e+01,-1.93612548e+02, 1.31852556e+02,
 -2.00170022e+00, 7.64987749e+01,-1.38456833e+02, 9.24237948e+01,
 -3.77496199e+00, 9.78579391e+01,-1.94241684e+02, 1.44932018e+02,
 -6.61654324e-01, 8.95735280e-01, 1.18008376e+01,-4.18625920e+01,
  8.83101203e-02, 1.83971187e+00, 1.20882401e-02,-3.13813404e+01,
  2.21345667e+00, 7.20074076e-01]

qfrc_actuator:
[ 3.90773802e-03, 1.19227713e-01, 1.59063116e-03, 8.71940006e-05,
  2.20575835e-03, 1.13845226e-01, 8.35594829e-04, 1.19260826e-04,
  1.28365333e-03, 1.21734489e-01, 1.44922067e-03, 1.93657459e-04,
  2.44174053e-02,-2.26187647e-03, 6.66365311e-03,-3.38771196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006224559150196513
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33771284e-13,  1.78361712e-13,  1.00000000e+00,  2.38596752e-26,
        1.00000000e+00, -1.78361712e-13, -1.00000000e+00,  0.00000000e+00,
       -1.33771284e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502123, -0.09312421,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.19426413e-05, 1.09340339e-02, 2.86395494e-03, 6.00415980e-04,
 -2.63914622e-06, 9.55892021e-03, 2.71750299e-03, 5.71833339e-04,
 -1.14767525e-05, 1.08526553e-02, 2.87908926e-03, 6.35745469e-04,
 -1.31442365e-04,-3.57343591e-05,-6.94047998e-05,-2.23088420e-04,
  9.32917217e-07,-1.44846969e-05,-7.84764824e+00, 7.50723709e-04,
  9.37806891e-03,-3.73249431e-06]


--- Step 754 ---
qpos:
[ 4.80074878e-03, 3.37115140e-02,-5.38894755e-03,-2.60883526e-02,
  6.61334931e-03, 2.41757086e-02,-1.89798917e-02, 1.14444176e-02,
  1.62044246e-02, 3.01901907e-02,-1.04216046e-02, 2.37597243e-02,
  1.09404080e+00,-9.48538464e-03, 7.86814195e-01, 6.24204021e-02,
  9.49763741e-02,-7.02091231e-02, 1.21390541e-01, 9.99973691e-01,
  2.68831485e-04,-1.13419512e-04, 7.24789985e-03]

qacc:
[-3.51439343e+01, 1.19298979e+02,-2.53218160e+02, 1.82971115e+02,
 -8.31892668e+00, 1.19103979e+02,-2.62664540e+02, 2.01603013e+02,
 -1.45776679e+00, 1.22410853e+02,-2.65650935e+02, 2.00845714e+02,
 -1.16866248e+00, 2.85522878e+00, 2.12044794e+01,-7.51872025e+01,
  8.84278333e-02, 1.81731301e+00,-1.13775048e-01,-3.09046368e+01,
  2.19672923e+00, 6.84674753e-01]

qfrc_actuator:
[ 3.70943194e-03, 1.23964952e-01, 1.64091519e-03, 8.62683398e-05,
  2.16626211e-03, 1.18670529e-01, 8.90315015e-04, 1.46416919e-04,
  1.27758726e-03, 1.26458390e-01, 1.43884877e-03, 2.00382104e-04,
  2.44809713e-02,-2.19248024e-03, 6.60244248e-03,-3.76536389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006233006861038476
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.78119975e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.78119975e-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([ 0.09502122, -0.0931241 ,  0.06198486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.99379938e-04, 1.13879686e-02, 2.65627466e-03, 5.73179142e-04,
 -3.64058530e-05, 1.06786224e-02, 2.35890087e-03, 5.37214626e-04,
  4.42734207e-06, 1.13323551e-02, 2.58170255e-03, 5.78783269e-04,
 -2.73270069e-05, 3.72642592e-05,-1.23148247e-04,-4.00238118e-04,
  2.94737854e-06,-1.12133177e-05,-7.84782501e+00, 7.70216335e-04,
  9.40512658e-03,-5.04221825e-06]


--- Step 755 ---
qpos:
[ 4.86273892e-03, 3.61279406e-02,-5.41681650e-03,-2.60980026e-02,
  6.65545538e-03, 2.65032992e-02,-1.90176322e-02, 1.14355750e-02,
  1.62318610e-02, 3.26614478e-02,-1.04546018e-02, 2.37506093e-02,
  1.09461140e+00,-9.50228571e-03, 7.87253484e-01, 6.24091862e-02,
  9.49869338e-02,-7.02018915e-02, 1.21391115e-01, 9.99973661e-01,
  2.06356732e-04,-2.11400665e-05, 7.25494982e-03]

qacc:
[-9.20638192e+01, 1.34075273e+02,-2.93943888e+02, 2.22902341e+02,
 -1.18838773e+01, 1.38273844e+02,-3.08248290e+02, 2.31998163e+02,
  2.91903003e+00, 1.40062082e+02,-3.13142921e+02, 2.43367857e+02,
 -9.80429458e-02, 1.06144004e+00, 8.75064453e+00,-3.23090476e+01,
  8.86882391e-02, 1.79816309e+00,-2.24206386e-01,-3.05056636e+01,
  2.18486550e+00, 6.51734106e-01]

qfrc_actuator:
[ 3.17319394e-03, 1.29216155e-01, 1.66372358e-03, 1.07401537e-04,
  2.10797136e-03, 1.24208087e-01, 9.20148140e-04, 1.66034467e-04,
  1.29869213e-03, 1.31857772e-01, 1.40953590e-03, 2.25750138e-04,
  2.46264325e-02,-2.12654456e-03, 6.60315895e-03,-3.91341596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006217417864441965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92832884e-14, -8.92832884e-14,  1.00000000e+00, -7.97150559e-27,
        1.00000000e+00,  8.92832884e-14, -1.00000000e+00,  0.00000000e+00,
       -8.92832884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502117, -0.09312474,  0.0619849 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.45622550e-04, 1.21084272e-02, 2.69503184e-03, 6.06782264e-04,
 -5.57631222e-05, 1.19384503e-02, 2.51898875e-03, 5.64396485e-04,
  3.25162115e-05, 1.22090442e-02, 2.62224250e-03, 6.06392068e-04,
  1.35209863e-04, 6.78538981e-05,-1.03383073e-04,-1.86899877e-04,
  7.72744362e-06,-8.12479716e-06,-7.84787296e+00, 7.69981724e-04,
  9.43359973e-03,-5.22595880e-06]


--- Step 756 ---
qpos:
[ 4.91388042e-03, 3.86342041e-02,-5.44266879e-03,-2.61074625e-02,
  6.69619225e-03, 2.89210495e-02,-1.90545326e-02, 1.14270166e-02,
  1.62601788e-02, 3.52288930e-02,-1.04886141e-02, 2.37421820e-02,
  1.09518380e+00,-9.51922441e-03, 7.87691447e-01, 6.24034460e-02,
  9.49978498e-02,-7.01875316e-02, 1.21390406e-01, 9.99973616e-01,
  8.34997084e-05, 7.50561063e-05, 7.26324082e-03]

qacc:
[-9.26791887e+01, 1.13686628e+02,-2.33569302e+02, 1.67215128e+02,
 -1.33429964e+01, 1.17370551e+02,-2.46788724e+02, 1.84030547e+02,
  5.82749827e+00, 1.31364608e+02,-2.86857015e+02, 2.29597242e+02,
  1.54783450e+00,-2.27001259e+00,-1.85457171e+01, 6.19093882e+01,
  8.90834624e-02, 1.78205379e+00,-3.20627208e-01,-3.01761174e+01,
  2.17747543e+00, 6.20790120e-01]

qfrc_actuator:
[ 2.63777938e-03, 1.33544572e-01, 1.70821368e-03, 1.06389788e-04,
  2.03910023e-03, 1.28673284e-01, 9.56464949e-04, 1.81885853e-04,
  1.33555657e-03, 1.36873800e-01, 1.44357627e-03, 2.80354462e-04,
  2.48102958e-02,-2.09830871e-03, 6.61977246e-03,-3.60523108e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006182575226381382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48932275e-14,  8.97864550e-14,  1.00000000e+00,  4.03080375e-27,
        1.00000000e+00, -8.97864550e-14, -1.00000000e+00,  0.00000000e+00,
       -4.48932275e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09502109, -0.09312598,  0.06198498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.55028138e-04, 1.15944747e-02, 2.87041497e-03, 6.17302293e-04,
 -6.64735051e-05, 1.16014465e-02, 2.80533356e-03, 6.20491183e-04,
  4.96949085e-05, 1.23220868e-02, 2.87157961e-03, 6.74934898e-04,
  2.83041387e-04, 6.94428268e-05,-5.37871374e-05, 2.83933342e-04,
  1.50863286e-05,-5.20835758e-06,-7.84779755e+00, 7.50274330e-04,
  9.46347313e-03,-4.29778106e-06]


--- Step 757 ---
qpos:
[ 4.95564120e-03, 4.12202610e-02,-5.46295467e-03,-2.61162517e-02,
  6.73578693e-03, 3.14277061e-02,-1.90902473e-02, 1.14187506e-02,
  1.62899143e-02, 3.78883188e-02,-1.05202001e-02, 2.37339743e-02,
  1.09575843e+00,-9.53581752e-03, 7.88128769e-01, 6.23990717e-02,
  9.50091243e-02,-7.01660968e-02, 1.21388079e-01, 9.99973533e-01,
 -9.92044659e-05, 1.75165981e-04, 7.27271931e-03]

qacc:
[-7.94492722e+01, 9.14513387e+01,-1.75628762e+02, 1.19370073e+02,
 -1.12928819e+01, 1.14761880e+02,-2.39930542e+02, 1.77685383e+02,
  1.04487506e+01, 1.15213244e+02,-2.35376559e+02, 1.67630540e+02,
  1.34221271e+00,-1.28431836e+00,-5.11141103e+00, 1.64109465e+01,
  8.96049670e-02, 1.76875934e+00,-4.04468412e-01,-2.99086163e+01,
  2.17419258e+00, 5.91456664e-01]

qfrc_actuator:
[ 2.17831481e-03, 1.36949242e-01, 1.76179128e-03, 9.16999391e-05,
  1.98230433e-03, 1.33118370e-01, 1.01026368e-03, 1.94649388e-04,
  1.39907713e-03, 1.41337351e-01, 1.51371981e-03, 2.80570099e-04,
  2.49851231e-02,-2.05681652e-03, 6.57676503e-03,-3.54557785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006132610673605376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.52589885e-14,  9.05179771e-14,  1.00000000e+00,  4.09675209e-27,
        1.00000000e+00, -9.05179771e-14, -1.00000000e+00,  0.00000000e+00,
       -4.52589885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.095021  , -0.09312769,  0.0619851 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.79916192e-04, 1.04167567e-02, 2.79425048e-03, 5.87686986e-04,
 -5.48459669e-05, 1.14511331e-02, 2.78935427e-03, 6.13760100e-04,
  7.71860329e-05, 1.18838063e-02, 2.96300770e-03, 6.35137831e-04,
  3.68463048e-04, 1.14027327e-04,-3.75883018e-05, 6.81054918e-05,
  2.48729663e-05,-2.36663051e-06,-7.84760297e+00, 7.11304238e-04,
  9.49473460e-03,-2.26953015e-06]


--- Step 758 ---
qpos:
[ 4.98933728e-03, 4.38853927e-02,-5.48154078e-03,-2.61245328e-02,
  6.77473840e-03, 3.40211467e-02,-1.91249654e-02, 1.14105398e-02,
  1.63220722e-02, 4.06342394e-02,-1.05483325e-02, 2.37267097e-02,
  1.09633485e+00,-9.54954225e-03, 7.88564520e-01, 6.23956368e-02,
  9.50162125e-02,-7.01508514e-02, 1.21387167e-01, 9.99973414e-01,
 -2.29674807e-04, 2.36990502e-04, 7.28446068e-03]

qacc:
[ -67.9888508 , 100.95286283,-210.22550179, 157.87601793,  -6.92758879,
  111.98962426,-233.12945981, 168.66199969,  18.8262996 , 106.56546002,
 -218.14505099, 165.34769035,  -1.36681269,   6.20618188,  -5.04715703,
   14.53080048,  -1.04655334,  -1.54737106,   0.35369599,  25.9768066 ,
  -19.3322206 ,   1.13422179]

qfrc_actuator:
[ 1.78504439e-03, 1.40821176e-01, 1.79871235e-03, 1.03751875e-04,
  1.95082685e-03, 1.37374557e-01, 1.02061218e-03, 1.87685944e-04,
  1.51320773e-03, 1.45364139e-01, 1.56698451e-03, 3.01603395e-04,
  2.51224694e-02,-1.88347026e-03, 6.46601620e-03,-3.50885572e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006183291697652998
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12220064e-14,  1.34664077e-13,  1.00000000e+00, -1.51120113e-27,
        1.00000000e+00, -1.34664077e-13, -1.00000000e+00,  0.00000000e+00,
        1.12220064e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885418, -0.05176454,  0.06198498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.12256663e-04, 1.02055554e-02, 2.52294422e-03, 5.60589393e-04,
 -2.92539560e-05, 1.11713529e-02, 2.71160080e-03, 5.86706278e-04,
  1.28751956e-04, 1.12157936e-02, 2.86437774e-03, 6.39350645e-04,
  3.94149697e-04, 2.71291370e-04,-1.23538980e-04, 3.48210343e-05,
  3.69652191e-05, 5.78932508e-07,-7.84729236e+00, 6.53241883e-04,
  9.52737462e-03, 8.48948955e-07]


--- Step 759 ---
qpos:
[ 5.01754104e-03, 4.66295807e-02,-5.50003427e-03,-2.61325986e-02,
  6.81267197e-03, 3.66915230e-02,-1.91552390e-02, 1.14025507e-02,
  1.63551808e-02, 4.34604017e-02,-1.05734153e-02, 2.37204863e-02,
  1.09691244e+00,-9.55775193e-03, 7.88998510e-01, 6.23907455e-02,
  9.50191722e-02,-7.01416969e-02, 1.21387005e-01, 9.99973283e-01,
 -3.08972967e-04, 2.61423875e-04, 7.29855155e-03]

qacc:
[-4.63078662e+01, 1.04776318e+02,-2.22729633e+02, 1.67974015e+02,
 -9.80445789e+00, 8.96970088e+01,-1.73214147e+02, 1.13337707e+02,
  6.62963019e+00, 9.96553491e+01,-2.05870984e+02, 1.59974077e+02,
 -4.37454261e+00, 1.43383808e+01, 2.07879959e+00,-1.04233790e+01,
 -1.03213436e+00,-1.52272671e+00, 1.87525363e-01, 2.54489435e+01,
 -1.88817262e+01, 1.17652201e+00]

qfrc_actuator:
[ 1.52268989e-03, 1.44818002e-01, 1.80952695e-03, 1.13990710e-04,
  1.89899307e-03, 1.40649591e-01, 1.02235791e-03, 1.51253718e-04,
  1.54961696e-03, 1.48973294e-01, 1.55486625e-03, 3.16563338e-04,
  2.52213110e-02,-1.58041469e-03, 6.35201010e-03,-3.59252796e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006257906450318346
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.43528133e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.43528133e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885246, -0.05176619,  0.0619848 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.79729539e-04, 1.01523308e-02, 2.41793132e-03, 5.39637167e-04,
 -4.89719688e-05, 1.00133782e-02, 2.63366593e-03, 5.41834522e-04,
  5.26259473e-05, 1.04012713e-02, 2.64795140e-03, 6.01115349e-04,
  4.04557896e-04, 4.32008243e-04,-1.66076714e-04,-9.75466078e-05,
  2.83964650e-05,-4.71158350e-06,-7.84765946e+00, 6.11783687e-04,
  9.54756744e-03, 4.08316277e-06]


--- Step 760 ---
qpos:
[ 5.04186949e-03, 4.94409682e-02,-5.51353928e-03,-2.61387061e-02,
  6.84900945e-03, 3.94270007e-02,-1.91792676e-02, 1.13955010e-02,
  1.63883108e-02, 4.63553341e-02,-1.05925779e-02, 2.37149814e-02,
  1.09748994e+00,-9.55495317e-03, 7.89431341e-01, 6.23843970e-02,
  9.50180545e-02,-7.01385466e-02, 1.21387002e-01, 9.99973156e-01,
 -3.38004800e-04, 2.49218536e-04, 7.31505277e-03]

qacc:
[-3.23798723e+01, 7.89793782e+01,-1.60888926e+02, 1.37236861e+02,
 -1.43711255e+01, 7.05208760e+01,-1.30543226e+02, 8.88936840e+01,
 -7.43043473e-01, 7.58230048e+01,-1.41506912e+02, 9.38585453e+01,
 -1.04817099e+01, 3.09221298e+01, 3.31379072e+00,-1.26747471e+01,
 -1.01933157e+00,-1.50105402e+00, 3.98330226e-02, 2.49984728e+01,
 -1.85026752e+01, 1.20604560e+00]

qfrc_actuator:
[ 1.33953846e-03, 1.47508952e-01, 1.80560490e-03, 1.58736288e-04,
  1.81782486e-03, 1.43133542e-01, 1.03284804e-03, 1.32457037e-04,
  1.53989595e-03, 1.51699936e-01, 1.57355125e-03, 2.91898760e-04,
  2.53023657e-02,-9.72543335e-04, 6.32133569e-03,-3.65765350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000629561138928536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40871806e-14, -1.76348722e-13,  1.00000000e+00, -7.77471796e-27,
        1.00000000e+00,  1.76348722e-13, -1.00000000e+00,  0.00000000e+00,
       -4.40871806e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885148, -0.05176694,  0.06198471])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.96889221e-04, 8.79131998e-03, 2.37762481e-03, 5.67644524e-04,
 -7.92868289e-05, 8.55388628e-03, 2.39111026e-03, 5.06096505e-04,
  4.21650563e-06, 9.01397209e-03, 2.48154977e-03, 5.18168063e-04,
  4.26957090e-04, 7.65050340e-04,-1.15956703e-04,-9.15679818e-05,
  1.88925685e-05,-3.92140519e-06,-7.84788692e+00, 5.86351505e-04,
  9.55540706e-03, 6.03444323e-06]


--- Step 761 ---
qpos:
[ 5.06364619e-03, 5.23051717e-02,-5.51965234e-03,-2.61422862e-02,
  6.88409210e-03, 4.22268676e-02,-1.92021608e-02, 1.13896712e-02,
  1.64212557e-02, 4.93096712e-02,-1.06059952e-02, 2.37103489e-02,
  1.09806562e+00,-9.53273441e-03, 7.89863023e-01, 6.23828065e-02,
  9.50129042e-02,-7.01413254e-02, 1.21386638e-01, 9.99973035e-01,
 -3.17536215e-04, 2.01002664e-04, 7.33400529e-03]

qacc:
[-2.11020158e+01, 5.43982115e+01,-1.03269985e+02, 9.62558516e+01,
 -1.15367912e+01, 8.44220923e+01,-1.82674110e+02, 1.54590100e+02,
 -2.25762799e+00, 6.42539343e+01,-1.18860762e+02, 8.10425898e+01,
 -1.94593993e+01, 5.56265229e+01,-1.49102980e+01, 5.22835605e+01,
 -1.00817414e+00,-1.48226554e+00,-9.05056027e-02, 2.46175305e+01,
 -1.81862475e+01, 1.22567659e+00]

qfrc_actuator:
[ 1.22224140e-03, 1.49201332e-01, 1.80566058e-03, 2.04604396e-04,
  1.75554659e-03, 1.46242318e-01, 1.02725404e-03, 1.76693160e-04,
  1.52079846e-03, 1.54036217e-01, 1.60662783e-03, 2.78870799e-04,
  2.53621675e-02, 9.45601771e-05, 6.33534384e-03,-3.39152047e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006302895303010037
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.80724628e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.80724628e-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([ 0.10885112, -0.05176693,  0.06198469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29276024e-04, 7.02210580e-03, 2.09564607e-03, 5.09463782e-04,
 -6.17932126e-05, 8.30849371e-03, 2.04159559e-03, 4.97336720e-04,
 -6.86705897e-06, 7.80733129e-03, 2.18512924e-03, 4.62815051e-04,
  4.90744956e-04, 1.28239213e-03,-5.11766983e-05, 2.45686707e-04,
  8.20343955e-06, 2.93397054e-06,-7.84798342e+00, 5.76658872e-04,
  9.55113515e-03, 6.73784184e-06]


--- Step 762 ---
qpos:
[ 5.08332492e-03, 5.52198862e-02,-5.52317960e-03,-2.61454401e-02,
  6.91849839e-03, 4.50915472e-02,-1.92251094e-02, 1.13843305e-02,
  1.64539005e-02, 5.23232976e-02,-1.06193161e-02, 2.37055527e-02,
  1.09863725e+00,-9.48010042e-03, 7.90294355e-01, 6.23843165e-02,
  9.50037594e-02,-7.01499691e-02, 1.21385454e-01, 9.99972911e-01,
 -2.48207811e-04, 1.17295536e-04, 7.35543455e-03]

qacc:
[ -17.35359141,  60.45168887,-120.42331054,  86.45192704,  -6.67032082,
   86.7946268 ,-187.25382791, 148.13499979,  -3.30301614,  77.75657391,
 -162.8472413 , 116.20262343, -31.51399419,  88.57222341,  -8.03402415,
   31.4984579 ,  -0.99863064,  -1.46621196,  -0.20486527,  24.29885505,
  -17.9247112 ,   1.23762674]

qfrc_actuator:
[ 0.00112693, 0.15148925, 0.00182146, 0.00019654, 0.00172265, 0.14957639,
  0.00105013, 0.00020483, 0.00149627, 0.15691901, 0.00155738, 0.00025463,
  0.02536145, 0.00174394, 0.0063336 ,-0.00323406, 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: -0.0006285437937118832
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.32475617e-13, -8.83170780e-14,  1.00000000e+00, -1.16998594e-26,
        1.00000000e+00,  8.83170780e-14, -1.00000000e+00,  0.00000000e+00,
       -1.32475617e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885125, -0.05176632,  0.06198473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06042596e-04, 6.56562130e-03, 1.70850944e-03, 3.68726481e-04,
 -3.19812986e-05, 8.32167256e-03, 1.97524700e-03, 4.58311594e-04,
 -1.28478735e-05, 7.61326915e-03, 1.81436459e-03, 3.88413328e-04,
  5.80943849e-04, 1.96101339e-03,-2.72069422e-06, 1.63484928e-04,
 -3.87186050e-06, 1.57603820e-05,-7.84795581e+00, 5.82464579e-04,
  9.53495492e-03, 6.22202095e-06]


--- Step 763 ---
qpos:
[ 5.10014039e-03, 5.81967636e-02,-5.53222399e-03,-2.61497283e-02,
  6.95257664e-03, 4.80328634e-02,-1.92534416e-02, 1.13773898e-02,
  1.64868639e-02, 5.54081225e-02,-1.06432822e-02, 2.36999278e-02,
  1.09920530e+00,-9.39533768e-03, 7.90725256e-01, 6.23864408e-02,
  9.49906520e-02,-7.01644236e-02, 1.21383051e-01, 9.99972764e-01,
 -1.30548115e-04,-1.47912531e-06, 7.37935393e-03]

qacc:
[ -23.53468014,  95.30245081,-215.72154932, 159.07485619,  -4.08568499,
  112.9916832 ,-249.18438749, 173.74686878,   1.11795514, 122.13719086,
 -295.45845365, 245.72045335, -32.86664099,  93.01181383,  -0.56147693,
    5.37867581,  -0.99063294,  -1.45271154,  -0.30472334,  24.03587417,
  -17.71134861,   1.24358963]

qfrc_actuator:
[ 0.00099212, 0.15535836, 0.00181304, 0.0001927 , 0.00170731, 0.15426215,
  0.00109081, 0.00018806, 0.00150419, 0.16118897, 0.00126682, 0.00025986,
  0.02530337, 0.00340436, 0.00629041,-0.00321306, 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: -0.0006248176196032434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33265651e-13, -1.77687535e-13,  1.00000000e+00, -2.36796450e-26,
        1.00000000e+00,  1.77687535e-13, -1.00000000e+00,  0.00000000e+00,
       -1.33265651e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10885177, -0.05176523,  0.06198482])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45159860e-04, 7.80374207e-03, 1.53685218e-03, 3.37156370e-04,
 -1.35475196e-05, 9.66301801e-03, 1.98550500e-03, 4.10755275e-04,
  1.95359479e-05, 8.81001561e-03, 1.48402590e-03, 3.95154737e-04,
  7.24645763e-04, 2.10025886e-03,-3.58126944e-05, 2.76502029e-05,
 -1.75089789e-05, 3.44019954e-05,-7.84780942e+00, 6.03567432e-04,
  9.50703515e-03, 4.51014573e-06]


--- Step 764 ---
qpos:
[ 5.11329707e-03, 6.12427896e-02,-5.54742784e-03,-2.61550357e-02,
  6.98619636e-03, 5.10609831e-02,-1.92877373e-02, 1.13692199e-02,
  1.65198512e-02, 5.85719191e-02,-1.06807927e-02, 2.36944904e-02,
  1.09977416e+00,-9.29328126e-03, 7.91155499e-01, 6.23839086e-02,
  9.49736082e-02,-7.01846443e-02, 1.21379081e-01, 9.99972564e-01,
  3.50146002e-05,-1.54981634e-04, 7.40576731e-03]

qacc:
[ -29.48845801, 106.58097932,-243.00187007, 184.20618342,  -5.28162504,
  128.80736857,-287.64640427, 212.07665286,  -1.37625422, 142.60860007,
 -357.82638687, 324.57615851, -15.88846775,  47.77597269,  14.053522  ,
  -48.40485873,  -0.98409244,  -1.44156941,  -0.39156548,  23.82272149,
  -17.54036073,   1.24485905]

qfrc_actuator:
[ 0.00081746, 0.15945197, 0.00174391, 0.00019279, 0.00168467, 0.15949039,
  0.00112979, 0.00019948, 0.00149556, 0.16577629, 0.00082441, 0.000319  ,
  0.02522164, 0.00415216, 0.0062064 ,-0.00346796, 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: -0.0006195372993290926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.79201967e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.79201967e-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([ 0.1088526 , -0.05176376,  0.06198495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86027706e-04, 8.68163296e-03, 1.70899328e-03, 3.87438681e-04,
 -1.98367833e-05, 1.09529617e-02, 2.25966174e-03, 4.95710306e-04,
  4.64116069e-06, 9.72624379e-03, 1.53824651e-03, 4.88924145e-04,
  8.20811810e-04, 1.24067107e-03,-1.05534301e-04,-2.59775639e-04,
 -3.28754968e-05, 5.86515838e-05,-7.84754829e+00, 6.39801686e-04,
  9.46751375e-03, 1.62064550e-06]


--- Step 765 ---
qpos:
[ 5.12165110e-03, 6.43691797e-02,-5.57091115e-03,-2.61614101e-02,
  7.01894436e-03, 5.41674306e-02,-1.93191170e-02, 1.13622687e-02,
  1.65526763e-02, 6.18123233e-02,-1.07264844e-02, 2.36895848e-02,
  1.10034819e+00,-9.19406552e-03, 7.91584471e-01, 6.23773424e-02,
  9.49592135e-02,-7.02023663e-02, 1.21378080e-01, 9.99972329e-01,
  1.80726643e-04,-2.83243830e-04, 7.43162319e-03]

qacc:
[-3.80017982e+01, 1.27250634e+02,-2.94956463e+02, 2.30427532e+02,
 -8.15596450e+00, 9.78531041e+01,-2.03844795e+02, 1.62657377e+02,
 -2.59497438e+00, 1.25207458e+02,-3.01765182e+02, 2.67641220e+02,
  6.27742403e+00,-1.25790528e+01, 9.99470435e+00,-3.83905533e+01,
  6.62258578e-01, 6.24689416e-01, 7.41863347e-01,-9.83164483e+00,
  1.26933029e+01,-2.77516651e-01]

qfrc_actuator:
[ 0.00058533, 0.16439404, 0.0016767 , 0.00021334, 0.00164016, 0.16313926,
  0.00118823, 0.00024584, 0.00147717, 0.16970114, 0.00045783, 0.00035654,
  0.02514143, 0.00378627, 0.00614054,-0.00367036, 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: -0.0006225001299740766
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.47479291e-14,  2.19228606e-07,  1.00000000e+00,  2.07714564e-20,
        1.00000000e+00, -2.19228606e-07, -1.00000000e+00,  0.00000000e+00,
       -9.47479291e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08832159, -0.07732299,  0.06198488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44773161e-04, 1.00563012e-02, 1.91446574e-03, 4.52287512e-04,
 -4.14732209e-05, 1.01521274e-02, 2.58135409e-03, 5.96894973e-04,
 -5.04202474e-06, 9.58868005e-03, 1.81250854e-03, 5.10152120e-04,
  6.99787564e-04, 9.16865339e-06,-1.45650631e-04,-2.31090485e-04,
 -5.01434779e-05, 8.82561975e-05,-7.84717541e+00, 6.91033073e-04,
  9.41650111e-03,-2.43214265e-06]


--- Step 766 ---
qpos:
[ 5.12111751e-03, 6.75813803e-02,-5.59958405e-03,-2.61675324e-02,
  7.05194267e-03, 5.73430701e-02,-1.93453581e-02, 1.13564863e-02,
  1.65866043e-02, 6.51233971e-02,-1.07764746e-02, 2.36851806e-02,
  1.10092859e+00,-9.11071199e-03, 7.92011275e-01, 6.23740049e-02,
  9.49450763e-02,-7.02125510e-02, 1.21377948e-01, 9.99972082e-01,
  2.62627098e-04,-4.05789107e-04, 7.45663067e-03]

qacc:
[-6.80585308e+01, 1.28587104e+02,-2.94740078e+02, 2.43972736e+02,
  1.06723956e+00, 7.94555690e+01,-1.55579754e+02, 1.16718826e+02,
  7.14296063e+00, 1.06427816e+02,-2.46097341e+02, 2.09651310e+02,
  1.97065588e+01,-5.05533233e+01,-1.40475115e+01, 4.20141375e+01,
  6.43840055e-02, 1.88433301e+00, 2.17469987e-01,-3.18837871e+01,
  3.09541370e+00,-4.15625795e-01]

qfrc_actuator:
[ 1.43801357e-04, 1.69326993e-01, 1.66849151e-03, 2.82112679e-04,
  1.65414011e-03, 1.66062814e-01, 1.23408900e-03, 2.57959172e-04,
  1.52411503e-03, 1.73004021e-01, 1.54546807e-04, 3.62961984e-04,
  2.50670320e-02, 2.78315040e-03, 6.08565517e-03,-3.48495443e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006301726207183361
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.40444010e-14,  8.80888020e-14,  1.00000000e+00,  3.87981852e-27,
        1.00000000e+00, -8.80888020e-14, -1.00000000e+00,  0.00000000e+00,
       -4.40444010e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0950328 , -0.09312592,  0.06198469])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.55926309e-04, 1.08583129e-02, 2.28412702e-03, 5.67611815e-04,
  1.60435117e-05, 9.04686477e-03, 2.44553560e-03, 5.41246740e-04,
  6.01480933e-05, 8.94466959e-03, 1.88111781e-03, 4.82879615e-04,
  3.67667373e-04,-8.52430253e-04,-1.44034029e-04, 1.54340172e-04,
 -4.67407241e-05, 7.00162121e-05,-7.84739094e+00, 7.37976628e-04,
  9.37588689e-03,-4.93614914e-06]


--- Step 767 ---
qpos:
[ 5.11166494e-03, 7.08662573e-02,-5.62367808e-03,-2.61722587e-02,
  7.08588392e-03, 6.05870196e-02,-1.93702606e-02, 1.13504630e-02,
  1.66231012e-02, 6.84981198e-02,-1.08274271e-02, 2.36810867e-02,
  1.10151541e+00,-9.05303522e-03, 7.92437308e-01, 6.23690627e-02,
  9.49312051e-02,-7.02153157e-02, 1.21378067e-01, 9.99971838e-01,
  2.81801771e-04,-5.23080352e-04, 7.48129525e-03]

qacc:
[-6.67338762e+01, 8.62726702e+01,-1.73907572e+02, 1.37040662e+02,
  6.38835734e+00, 8.59927077e+01,-1.74649807e+02, 1.18141742e+02,
  1.80452547e+01, 8.74104866e+01,-1.90981784e+02, 1.51099618e+02,
  2.87764178e+01,-7.74452310e+01, 2.04103834e+00,-1.25532784e+01,
  6.64888701e-02, 1.85500773e+00, 6.28923417e-02,-3.13424972e+01,
  2.86076036e+00,-1.59413874e-01]

qfrc_actuator:
[-2.93098649e-04, 1.72352857e-01, 1.67814803e-03, 3.07922281e-04,
  1.70243438e-03, 1.69398852e-01, 1.25126755e-03, 2.31334772e-04,
  1.64456534e-03, 1.75855748e-01,-2.25985149e-05, 3.50521223e-04,
  2.49958294e-02, 1.30532602e-03, 6.05345131e-03,-3.56959287e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006341113536207227
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.37708227e-14,  2.62624936e-13,  1.00000000e+00, -1.14953095e-26,
        1.00000000e+00, -2.62624936e-13, -1.00000000e+00,  0.00000000e+00,
        4.37708227e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503435, -0.09312518,  0.0619846 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.58319290e-04, 9.47791717e-03, 2.51624893e-03, 5.73864970e-04,
  5.17514140e-05, 8.80831520e-03, 2.16901246e-03, 4.49189682e-04,
  1.35768353e-04, 8.14392550e-03, 1.88095460e-03, 4.38114677e-04,
 -2.09585131e-05,-1.53716905e-03,-7.46514781e-05,-9.33554320e-05,
 -1.95593203e-05, 5.87474546e-05,-7.84764881e+00, 7.64185382e-04,
  9.33837943e-03,-6.04242104e-06]


--- Step 768 ---
qpos:
[ 5.09649640e-03, 7.42133603e-02,-5.64241548e-03,-2.61764962e-02,
  7.11945344e-03, 6.38995348e-02,-1.93952617e-02, 1.13441004e-02,
  1.66620024e-02, 7.19327024e-02,-1.08784416e-02, 2.36771703e-02,
  1.10210687e+00,-9.02409319e-03, 7.92863314e-01, 6.23629474e-02,
  9.49176048e-02,-7.02107613e-02, 1.21377894e-01, 9.99971599e-01,
  2.39172961e-04,-6.35493821e-04, 7.50602293e-03]

qacc:
[-4.21863477e+01, 6.83681118e+01,-1.26373831e+02, 8.03681491e+01,
 -3.90068108e+00, 9.01617128e+01,-1.88575241e+02, 1.32436451e+02,
  1.66089133e+01, 7.96168174e+01,-1.69894830e+02, 1.29064702e+02,
  3.03907538e+01,-8.42305168e+01, 1.70605981e+00,-1.00786227e+01,
  6.77441018e-02, 1.82975514e+00,-7.33126789e-02,-3.08826090e+01,
  2.67001414e+00, 4.70058146e-02]

qfrc_actuator:
[-5.63858858e-04, 1.74781360e-01, 1.67307961e-03, 2.71203021e-04,
  1.68176341e-03, 1.72920082e-01, 1.27073250e-03, 2.17913911e-04,
  1.75395330e-03, 1.78699579e-01,-9.01747088e-05, 3.44508278e-04,
  2.49156591e-02,-2.63633264e-04, 6.08806867e-03,-3.61743617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006348963362423077
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31150114e-13,  8.74334093e-14,  1.00000000e+00,  1.14669016e-26,
        1.00000000e+00, -8.74334093e-14, -1.00000000e+00,  0.00000000e+00,
       -1.31150114e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503553, -0.09312534,  0.06198458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.93192979e-04, 8.15420982e-03, 2.24431246e-03, 4.60197938e-04,
 -1.61593294e-05, 8.79659815e-03, 2.08396376e-03, 4.40654388e-04,
  1.27163439e-04, 7.68406162e-03, 1.82281732e-03, 4.09208687e-04,
 -4.20096820e-04,-1.82177888e-03,-8.15686350e-06,-6.25205852e-05,
  5.42265404e-06, 4.91200994e-05,-7.84777089e+00, 7.70306247e-04,
  9.30242636e-03,-6.03344319e-06]


--- Step 769 ---
qpos:
[ 5.07729387e-03, 7.76244850e-02,-5.66104745e-03,-2.61814744e-02,
  7.15252141e-03, 6.72717685e-02,-1.94164032e-02, 1.13383564e-02,
  1.67024719e-02, 7.54281808e-02,-1.09303476e-02, 2.36736848e-02,
  1.10269877e+00,-9.01503207e-03, 7.93289148e-01, 6.23579278e-02,
  9.49066373e-02,-7.02037883e-02, 1.21379497e-01, 9.99971364e-01,
  1.77379293e-04,-7.25008164e-04, 7.53087282e-03]

qacc:
[-2.96013795e+01, 8.28640117e+01,-1.69463666e+02, 1.09287066e+02,
 -4.58770874e+00, 6.93918608e+01,-1.35519464e+02, 9.61285138e+01,
  1.03109244e+01, 8.38374193e+01,-1.84004928e+02, 1.48097503e+02,
  1.90911694e+01,-5.57488924e+01,-4.72834691e+00, 1.35420663e+01,
  6.58186824e-01, 6.04662423e-01, 4.44265386e-01,-9.49617817e+00,
  1.15211797e+01, 6.44374389e-02]

qfrc_actuator:
[-7.52323254e-04, 1.78075511e-01, 1.69207216e-03, 2.32820507e-04,
  1.65615606e-03, 1.75459691e-01, 1.29247102e-03, 2.12610017e-04,
  1.82033566e-03, 1.81925313e-01,-7.47721745e-05, 3.77865733e-04,
  2.48353611e-02,-1.25260271e-03, 6.09883008e-03,-3.55422905e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006330720384476687
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.57640219e-14, -1.04687993e-07,  1.00000000e+00, -6.88470346e-21,
        1.00000000e+00,  1.04687993e-07, -1.00000000e+00,  0.00000000e+00,
       -6.57640219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08832488, -0.07732476,  0.06198462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.06192881e-04, 8.21640779e-03, 1.95675495e-03, 3.90064785e-04,
 -2.32419771e-05, 7.78800471e-03, 2.07225366e-03, 4.45011954e-04,
  8.39645723e-05, 7.79342470e-03, 1.80195228e-03, 4.26166611e-04,
 -7.31685951e-04,-1.37303380e-03,-2.57899680e-06, 5.78248626e-05,
  2.96689773e-05, 4.06409766e-05,-7.84776406e+00, 7.56653081e-04,
  9.26799944e-03,-4.91837933e-06]


--- Step 770 ---
qpos:
[ 5.05610512e-03, 8.10964394e-02,-5.67851257e-03,-2.61863325e-02,
  7.18572204e-03, 7.06906515e-02,-1.94308593e-02, 1.13343069e-02,
  1.67439895e-02, 7.89789680e-02,-1.09786057e-02, 2.36712276e-02,
  1.10328884e+00,-9.01944884e-03, 7.93714775e-01, 6.23494635e-02,
  9.49004515e-02,-7.01994797e-02, 1.21382264e-01, 9.99971176e-01,
  1.39407945e-04,-7.74513496e-04, 7.55161926e-03]

qacc:
[ -14.66442222,  77.42170128,-159.85779669, 115.27054962,   0.49478798,
   46.43873897, -83.29292896,  67.63031892,   6.66663355,  65.00471728,
 -130.08025719, 101.35786736,  11.27372021, -35.47304255,   9.36659511,
  -34.85616041,   1.19541314,  -0.66609963,   0.29072322,  12.0599788 ,
   19.91388453,  -2.06402673]

qfrc_actuator:
[-8.37547860e-04, 1.81027992e-01, 1.71085723e-03, 2.29979344e-04,
  1.66337066e-03, 1.76983437e-01, 1.31165501e-03, 2.29106763e-04,
  1.86078897e-03, 1.84520835e-01, 4.45297563e-05, 4.16768516e-04,
  2.47551993e-02,-1.89093816e-03, 6.04203411e-03,-3.74573862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006347947875321724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31171094e-13, -1.74894792e-13,  1.00000000e+00, -2.29411413e-26,
        1.00000000e+00,  1.74894792e-13, -1.00000000e+00,  0.00000000e+00,
       -1.31171094e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185616, -0.062097  ,  0.06198458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00285753e-04, 7.84489357e-03, 1.93082121e-03, 4.16813598e-04,
  8.99162414e-06, 6.20370658e-03, 1.85932321e-03, 4.23128182e-04,
  5.68434667e-05, 7.21861412e-03, 1.92577185e-03, 4.35876150e-04,
 -8.32242787e-04,-1.01624421e-03,-5.72487205e-05,-1.89990623e-04,
  3.32008349e-05, 3.08308014e-05,-7.84780622e+00, 7.37202382e-04,
  9.23996676e-03,-3.83847966e-06]


--- Step 771 ---
qpos:
[ 5.03419082e-03, 8.46155186e-02,-5.68961846e-03,-2.61902597e-02,
  7.21841310e-03, 7.41510662e-02,-1.94418098e-02, 1.13319399e-02,
  1.67852185e-02, 8.25723895e-02,-1.10176342e-02, 2.36696750e-02,
  1.10387604e+00,-9.03293399e-03, 7.94139362e-01, 6.23391786e-02,
  9.48989837e-02,-7.01978158e-02, 1.21385706e-01, 9.99971043e-01,
  1.24730298e-04,-7.84456972e-04, 7.56854773e-03]

qacc:
[  -5.43466349,  46.44334514, -79.1479517 ,  50.43183036,  -4.24011936,
   48.54325687,-100.54512297,  93.50728914,  -2.31455904,  32.41916775,
  -37.64815641,   7.16614071,   6.44989765, -22.39227167,   3.5166985 ,
  -15.53846733,   1.17953251,  -0.6611869 ,   0.16912073,  11.79441055,
   19.69216001,  -1.92091305]

qfrc_actuator:
[-0.00086126, 0.18259913, 0.00172841, 0.00021239, 0.00163659, 0.17868572,
  0.00132494, 0.00027511, 0.00183232, 0.1859561 , 0.00023974, 0.00040497,
  0.02467531,-0.00229959, 0.00598199,-0.00383744, 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: -0.0006339532391311381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.75634791e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.75634791e-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([ 0.0818554 , -0.06209761,  0.0619846 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55080862e-05, 6.24945355e-03, 1.84987060e-03, 3.85640478e-04,
 -2.45009647e-05, 5.44964525e-03, 1.49854219e-03, 3.76826762e-04,
 -1.30104983e-05, 5.76088318e-03, 1.89784765e-03, 3.64885049e-04,
 -8.20076938e-04,-7.49893406e-04,-1.13471273e-04,-1.10976022e-04,
  1.55201903e-05, 1.49013508e-05,-7.84793599e+00, 7.25896157e-04,
  9.22361230e-03,-3.44625362e-06]


--- Step 772 ---
qpos:
[ 5.01159417e-03, 8.81893130e-02,-5.70297862e-03,-2.61952254e-02,
  7.24949389e-03, 7.76624024e-02,-1.94567684e-02, 1.13289655e-02,
  1.68256598e-02, 8.62198500e-02,-1.10560601e-02, 2.36666335e-02,
  1.10445971e+00,-9.05144952e-03, 7.94562454e-01, 6.23327975e-02,
  9.49021809e-02,-7.01987792e-02, 1.21389402e-01, 9.99970963e-01,
  1.32914355e-04,-7.55216872e-04, 7.58188656e-03]

qacc:
[-5.33523241e+00, 7.64982065e+01,-1.63432858e+02, 1.08799088e+02,
 -1.24207807e+01, 7.72371766e+01,-1.75164204e+02, 1.33584183e+02,
 -5.96197552e+00, 6.66791300e+01,-1.27814124e+02, 6.12800165e+01,
  2.38482026e+00,-1.09912122e+01,-1.41873995e+01, 4.59881005e+01,
  1.16621268e+00,-6.56828875e-01, 6.31471737e-02, 1.15773907e+01,
  1.95045033e+01,-1.80638309e+00]

qfrc_actuator:
[-8.84043267e-04, 1.85780705e-01, 1.75732784e-03, 1.85101291e-04,
  1.55448812e-03, 1.81848524e-01, 1.33518238e-03, 2.84901688e-04,
  1.78116712e-03, 1.89401903e-01, 5.26715528e-04, 3.80217882e-04,
  2.45904094e-02,-2.49844277e-03, 5.95736918e-03,-3.62096366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006310136204644989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.31957099e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.31957099e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185434, -0.06209783,  0.06198467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30270039e-05, 6.94794212e-03, 1.52001569e-03, 3.04072921e-04,
 -8.11756387e-05, 6.41047842e-03, 1.29317303e-03, 2.94806477e-04,
 -3.85094433e-05, 6.94579878e-03, 1.68198736e-03, 2.86998136e-04,
 -7.61034386e-04,-4.94176754e-04,-9.26462715e-05, 1.94999291e-04,
  4.39455632e-06, 2.59914216e-06,-7.84799466e+00, 7.21861511e-04,
  9.22000344e-03,-3.31149318e-06]


--- Step 773 ---
qpos:
[ 4.98764412e-03, 9.18268633e-02,-5.72198636e-03,-2.62005410e-02,
  7.27865682e-03, 8.12308236e-02,-1.94761780e-02, 1.13245063e-02,
  1.68664127e-02, 8.99338941e-02,-1.10961058e-02, 2.36620169e-02,
  1.10503963e+00,-9.07154314e-03, 7.94984502e-01, 6.23322734e-02,
  9.49099989e-02,-7.02023550e-02, 1.21392983e-01, 9.99970932e-01,
  1.63609924e-04,-6.87107082e-04, 7.59181863e-03]

qacc:
[-9.81449100e+00, 9.93616019e+01,-2.30489500e+02, 1.86488309e+02,
 -1.44510628e+01, 8.48144710e+01,-1.86653373e+02, 1.26056507e+02,
  1.16444794e+00, 8.92777020e+01,-1.83994469e+02, 1.10310818e+02,
 -9.70129079e-01,-1.32104836e+00,-1.92124753e+01, 6.50018031e+01,
  1.15521966e+00,-6.53082922e-01,-2.86964396e-02, 1.14014927e+01,
  1.93487331e+01,-1.71459919e+00]

qfrc_actuator:
[-0.00094152, 0.18970682, 0.00174587, 0.00022459, 0.00145826, 0.18529356,
  0.00133197, 0.00025682, 0.00178803, 0.19377704, 0.00083818, 0.00038523,
  0.02451865,-0.00251857, 0.00594875,-0.00331334, 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: -0.0006264174067738548
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.86168721e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.86168721e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185304, -0.06209774,  0.06198479])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.75667409e-05, 8.00956413e-03, 1.57987974e-03, 3.87659812e-04,
 -9.69068523e-05, 7.18229996e-03, 1.44951825e-03, 2.89313018e-04,
  1.91472981e-05, 8.48789778e-03, 1.92134435e-03, 3.58441686e-04,
 -6.55812769e-04,-2.61602362e-04,-3.31357486e-05, 3.05869833e-04,
 -7.36442936e-07,-6.59567876e-06,-7.84798508e+00, 7.24990249e-04,
  9.22899693e-03,-3.43316583e-06]


--- Step 774 ---
qpos:
[ 4.96057769e-03, 9.55217419e-02,-5.74040864e-03,-2.62051157e-02,
  7.30712017e-03, 8.48565063e-02,-1.94975167e-02, 1.13197228e-02,
  1.69071643e-02, 9.37104845e-02,-1.11310772e-02, 2.36573670e-02,
  1.10561658e+00,-9.09256983e-03, 7.95405824e-01, 6.23357826e-02,
  9.49224022e-02,-7.02085307e-02, 1.21396132e-01, 9.99970939e-01,
  2.16536391e-04,-5.80381580e-04, 7.59849065e-03]

qacc:
[-2.06815148e+01, 7.57085150e+01,-1.63057196e+02, 1.32680452e+02,
 -5.65917940e+00, 8.03746212e+01,-1.75411127e+02, 1.30765181e+02,
 -6.64843446e-01, 6.84120457e+01,-1.23844092e+02, 6.91170708e+01,
 -1.08374089e+00,-1.28045904e-01,-1.32200173e+01, 4.47572190e+01,
  1.14633350e+00,-6.49974057e-01,-1.07878002e-01, 1.12605844e+01,
  1.92226541e+01,-1.64092049e+00]

qfrc_actuator:
[-0.00108988, 0.19239773, 0.00171448, 0.00025062, 0.00142551, 0.18838434,
  0.00132272, 0.0002604 , 0.00177566, 0.19693586, 0.00111306, 0.00039103,
  0.02448155,-0.00252166, 0.00591246,-0.00311432, 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: -0.0006205450330333123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.47277379e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.47277379e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08185156, -0.0620974 ,  0.06198493])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59589674e-04, 7.38176376e-03, 1.78883653e-03, 4.23242838e-04,
 -3.37607057e-05, 7.28970144e-03, 1.62138934e-03, 3.59238996e-04,
  2.74317431e-06, 8.18411531e-03, 2.23453091e-03, 4.34847085e-04,
 -5.04899101e-04,-1.84618629e-04,-2.39065236e-05, 2.10441658e-04,
 -2.62493045e-07,-1.30835636e-05,-7.84790947e+00, 7.35192495e-04,
  9.25047595e-03,-3.81011468e-06]


--- Step 775 ---
qpos:
[ 4.92829892e-03, 9.92710021e-02,-5.75814123e-03,-2.62091207e-02,
  7.33496679e-03, 8.85404919e-02,-1.95203535e-02, 1.13143463e-02,
  1.69463256e-02, 9.75461720e-02,-1.11612489e-02, 2.36531269e-02,
  1.10619121e+00,-9.11411441e-03, 7.95826389e-01, 6.23368124e-02,
  9.49373869e-02,-7.02124018e-02, 1.21399855e-01, 9.99970942e-01,
  2.50144676e-04,-4.51789842e-04, 7.60581028e-03]

qacc:
[-3.33013036e+01, 7.11938071e+01,-1.51847590e+02, 1.20467856e+02,
 -4.98084227e+00, 7.99924616e+01,-1.70920109e+02, 1.20173719e+02,
 -1.05488362e+01, 6.55522249e+01,-1.22098925e+02, 7.79809756e+01,
 -1.24373841e+00, 8.83935536e-01, 6.40525255e+00,-2.39497989e+01,
  6.45339186e-01, 5.76119985e-01, 1.43448855e-01,-9.57554680e+00,
  1.10062640e+01, 3.27052431e-01]

qfrc_actuator:
[-0.00134373, 0.19502081, 0.00170266, 0.00026763, 0.0013949 , 0.19152358,
  0.00132686, 0.00024691, 0.00168093, 0.19975061, 0.00128893, 0.00039639,
  0.02444933,-0.00251454, 0.00581165,-0.00326502, 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: -0.000613771711319962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30011336e-13, -1.21529532e-07,  1.00000000e+00,  1.58002167e-20,
        1.00000000e+00,  1.21529532e-07, -1.00000000e+00,  3.00926554e-36,
        1.30011336e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0883226 , -0.07732809,  0.06198509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.69028558e-04, 7.00547312e-03, 1.70504077e-03, 3.95126014e-04,
 -2.94389231e-05, 7.43472359e-03, 1.67991969e-03, 3.53950111e-04,
 -8.01561034e-05, 7.73583885e-03, 2.11321294e-03, 4.33565109e-04,
 -3.88702588e-04,-1.29668714e-04,-9.51969123e-05,-1.43551592e-04,
  5.56275330e-06,-1.71796255e-05,-7.84776947e+00, 7.52394698e-04,
  9.28434708e-03,-4.44111349e-06]


--- Step 776 ---
qpos:
[ 4.88991051e-03, 1.03079232e-01,-5.77824951e-03,-2.62134282e-02,
  7.36223236e-03, 9.22783898e-02,-1.95419899e-02, 1.13097590e-02,
  1.69842813e-02, 1.01442513e-01,-1.11905411e-02, 2.36492423e-02,
  1.10676370e+00,-9.13494238e-03, 7.96245649e-01, 6.23341167e-02,
  9.49526977e-02,-7.02091444e-02, 1.21402417e-01, 9.99970933e-01,
  2.22874525e-04,-3.19395513e-04, 7.61453028e-03]

qacc:
[-3.81210166e+01, 8.40401339e+01,-1.85156311e+02, 1.40191286e+02,
 -4.51451011e+00, 6.94990940e+01,-1.47757575e+02, 1.19844513e+02,
 -8.04884787e+00, 7.84470516e+01,-1.64871132e+02, 1.24941650e+02,
 -2.30804018e+00, 4.19040239e+00, 9.42438211e+00,-3.55407818e+01,
  8.15224786e-02, 1.78215710e+00,-2.90031671e-01,-3.04235545e+01,
  2.13292788e+00, 7.13485235e-01]

qfrc_actuator:
[-0.00163978, 0.19836431, 0.00172   , 0.00027909, 0.00136576, 0.19409988,
  0.00133938, 0.00027682, 0.00160938, 0.20292318, 0.00136813, 0.0004188 ,
  0.02440944,-0.00244808, 0.00572009,-0.00346088, 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: -0.0006116330489007865
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.07589139e-14,  9.07589139e-14,  1.00000000e+00,  8.23718045e-27,
        1.00000000e+00, -9.07589139e-14, -1.00000000e+00,  0.00000000e+00,
       -9.07589139e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.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, -0.09313273,  0.06198514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15901447e-04, 7.49502473e-03, 1.64456370e-03, 3.69905572e-04,
 -2.77862866e-05, 6.96267811e-03, 1.72462787e-03, 4.05374174e-04,
 -6.01647982e-05, 7.81568993e-03, 1.90822778e-03, 4.27053730e-04,
 -3.12437168e-04,-3.61739923e-05,-1.55709237e-04,-2.17073296e-04,
  1.22068173e-05,-1.95092634e-05,-7.84771285e+00, 7.63568923e-04,
  9.32541440e-03,-4.98647882e-06]


--- Step 777 ---
qpos:
[ 4.84665132e-03, 1.06946501e-01,-5.79900969e-03,-2.62182100e-02,
  7.38996757e-03, 9.60607964e-02,-1.95588455e-02, 1.13070708e-02,
  1.70220027e-02, 1.05399037e-01,-1.12194684e-02, 2.36455857e-02,
  1.10733445e+00,-9.15510142e-03, 7.96663885e-01, 6.23282809e-02,
  9.49683395e-02,-7.01988125e-02, 1.21403480e-01, 9.99970907e-01,
  1.35381071e-04,-1.83198961e-04, 7.62458222e-03]

qacc:
[-2.97607139e+01, 7.89434282e+01,-1.66158589e+02, 1.15456363e+02,
  2.60073089e+00, 4.93470346e+01,-9.86403619e+01, 9.11499670e+01,
 -2.07177798e+00, 7.89897257e+01,-1.67189292e+02, 1.26242116e+02,
 -1.95860199e+00, 3.64838235e+00, 8.05666612e+00,-3.01850375e+01,
  8.27525719e-02, 1.76860670e+00,-3.74945759e-01,-3.00960862e+01,
  2.13048776e+00, 6.75216671e-01]

qfrc_actuator:
[-0.00186939, 0.20151013, 0.00175763, 0.00027012, 0.00139098, 0.19584015,
  0.00139033, 0.00033164, 0.00158749, 0.20601895, 0.00140909, 0.0004336 ,
  0.02436501,-0.00240031, 0.00569273,-0.00361059, 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: -0.0006077866728079195
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.56666407e-14,  9.13332814e-14,  1.00000000e+00,  4.17088415e-27,
        1.00000000e+00, -9.13332814e-14, -1.00000000e+00,  0.00000000e+00,
       -4.56666407e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09503863, -0.0931339 ,  0.06198524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51573924e-04, 7.55549686e-03, 1.75701432e-03, 3.67737268e-04,
  2.64378926e-05, 5.87219431e-03, 1.67219958e-03, 4.12471448e-04,
 -9.55512203e-06, 7.73879039e-03, 1.86030041e-03, 4.15494322e-04,
 -2.49550080e-04,-2.31363546e-05,-1.24577798e-04,-1.82117963e-04,
  2.05634209e-05,-1.52724352e-05,-7.84770251e+00, 7.55221574e-04,
  9.36811943e-03,-4.80916164e-06]


--- Step 778 ---
qpos:
[ 4.80105847e-03, 1.10866216e-01,-5.81734200e-03,-2.62222446e-02,
  7.41779527e-03, 9.98831992e-02,-1.95725675e-02, 1.13049221e-02,
  1.70601018e-02, 1.09403828e-01,-1.12433865e-02, 2.36424981e-02,
  1.10790374e+00,-9.17469307e-03, 7.97081397e-01, 6.23195486e-02,
  9.49843175e-02,-7.01814509e-02, 1.21402749e-01, 9.99970845e-01,
 -1.18066745e-05,-4.31922316e-05, 7.63589952e-03]

qacc:
[-1.41136215e+01, 6.41048621e+01,-1.31101916e+02, 1.01521068e+02,
  1.69760167e-01, 4.51928597e+01,-8.67313993e+01, 6.16490000e+01,
  1.75753058e+00, 5.09573365e+01,-9.15428026e+01, 5.78646132e+01,
 -1.66542612e+00, 3.10721136e+00, 7.75250684e+00,-2.85056267e+01,
  8.40539248e-02, 1.75744942e+00,-4.48663682e-01,-2.98316336e+01,
  2.13268817e+00, 6.37996131e-01]

qfrc_actuator:
[-0.00196918, 0.20385685, 0.00177115, 0.00028469, 0.00139473, 0.19756373,
  0.00142478, 0.00032896, 0.00159492, 0.20778442, 0.00140951, 0.00040829,
  0.02431789,-0.00236398, 0.00567729,-0.00374945, 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: -0.000602652429316633
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.76334161e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.76334161e-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([ 0.09503856, -0.09313552,  0.06198536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.19577257e-04, 6.81130253e-03, 1.75851020e-03, 3.97586763e-04,
  6.61520543e-06, 5.23355755e-03, 1.42364460e-03, 3.06453280e-04,
  2.19212231e-05, 6.35298625e-03, 1.79688362e-03, 3.70085842e-04,
 -2.09640639e-04,-1.91579066e-05,-9.55699537e-05,-1.65592054e-04,
  3.15007501e-05,-1.11109512e-05,-7.84757286e+00, 7.27660386e-04,
  9.41219504e-03,-3.53238522e-06]


--- Step 779 ---
qpos:
[ 4.75945854e-03, 1.14836837e-01,-5.83516449e-03,-2.62255528e-02,
  7.44545678e-03, 1.03742114e-01,-1.95839658e-02, 1.13031123e-02,
  1.70999499e-02, 1.13447123e-01,-1.12627404e-02, 2.36402776e-02,
  1.10847200e+00,-9.19444339e-03, 7.97497828e-01, 6.23147405e-02,
  9.50029060e-02,-7.01617573e-02, 1.21402446e-01, 9.99970733e-01,
 -1.77976720e-04, 1.18671288e-04, 7.64767440e-03]

qacc:
[ 2.20988294e+01, 6.73188005e+01,-1.45539374e+02, 1.19909746e+02,
 -1.40905415e+00, 4.24438866e+01,-8.27577316e+01, 5.80571099e+01,
  9.54941016e+00, 3.98982821e+01,-7.21152308e+01, 5.15191864e+01,
 -4.19684884e-01, 1.84752121e-01,-1.34279294e+01, 4.46944668e+01,
  6.52612115e-01, 5.82972096e-01, 1.07298743e-01,-9.40741572e+00,
  1.10005465e+01, 2.29522965e-01]

qfrc_actuator:
[-0.00174313, 0.20636393, 0.00176738, 0.00031235, 0.0013858 , 0.19922849,
  0.00146681, 0.00032788, 0.00167267, 0.20907685, 0.00138082, 0.000394  ,
  0.02428519,-0.00237019, 0.00569032,-0.00352575, 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: -0.0005966494658426969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.32595328e-14,  2.45568286e-07,  1.00000000e+00, -5.71180359e-21,
        1.00000000e+00, -2.45568286e-07, -1.00000000e+00,  0.00000000e+00,
        2.32595328e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08831978, -0.07733056,  0.06198551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11114738e-04, 6.55527987e-03, 1.58809714e-03, 3.79310542e-04,
 -7.02163991e-06, 4.76029780e-03, 1.26452512e-03, 2.69933889e-04,
  9.32369034e-05, 5.08821636e-03, 1.47150827e-03, 3.18517240e-04,
 -1.69066399e-04,-5.26378995e-05,-5.31314885e-05, 2.01346351e-04,
  4.48796238e-05,-6.88554052e-06,-7.84732713e+00, 6.81053720e-04,
  9.45763302e-03,-1.16631213e-06]


--- Step 780 ---
qpos:
[ 4.72608403e-03, 1.18852423e-01,-5.85070583e-03,-2.62280221e-02,
  7.47348185e-03, 1.07633054e-01,-1.95929216e-02, 1.13006823e-02,
  1.71416972e-02, 1.17529058e-01,-1.12828576e-02, 2.36384490e-02,
  1.10903938e+00,-9.21449868e-03, 7.97912984e-01, 6.23146756e-02,
  9.50173498e-02,-7.01482131e-02, 1.21403220e-01, 9.99970579e-01,
 -2.92582500e-04, 2.42482624e-04, 7.66137844e-03]

qacc:
[  44.98677443,  54.70288866,-112.50489868,  90.45602519,   1.87363871,
   34.20219571, -57.93758482,  19.75704713,  10.01801697,  53.9857051 ,
 -120.07948547,  99.67343485,  -0.14290319,  -0.42553442, -16.19811638,
   53.94226865,  -1.03616448,  -1.53733646,   0.26905041,  25.63575484,
  -19.22287831,   0.96438103]

qfrc_actuator:
[-0.00130921, 0.20834419, 0.00177195, 0.00032983, 0.00140498, 0.20061467,
  0.00149519, 0.0002745 , 0.00175559, 0.21099906, 0.00131536, 0.00040355,
  0.02425049,-0.00238368, 0.00563527,-0.00328544, 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: -0.0006052755151821354
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.37568305e-13, -9.17122035e-14,  1.00000000e+00, -1.26166924e-26,
        1.00000000e+00,  9.17122035e-14, -1.00000000e+00,  0.00000000e+00,
       -1.37568305e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884295, -0.05175617,  0.0619853 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32785467e-04, 5.84764078e-03, 1.52132472e-03, 3.51789289e-04,
  2.04038786e-05, 4.18133236e-03, 1.13181140e-03, 1.91042719e-04,
  1.01196645e-04, 4.93994981e-03, 1.13111081e-03, 2.75793784e-04,
 -1.51969658e-04,-5.70285322e-05,-6.08522607e-05, 2.43830929e-04,
  5.58679563e-05,-6.03499874e-06,-7.84712279e+00, 6.28544788e-04,
  9.50980727e-03, 1.77855378e-06]


--- Step 781 ---
qpos:
[ 4.69761716e-03, 1.22915987e-01,-5.86738325e-03,-2.62316141e-02,
  7.49302404e-03, 1.11555299e-01,-1.96023934e-02, 1.12956993e-02,
  1.71847127e-02, 1.21656157e-01,-1.13090330e-02, 2.36357545e-02,
  1.10960560e+00,-9.23421548e-03, 7.98326755e-01, 6.23146438e-02,
  9.50277028e-02,-7.01407272e-02, 1.21404465e-01, 9.99970412e-01,
 -3.56559195e-04, 3.29121842e-04, 7.67718506e-03]

qacc:
[ 2.58620131e+01, 6.42329435e+01,-1.32374090e+02, 7.95760491e+01,
 -5.02191563e+01, 3.76399441e+01,-6.32385156e+01,-3.32326119e+00,
  6.20773789e+00, 7.48231356e+01,-1.76542879e+02, 1.38014210e+02,
 -1.10484603e+00, 1.93214881e+00,-2.09316048e+00, 4.46535456e+00,
 -1.02270081e+00,-1.51458002e+00, 1.17791633e-01, 2.51711462e+01,
 -1.87797629e+01, 1.05200783e+00]

qfrc_actuator:
[-1.05819903e-03, 2.11005850e-01, 1.79728586e-03, 2.87546290e-04,
  9.61242299e-04, 2.02160869e-01, 1.44332291e-03, 1.37302576e-04,
  1.80526076e-03, 2.13745152e-01, 1.17806361e-03, 3.92020547e-04,
  2.41879910e-02,-2.36581085e-03, 5.51813143e-03,-3.30384638e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006122091746781078
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.06735043e-14,  9.06735043e-14,  1.00000000e+00,  8.22168438e-27,
        1.00000000e+00, -9.06735043e-14, -1.00000000e+00,  0.00000000e+00,
       -9.06735043e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884122, -0.05175753,  0.06198513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.59468705e-04, 6.11681484e-03, 1.38620622e-03, 2.58752827e-04,
 -4.41604451e-04, 3.98569352e-03, 9.12500137e-04, 7.62100926e-05,
  6.84717464e-05, 5.60748543e-03, 9.84834610e-04, 2.35674686e-04,
 -1.69952094e-04,-2.27426426e-05,-1.21030635e-04,-1.33589007e-05,
  3.99994042e-05,-1.41606490e-05,-7.84753545e+00, 5.92382351e-04,
  9.54956931e-03, 4.92347389e-06]


--- Step 782 ---
qpos:
[ 4.67891472e-03, 1.27035642e-01,-5.88934984e-03,-2.62366258e-02,
  7.50130127e-03, 1.15504227e-01,-1.96112079e-02, 1.12884276e-02,
  1.72285891e-02, 1.25833429e-01,-1.13421113e-02, 2.36321641e-02,
  1.11017055e+00,-9.25323347e-03, 7.98738865e-01, 6.23137830e-02,
  9.50340133e-02,-7.01392199e-02, 1.21405643e-01, 9.99970251e-01,
 -3.70706217e-04, 3.79330131e-04, 7.69522866e-03]

qacc:
[ 5.03980967e+01, 8.59088936e+01,-1.92917335e+02, 1.35710162e+02,
 -6.47919564e+01, 2.88254210e+01,-4.17431176e+01,-1.87728533e+01,
  3.85510260e+00, 8.37439345e+01,-1.98611584e+02, 1.57215001e+02,
 -1.55360287e+00, 3.08352808e+00, 1.25987959e-01,-3.83678082e+00,
 -1.01062405e+00,-1.49464226e+00,-1.68125139e-02, 2.47738890e+01,
 -1.84066008e+01, 1.12014536e+00]

qfrc_actuator:
[-5.44096663e-04, 2.14463652e-01, 1.76658387e-03, 2.64286324e-04,
  3.90478914e-04, 2.03311677e-01, 1.39854987e-03, 5.24959030e-06,
  1.83484637e-03, 2.16768323e-01, 1.02103027e-03, 3.86700998e-04,
  2.41248433e-02,-2.32965451e-03, 5.42237406e-03,-3.35040382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006157562026733593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.01511848e-14,  9.01511848e-14,  1.00000000e+00,  8.12723612e-27,
        1.00000000e+00, -9.01511848e-14, -1.00000000e+00,  0.00000000e+00,
       -9.01511848e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884021, -0.05175808,  0.06198505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15177644e-04, 7.02988676e-03, 1.36539040e-03, 2.82727471e-04,
 -5.87771414e-04, 3.42946340e-03, 8.47868341e-04, 6.31078281e-05,
  4.73786032e-05, 6.22443316e-03, 1.08315863e-03, 2.64569830e-04,
 -1.75268328e-04,-2.39687452e-06,-1.54307569e-04,-6.31912978e-05,
  2.38605206e-05,-1.68858262e-05,-7.84781029e+00, 5.72103107e-04,
  9.57708339e-03, 6.79870204e-06]


--- Step 783 ---
qpos:
[ 4.67441951e-03, 1.31210721e-01,-5.91365781e-03,-2.62414968e-02,
  7.50262954e-03, 1.19473154e-01,-1.96184218e-02, 1.12802679e-02,
  1.72720696e-02, 1.30061746e-01,-1.13785688e-02, 2.36283316e-02,
  1.11073406e+00,-9.27051667e-03, 7.99149588e-01, 6.23122748e-02,
  9.50363238e-02,-7.01436223e-02, 1.21406277e-01, 9.99970100e-01,
 -3.35699945e-04, 3.93727547e-04, 7.71561323e-03]

qacc:
[ 7.16559403e+01, 7.99621671e+01,-1.79642660e+02, 1.45282918e+02,
 -3.89428624e+01, 2.01954025e+01,-2.97850059e+01,-2.98919985e+00,
 -2.54809051e+00, 7.64102876e+01,-1.73527582e+02, 1.37153780e+02,
 -2.64540211e+00, 6.08803369e+00, 4.74922939e-02,-2.82720949e+00,
 -9.99986890e-01,-1.47742925e+00,-1.35751980e-01, 2.44376876e+01,
 -1.80944626e+01, 1.17308997e+00]

qfrc_actuator:
[ 1.92050240e-04, 2.17430949e-01, 1.72461755e-03, 2.88692205e-04,
  5.14689605e-05, 2.03968813e-01, 1.33931218e-03,-6.97003078e-05,
  1.79902545e-03, 2.19650625e-01, 9.79688574e-04, 4.03235701e-04,
  2.40773369e-02,-2.22976227e-03, 5.37147654e-03,-3.37749657e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006165099112527134
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50204857e-14,  9.00409713e-14,  1.00000000e+00,  4.05368826e-27,
        1.00000000e+00, -9.00409713e-14, -1.00000000e+00,  0.00000000e+00,
       -4.50204857e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10883979, -0.05175797,  0.06198503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.49530432e-04, 7.04487388e-03, 1.54040948e-03, 3.69130066e-04,
 -3.62852773e-04, 2.60987874e-03, 7.09794300e-04, 9.38355834e-05,
 -1.85899944e-05, 6.44845796e-03, 1.33893261e-03, 3.16739652e-04,
 -1.58885171e-04, 6.36348462e-05,-1.28881786e-04,-5.04470621e-05,
  7.00358201e-06,-1.40038075e-05,-7.84795544e+00, 5.67443734e-04,
  9.59257366e-03, 7.43646775e-06]


--- Step 784 ---
qpos:
[ 4.67794356e-03, 1.35433340e-01,-5.93353961e-03,-2.62456694e-02,
  7.49036728e-03, 1.23453793e-01,-1.96253308e-02, 1.12708992e-02,
  1.73137025e-02, 1.34334692e-01,-1.14100624e-02, 2.36247878e-02,
  1.11129612e+00,-9.28532749e-03, 7.99559560e-01, 6.23115865e-02,
  9.50346713e-02,-7.01538759e-02, 1.21405951e-01, 9.99969957e-01,
 -2.52105663e-04, 3.72828383e-04, 7.73841900e-03]

qacc:
[ 39.26060666, 51.83133747,-96.72436207, 66.91711542,-73.92841105,
  12.27200791,-15.95338538,-14.33576152, -9.40204908, 45.71910015,
 -78.62264377, 42.80248116, -3.31435511,  8.0570331 , -3.40031858,
  10.69718414, -0.99078185, -1.4627955 , -0.24024078, 24.15663569,
 -17.83561336,  1.21417853]

qfrc_actuator:
[ 5.91506870e-04, 2.19549593e-01, 1.85258684e-03, 3.05199591e-04,
 -6.45372637e-04, 2.04006209e-01, 1.12816845e-03,-1.81884113e-04,
  1.68936763e-03, 2.21788367e-01, 1.20227822e-03, 4.14834706e-04,
  2.40339502e-02,-2.09294400e-03, 5.37948478e-03,-3.32175001e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006149901960255805
  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([ 0.10883984, -0.05175732,  0.06198506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.24465838e-04, 6.24258556e-03, 1.73736513e-03, 3.69485365e-04,
 -7.11795167e-04, 1.50402717e-03, 3.72397123e-04, 1.72465112e-05,
 -9.53241949e-05, 5.88249302e-03, 1.68192366e-03, 3.31171889e-04,
 -1.30185558e-04, 1.14753690e-04,-5.82587517e-05, 3.60574891e-05,
 -1.09212944e-05,-5.43345103e-06,-7.84797737e+00, 5.78183195e-04,
  9.59622976e-03, 6.86317586e-06]


--- Step 785 ---
qpos:
[ 4.68469566e-03, 1.39695027e-01,-5.94623958e-03,-2.62492227e-02,
  7.45389238e-03, 1.27434013e-01,-1.96315888e-02, 1.12609660e-02,
  1.73519430e-02, 1.38641824e-01,-1.14299321e-02, 2.36221205e-02,
  1.11185744e+00,-9.29961000e-03, 7.99969068e-01, 6.23147520e-02,
  9.50290868e-02,-7.01699317e-02, 1.21404298e-01, 9.99969804e-01,
 -1.20388498e-04, 3.17054401e-04, 7.76370762e-03]

qacc:
[  15.26495445,  32.81153971, -44.7527881 ,  15.34182553,-127.99644172,
   -3.28959469,  13.73358917, -24.69589901, -16.29593506,  14.53129692,
   10.096499  , -38.72396553,  -0.86803548,   1.82953161, -12.27222363,
   42.04795561,  -0.9829636 ,  -1.45056883,  -0.33158958,  23.92531649,
  -17.62339447,   1.2459997 ]

qfrc_actuator:
[ 0.00075395, 0.22107375, 0.00204118, 0.0002986 ,-0.00188479, 0.20319273,
  0.00084429,-0.00028023, 0.00150151, 0.22303931, 0.00161174, 0.00042304,
  0.02399841,-0.00207742, 0.00540685,-0.00311099, 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: -0.0006116494072570117
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.81512973e-13, -1.81512973e-13,  1.00000000e+00, -3.29469594e-26,
        1.00000000e+00,  1.81512973e-13, -1.00000000e+00,  0.00000000e+00,
       -1.81512973e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884027, -0.05175624,  0.06198514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72051011e-04, 5.23832868e-03, 1.65596134e-03, 3.18736907e-04,
 -1.27073303e-03,-3.86770575e-05, 2.69056401e-05,-2.94759802e-05,
 -1.77401514e-04, 4.74904170e-03, 1.79407270e-03, 3.15567225e-04,
 -9.28196855e-05, 7.67045708e-06,-7.42323574e-08, 2.04208978e-04,
 -3.02029014e-05, 8.80976415e-06,-7.84788112e+00, 6.04137719e-04,
  9.58820998e-03, 5.10019857e-06]


--- Step 786 ---
qpos:
[ 4.68605746e-03, 1.43997036e-01,-5.95716746e-03,-2.62527817e-02,
  7.37839973e-03, 1.31401766e-01,-1.96351273e-02, 1.12518941e-02,
  1.73862032e-02, 1.42982110e-01,-1.14436553e-02, 2.36202628e-02,
  1.11241840e+00,-9.31473404e-03, 8.00378356e-01, 6.23184459e-02,
  9.50195966e-02,-7.01917499e-02, 1.21401001e-01, 9.99969618e-01,
  5.90767022e-05, 2.26746174e-04, 7.79152620e-03]

qacc:
[ -25.4654567 ,  48.38330943, -95.08602693,  62.4177595 ,-200.61739837,
  -21.9117803 ,  51.25069377, -32.24054311, -18.62515241,  28.34000756,
  -40.82798777,  20.54607747,   0.54872499,  -2.01367242,  -1.95713225,
    6.29035753,  -0.9764643 ,  -1.44056668,  -0.41112306,  23.73883757,
  -17.45209859,   1.27055849]

qfrc_actuator:
[ 0.00047397, 0.22317156, 0.00213736, 0.00029569,-0.00387752, 0.20184066,
  0.00069383,-0.00029942, 0.00128678, 0.22460289, 0.00185839, 0.00044625,
  0.02396225,-0.00213372, 0.0053766 ,-0.00309463, 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: -0.0006068784756037143
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.71687264e-14,  4.57349811e-14,  1.00000000e+00, -2.61461062e-27,
        1.00000000e+00, -4.57349811e-14, -1.00000000e+00,  0.00000000e+00,
        5.71687264e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10884099, -0.05175483,  0.06198526])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.82985950e-04, 5.22991903e-03, 1.34381670e-03, 2.75516422e-04,
 -2.05103457e-03,-1.51340129e-03,-2.02491688e-04,-2.92713473e-05,
 -2.08854297e-04, 4.44901321e-03, 1.40987653e-03, 2.85485634e-04,
 -9.22583327e-05,-7.39725429e-05,-1.38217090e-05, 2.62527565e-05,
 -5.10957312e-05, 2.86330373e-05,-7.84767054e+00, 6.45156487e-04,
  9.56864431e-03, 2.16455267e-06]


--- Step 787 ---
qpos:
[ 4.66967555e-03, 1.48335436e-01,-5.96650549e-03,-2.62560068e-02,
  7.26318724e-03, 1.35346807e-01,-1.96350382e-02, 1.12434345e-02,
  1.74185323e-02, 1.47358709e-01,-1.14592165e-02, 2.36183208e-02,
  1.11297898e+00,-9.33147980e-03, 8.00787129e-01, 6.23203980e-02,
  9.50080579e-02,-7.02128714e-02, 1.21399632e-01, 9.99969393e-01,
  2.32497755e-04, 1.21110278e-04, 7.81944126e-03]

qacc:
[-8.06492006e+01, 4.44977747e+01,-9.00214046e+01, 6.62070289e+01,
 -1.98672928e+02,-3.84995497e+01, 9.17981047e+01,-7.10135831e+01,
 -9.01850712e+00, 5.29705728e+01,-1.18848872e+02, 9.35657019e+01,
  1.20209762e+00,-3.99850212e+00, 4.41435365e+00,-1.67377421e+01,
 -5.12103348e-01, 1.74145906e-01, 4.81949275e-01,-3.08170474e+00,
 -7.64004818e+00, 4.81585595e-02]

qfrc_actuator:
[-0.00043694, 0.22483332, 0.00214511, 0.00029537,-0.00587167, 0.20007114,
  0.00062109,-0.00032557, 0.00118212, 0.22657219, 0.00179515, 0.00044269,
  0.02390973,-0.00223196, 0.00532242,-0.00319313, 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: -0.0006012514172080531
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.23260214e-14, -5.69919944e-07,  1.00000000e+00, -5.26184410e-20,
        1.00000000e+00,  5.69919944e-07, -1.00000000e+00,  0.00000000e+00,
       -9.23260214e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10198573, -0.0723246 ,  0.06198539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.37399670e-04, 4.72134105e-03, 1.21328699e-03, 2.66035020e-04,
 -2.09130034e-03,-2.80263642e-03,-4.57487532e-04,-1.07312804e-04,
 -1.00652535e-04, 4.60512302e-03, 9.89210101e-04, 2.31884607e-04,
 -1.25994301e-04,-1.29037159e-04,-6.37633694e-05,-1.00281411e-04,
 -7.38395893e-05, 5.38787194e-05,-7.84734851e+00, 7.01117919e-04,
  9.53763724e-03,-1.93052629e-06]


--- Step 788 ---
qpos:
[ 4.63139922e-03, 1.52698766e-01,-5.97103839e-03,-2.62581265e-02,
  7.12266618e-03, 1.39259954e-01,-1.96318013e-02, 1.12361474e-02,
  1.74509512e-02, 1.51766827e-01,-1.14778122e-02, 2.36172166e-02,
  1.11353884e+00,-9.34971379e-03, 8.01196147e-01, 6.23183373e-02,
  9.49967828e-02,-7.02264432e-02, 1.21399162e-01, 9.99969160e-01,
  3.42212784e-04, 2.15142235e-05, 7.84605600e-03]

qacc:
[-9.64138366e+01, 2.19796450e+01,-3.49184594e+01, 2.77007630e+01,
 -1.23052591e+02,-4.82784130e+01, 1.06447846e+02,-6.81791918e+01,
  8.90660600e-02, 5.18569780e+01,-1.27997890e+02, 1.24148002e+02,
  7.25078896e-01,-3.09853921e+00, 1.24149230e+01,-4.30477266e+01,
  6.59138397e-02, 1.88742775e+00, 2.24952023e-01,-3.18283438e+01,
  3.26875049e+00,-6.54665685e-01]

qfrc_actuator:
[-0.00153437, 0.22544013, 0.00213479, 0.00029627,-0.00710476, 0.19788885,
  0.00053972,-0.00032049, 0.00117857, 0.22789863, 0.00153375, 0.00045913,
  0.02384207,-0.00231874, 0.00534446,-0.00339398, 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: -0.0006109079411166785
  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([ 0.09505108, -0.09313599,  0.06198516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15957126e-03, 3.35324627e-03, 1.07339159e-03, 2.40717056e-04,
 -1.33520337e-03,-3.99148035e-03,-7.66286604e-04,-1.41626111e-04,
  6.12564861e-06, 3.95922334e-03, 7.69255404e-04, 2.42908150e-04,
 -1.74531905e-04,-1.33618234e-04,-2.26024341e-05,-2.15647896e-04,
 -6.88056920e-05, 6.29664032e-05,-7.84733423e+00, 7.55788573e-04,
  9.50366090e-03,-5.45538217e-06]


--- Step 789 ---
qpos:
[ 4.57713451e-03, 1.57079555e-01,-5.97352480e-03,-2.62588788e-02,
  6.96486813e-03, 1.43134101e-01,-1.96268113e-02, 1.12295018e-02,
  1.74850258e-02, 1.56196660e-01,-1.14980429e-02, 2.36176600e-02,
  1.11409727e+00,-9.36782037e-03, 8.01604887e-01, 6.23151827e-02,
  9.49857837e-02,-7.02325818e-02, 1.21398995e-01, 9.99968937e-01,
  3.89263846e-04,-7.25395245e-05, 7.87192796e-03]

qacc:
[-6.83687698e+01, 2.02999431e+01,-4.44444740e+01, 5.17368342e+01,
 -8.16395875e+01,-5.49413372e+01, 1.18684853e+02,-8.20025093e+01,
  6.82031529e+00, 3.64397346e+01,-9.48419765e+01, 1.08276576e+02,
 -1.17728141e+00, 1.74896624e+00, 2.94106282e+00,-1.07765042e+01,
  6.89715136e-02, 1.85830586e+00, 7.54483023e-02,-3.13092682e+01,
  3.01677324e+00,-3.73041757e-01]

qfrc_actuator:
[-0.0023064 , 0.22580144, 0.00202102, 0.00031475,-0.00795075, 0.19547718,
  0.00043447,-0.00033299, 0.00125218, 0.22842131, 0.0012264 , 0.00048668,
  0.02376006,-0.00230936, 0.00534828,-0.00344025, 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: -0.0006164714078615158
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50232975e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.50232975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505284, -0.09313489,  0.06198503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.48357794e-04, 2.31187776e-03, 6.68953317e-04, 1.94312519e-04,
 -9.13579826e-04,-4.94948468e-03,-1.07467131e-03,-2.21465775e-04,
  8.89263162e-05, 2.74835327e-03, 5.62858124e-04, 2.18884844e-04,
 -2.20194977e-04,-4.87052981e-05,-3.77509007e-05,-6.28743101e-05,
 -3.83694102e-05, 5.23881344e-05,-7.84764587e+00, 7.90937417e-04,
  9.47363438e-03,-7.12794085e-06]


--- Step 790 ---
qpos:
[ 4.52059101e-03, 1.61490695e-01,-5.99057026e-03,-2.62604335e-02,
  6.79361635e-03, 1.46965378e-01,-1.96216280e-02, 1.12239075e-02,
  1.75240091e-02, 1.60649562e-01,-1.15235512e-02, 2.36183361e-02,
  1.11465395e+00,-9.38525117e-03, 8.02012062e-01, 6.23159383e-02,
  9.49750686e-02,-7.02313881e-02, 1.21398599e-01, 9.99968731e-01,
  3.74542553e-04,-1.61453448e-04, 7.89750217e-03]

qacc:
[-9.88645111e+00, 7.91842351e+01,-2.20672449e+02, 2.07607097e+02,
 -6.18238516e+01,-5.48925664e+01, 1.09294063e+02,-6.01088691e+01,
  1.99346751e+01, 4.56766424e+01,-1.19672170e+02, 1.15221292e+02,
 -1.71018007e+00, 3.12057760e+00,-1.40315728e+01, 4.59209912e+01,
  7.10344503e-02, 1.83308932e+00,-5.70394002e-02,-3.08650021e+01,
  2.81290888e+00,-1.47696572e-01]

qfrc_actuator:
[-0.00236551, 0.22796573, 0.00149095, 0.00030756,-0.00861564, 0.19312525,
  0.00035051,-0.00030271, 0.00149475, 0.22971937, 0.0009978 , 0.00050211,
  0.02365887,-0.00227881, 0.00528261,-0.00323531, 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: -0.0006188347976919945
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.79405397e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.79405397e-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([ 0.09505419, -0.09313469,  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:
[-1.20033530e-04, 3.44663585e-03,-1.40448579e-05, 1.09097287e-04,
 -7.13032410e-04,-5.49096268e-03,-1.29158196e-03,-2.31902193e-04,
  2.62289750e-04, 2.80231347e-03, 3.65018044e-04, 1.47211564e-04,
 -2.49785900e-04,-2.34379489e-05,-9.61874005e-05, 1.95174135e-04,
 -1.12781183e-05, 4.34931335e-05,-7.84782144e+00, 8.06018520e-04,
  9.44519313e-03,-7.68834840e-06]


--- Step 791 ---
qpos:
[ 4.46876203e-03, 1.65945540e-01,-6.02785873e-03,-2.62639435e-02,
  6.61389891e-03, 1.50750987e-01,-1.96161284e-02, 1.12209875e-02,
  1.75702437e-02, 1.65129391e-01,-1.15547242e-02, 2.36181809e-02,
  1.11520868e+00,-9.40175577e-03, 8.02417854e-01, 6.23207892e-02,
  9.49646430e-02,-7.02229482e-02, 1.21397508e-01, 9.99968537e-01,
  2.98802643e-04,-2.45553705e-04, 7.92313530e-03]

qacc:
[ 1.83658976e+01, 1.10297977e+02,-3.01219435e+02, 2.67548607e+02,
 -3.77376796e+01,-5.56371343e+01, 9.96524581e+01,-2.04275377e+01,
  2.86665674e+01, 4.96501588e+01,-1.21978665e+02, 9.69230840e+01,
 -2.07967942e+00, 3.97834488e+00,-1.42981568e+01, 4.72951447e+01,
  7.23432836e-02, 1.81154158e+00,-1.73715494e-01,-3.04893440e+01,
  2.64771754e+00, 3.34344735e-02]

qfrc_actuator:
[-2.09295462e-03, 2.31174191e-01, 8.51161070e-04, 2.86601579e-04,
 -9.02676199e-03, 1.90775394e-01, 3.33452126e-04,-1.76413884e-04,
  1.85254176e-03, 2.31508115e-01, 8.74009748e-04, 4.93206651e-04,
  2.35515873e-02,-2.23616558e-03, 5.22863158e-03,-3.02622914e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006185718244797467
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.48704168e-14,  1.79481667e-13,  1.00000000e+00,  8.05341723e-27,
        1.00000000e+00, -1.79481667e-13, -1.00000000e+00,  0.00000000e+00,
       -4.48704168e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505522, -0.09313523,  0.06198498])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53101119e-04, 4.98010507e-03, 2.34009441e-05, 1.18578340e-04,
 -4.50170602e-04,-5.83525787e-03,-1.36311124e-03,-1.66717984e-04,
  3.87931427e-04, 3.27866608e-03, 4.53953773e-04, 1.16911584e-04,
 -2.69108078e-04,-1.35086644e-05,-7.85127202e-05, 2.07148430e-04,
  1.41551224e-05, 3.57279169e-05,-7.84786767e+00, 8.01336945e-04,
  9.41831211e-03,-7.14494511e-06]


--- Step 792 ---
qpos:
[ 4.41969258e-03, 1.70441032e-01,-6.07492785e-03,-2.62675351e-02,
  6.45159481e-03, 1.54241049e-01,-1.97855270e-02, 1.11613931e-02,
  1.76217669e-02, 1.69628073e-01,-1.15853984e-02, 2.36186825e-02,
  1.11576171e+00,-9.41791863e-03, 8.02823075e-01, 6.23231040e-02,
  9.49537513e-02,-7.02072685e-02, 1.21395083e-01, 9.99968266e-01,
  1.62050732e-04,-3.27835885e-04, 7.95827033e-03]

qacc:
[ 1.03555003e+01, 8.08815748e+01,-2.10098199e+02, 1.94384361e+02,
  7.62107585e+01,-1.87076817e+01,-2.61046064e+02,-2.22478419e+02,
  2.03615603e+01, 2.48367313e+01,-5.52407968e+01, 5.20036142e+01,
 -1.62126111e+00, 2.67933179e+00, 6.88154916e+00,-2.51474220e+01,
 -1.16502590e-01, 1.80994435e+00,-3.33672756e-01,-3.04966604e+01,
  1.15212294e+00, 4.75832770e+00]

qfrc_actuator:
[-1.94702228e-03, 2.33456925e-01, 4.76597390e-04, 3.12107344e-04,
 -9.17871789e-03, 1.88730762e-01, 3.56333219e-04,-6.55701744e-05,
  2.09762905e-03, 2.32175733e-01, 7.97851935e-04, 5.06176456e-04,
  2.34673497e-02,-2.22228382e-03, 5.16573487e-03,-3.17146864e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.21762969, -0.01289643,  0.21724724, -0.01289643,  0.10666383,
       -0.00658726,  0.21724724, -0.00658726,  0.21723865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002381324556054221
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98942218e-01, -4.55223505e-02,  6.49308729e-03, -4.55213889e-02,
        9.98963320e-01,  2.95887336e-04, -6.49982553e-03, -5.42101086e-20,
       -9.99978876e-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([ 0.11088243, -0.08042698,  0.11281266])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006161837496595352
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.50443161e-14,  1.80177265e-13,  1.00000000e+00,  8.11596166e-27,
        1.00000000e+00, -1.80177265e-13, -1.00000000e+00,  0.00000000e+00,
       -4.50443161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.095056  , -0.09313637,  0.06198503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49119158e-04, 4.91892836e-03, 6.10066581e-04, 2.32150240e-04,
 -1.77944593e-04,-5.73275843e-03,-1.40032089e-03,-1.98039976e-04,
  2.83507957e-04, 2.44027218e-03, 6.09689826e-04, 1.61647899e-04,
 -2.55905049e-04,-4.48846394e-05,-7.89822694e-05,-1.44466615e-04,
  3.91612986e-05, 2.87564328e-05,-7.84778992e+00, 7.77148159e-04,
  9.39296342e-03,-5.50543857e-06]


--- Step 793 ---
qpos:
[ 4.37218287e-03, 1.74967066e-01,-6.12447380e-03,-2.62698455e-02,
  6.30930428e-03, 1.57403087e-01,-2.01079777e-02, 1.10572705e-02,
  1.76768498e-02, 1.74136904e-01,-1.16121250e-02, 2.36210772e-02,
  1.11631339e+00,-9.43472286e-03, 8.03227283e-01, 6.23210648e-02,
  9.49421084e-02,-7.01844055e-02, 1.21390922e-01, 9.99967889e-01,
 -3.52610298e-05,-4.10862723e-04, 8.00323288e-03]

qacc:
[ 5.66899106e+00, 4.99246780e+01,-1.24842917e+02, 1.28477826e+02,
  8.61999515e+01,-9.76487839e+01,-9.31377619e+01,-1.91203651e+02,
  1.33675121e+01, 6.25214122e+00,-1.08682089e+01, 2.99014419e+01,
 -4.98033205e-01,-2.33116392e-01, 1.16539369e+01,-4.29380525e+01,
 -1.87810471e-01, 1.79582259e+00,-4.33814768e-01,-3.02803088e+01,
 -1.30562993e-01, 4.92401280e+00]

qfrc_actuator:
[-1.85924346e-03, 2.34583966e-01, 2.05544700e-04, 3.46649061e-04,
 -9.12665464e-03, 1.87226176e-01, 5.42760388e-04, 9.42836116e-05,
  2.25640418e-03, 2.32274493e-01, 8.35138148e-04, 5.66621495e-04,
  2.33969903e-02,-2.26095256e-03, 5.08681086e-03,-3.40003765e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.33567156, -0.02940504,  0.33438113, -0.02940504,  0.21744128,
       -0.01039702,  0.33438113, -0.01039702,  0.33475726,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006359138797801237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98767508e-01, -4.58348622e-02,  1.90428773e-02, -4.58265333e-02,
        9.98949030e-01,  8.73745936e-04, -1.90629118e-02,  1.08420217e-19,
       -9.99818286e-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([ 0.11066863, -0.08042214,  0.11301726])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006123080809731923
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.53294289e-14, -9.06588578e-14,  1.00000000e+00,  4.10951425e-27,
        1.00000000e+00,  9.06588578e-14, -1.00000000e+00,  0.00000000e+00,
        4.53294289e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09505657, -0.09313792,  0.06198513])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.48131626e-05, 3.85376165e-03, 7.76796559e-04, 2.61018011e-04,
 -9.99013517e-04, 7.41705189e-03, 7.49169101e-03, 2.78807299e-03,
  1.91128494e-04, 1.43606819e-03, 5.70487667e-04, 1.79420672e-04,
 -2.40848658e-04,-9.96091042e-05,-1.35923303e-04,-2.47825050e-04,
  8.61497169e-05, 3.55427166e-05,-7.84758126e+00, 7.32800418e-04,
  9.36937629e-03,-2.72005857e-06]


--- Step 794 ---
qpos:
[ 4.32616954e-03, 1.79515072e-01,-6.17401537e-03,-2.62716564e-02,
  6.16210617e-03, 1.60244214e-01,-2.05735979e-02, 1.09098853e-02,
  1.77347374e-02, 1.78655223e-01,-1.16365006e-02, 2.36235041e-02,
  1.11686379e+00,-9.45222167e-03, 8.03630397e-01, 6.23191445e-02,
  9.49340208e-02,-7.01658320e-02, 1.21388905e-01, 9.99968610e-01,
 -2.23785825e-04,-4.48160373e-04, 7.90740936e-03]

qacc:
[ 5.35952849e+00, 3.00501723e+01,-6.71306299e+01, 5.96117926e+01,
 -2.01756738e+01,-1.13053031e+02,-2.95702894e+01,-2.54276254e+02,
  1.02065955e+01, 6.01618314e+00,-3.42548757e+00,-6.72358406e+00,
 -2.31785749e-01,-7.74444080e-01,-1.97915886e+00, 4.56446405e+00,
  8.88806814e-01,-1.07236721e+00, 5.35851275e-01, 4.54743083e+00,
  2.28314059e+01,-7.03961741e+01]

qfrc_actuator:
[-1.77075549e-03, 2.35242219e-01, 2.87122906e-05, 3.32024268e-04,
 -8.26939282e-03, 1.85965529e-01, 8.57675508e-04, 1.87551453e-04,
  2.38075829e-03, 2.32796464e-01, 9.54595106e-04, 5.65289508e-04,
  2.33403129e-02,-2.29479992e-03, 5.08354329e-03,-3.37397728e-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, -0.00397699,  0.43065499, -0.00397699,  0.1989865 ,
       -0.00213957,  0.43065499, -0.00213957,  0.4306536 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010414494558666576
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99849926, -0.04593619,  0.02981767, -0.04591572,  0.99894438,
        0.00137116, -0.02984918,  0.        , -0.99955441])
  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([ 0.11048127, -0.08041602,  0.11319124])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.58793561,  2.93181337, -5.89960727,  2.93181337, 48.83155865,
       20.99299382, -5.89960727, 20.99299382, 17.02041648,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006186423060213081
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.97306096e-14, -8.97306096e-14,  1.00000000e+00, -8.05158230e-27,
        1.00000000e+00,  8.97306096e-14, -1.00000000e+00,  0.00000000e+00,
       -8.97306096e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184406, -0.06211394,  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:
[ 8.12347200e-05, 2.82402300e-03, 6.72237537e-04, 1.72501764e-04,
 -1.14501308e-03, 2.24481322e-02, 1.54255799e-02, 5.10147995e-03,
  1.50983772e-04, 1.29006723e-03, 4.40872122e-04, 7.35737450e-05,
 -2.29904297e-04,-1.00351429e-04,-9.51780301e-05,-5.63847178e-06,
  1.53202425e-04, 4.37436302e-05,-7.84724632e+00, 6.69042877e-04,
  9.34664348e-03, 1.21336443e-06]


--- Step 795 ---
qpos:
[ 4.28164186e-03, 1.84080042e-01,-6.22276242e-03,-2.62732129e-02,
  6.01015631e-03, 1.62794749e-01,-2.11634542e-02, 1.07214474e-02,
  1.77923435e-02, 1.83184084e-01,-1.16606557e-02, 2.36253718e-02,
  1.11741289e+00,-9.46981794e-03, 8.04033260e-01, 6.23189733e-02,
  9.49292477e-02,-7.01514367e-02, 1.21388478e-01, 9.99970394e-01,
 -4.04997725e-04,-4.41172363e-04, 7.67158341e-03]

qacc:
[   5.2077799 ,  20.71610011, -42.42517457,  33.09864188, -19.14205463,
 -121.33182877,  48.7693075 ,-346.96210088,  -1.0642036 ,  12.16691285,
  -20.80072994,   3.00559568,  -0.77935073,   0.81557339,  -5.62039365,
   19.19447416,   0.82864769,  -1.04455106,   0.39779856,   3.8001711 ,
   22.12912531, -69.99989617]

qfrc_actuator:
[-1.68240257e-03, 2.35881843e-01,-2.20678829e-05, 3.23674057e-04,
 -6.37951717e-03, 1.85028600e-01, 1.35427961e-03, 2.04155234e-04,
  2.34176966e-03, 2.33497953e-01, 1.01685630e-03, 5.45747637e-04,
  2.32972123e-02,-2.28993943e-03, 5.12571343e-03,-3.26888109e-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, 0.03541385, 0.42921486, 0.03541385, 0.19698608,
       0.01928117, 0.42921486, 0.01928117, 0.4290825 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0013306390585518407
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99824328, -0.04427179,  0.03937465, -0.04423739,  0.99901952,
        0.0017449 , -0.0394133 ,  0.        , -0.99922299])
  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([ 0.1103185 , -0.08039139,  0.11334238])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006247412183846696
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.44273161e-14, -2.22136581e-14,  1.00000000e+00, -9.86893210e-28,
        1.00000000e+00,  2.22136581e-14, -1.00000000e+00,  0.00000000e+00,
       -4.44273161e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184319, -0.06211581,  0.06198483])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.06198088e-05, 2.20351593e-03, 5.69431619e-04, 1.29284440e-04,
  9.89449527e-04, 3.74607072e-02, 2.30526693e-02, 7.27608774e-03,
 -1.46773724e-05, 1.35638571e-03, 3.33792793e-04, 4.25457161e-05,
 -2.09059621e-04,-5.96875290e-05,-4.87275783e-06, 9.19429319e-05,
 -2.83004528e-04,-6.95959839e-05,-7.84741652e+00, 6.14537478e-04,
  9.31168582e-03, 3.88420464e-06]


--- Step 796 ---
qpos:
[ 4.23793052e-03, 1.88651742e-01,-6.26777755e-03,-2.62739200e-02,
  5.85315503e-03, 1.65091445e-01,-2.18653910e-02, 1.04953733e-02,
  1.78480167e-02, 1.87719043e-01,-1.16830017e-02, 2.36265718e-02,
  1.11796068e+00,-9.48703437e-03, 8.04435757e-01, 6.23210579e-02,
  9.49275926e-02,-7.01410504e-02, 1.21389174e-01, 9.99973108e-01,
 -5.79897128e-04,-3.91623235e-04, 7.30025645e-03]

qacc:
[ 2.83383167e+00, 2.09809532e-01, 8.56320836e+00,-4.76503272e+00,
 -2.01742479e+01,-9.97019481e+01, 2.76927002e+01,-3.13219321e+02,
 -6.67417299e+00, 1.64156447e+00, 8.68141135e+00,-2.76407068e+01,
 -1.20095376e+00, 2.06841680e+00,-7.29267141e+00, 2.48583247e+01,
  7.79504548e-01,-1.00226168e+00, 2.80422313e-01, 3.28970860e+00,
  2.12833605e+01,-6.77448481e+01]

qfrc_actuator:
[-1.63022377e-03, 2.35672136e-01,-5.12665172e-05, 3.19133821e-04,
 -4.29432920e-03, 1.84987536e-01, 1.98047890e-03, 3.14124405e-04,
  2.22449239e-03, 2.33663208e-01, 1.04599006e-03, 4.98105695e-04,
  2.32516551e-02,-2.26217352e-03, 5.11522282e-03,-3.15354655e-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, 0.07069777, 0.42483098, 0.07069777, 0.23313888,
       0.03287248, 0.42483098, 0.03287248, 0.42520292, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.001577082285157036
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97903018e-01, -4.37685830e-02,  4.76851939e-02, -4.37186968e-02,
        9.99041696e-01,  2.08911537e-03, -4.77309346e-02,  4.33680869e-19,
       -9.98860229e-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([ 0.11017911, -0.08038169,  0.11347185])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006279583294269558
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -6.6299564e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  6.6299564e-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([ 0.08184211, -0.06211708,  0.06198475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.43107963e-05, 9.83626602e-04, 4.48518234e-04, 1.02083548e-04,
  3.31142374e-03, 5.18649885e-02, 2.98677377e-02, 9.43462997e-03,
 -1.03931393e-04, 8.33482622e-04, 3.00022986e-04, 1.29704253e-05,
 -1.89027855e-04,-2.59523625e-05,-9.42233133e-06, 1.18236448e-04,
 -6.42163336e-04, 1.83619983e-05,-7.84750647e+00, 5.52510259e-04,
  9.29358423e-03, 6.77689479e-06]


--- Step 797 ---
qpos:
[ 4.19458272e-03, 1.93229204e-01,-6.31255417e-03,-2.62748296e-02,
  5.68970907e-03, 1.67166238e-01,-2.26688343e-02, 1.02353961e-02,
  1.79017928e-02, 1.92257568e-01,-1.17027682e-02, 2.36269334e-02,
  1.11850741e+00,-9.50393140e-03, 8.04837905e-01, 6.23228883e-02,
  9.49288772e-02,-7.01345017e-02, 1.21390590e-01, 9.99976567e-01,
 -7.49369210e-04,-3.01207087e-04, 6.79804787e-03]

qacc:
[ 1.19245382e+00, 6.52851728e+00,-1.13828399e+01, 3.27051181e+00,
 -2.55838565e+01,-7.93542238e+01, 6.38403120e-01,-2.61972479e+02,
 -6.33964386e+00,-4.21056170e+00, 2.54104545e+01,-4.66893651e+01,
 -1.06326107e+00, 1.86146886e+00, 2.99666064e-01,-1.68958536e+00,
  7.34911811e-01,-9.59403804e-01, 1.80080408e-01, 2.83734393e+00,
  2.04512465e+01,-6.54309918e+01]

qfrc_actuator:
[-1.59967438e-03, 2.35932672e-01,-7.07714305e-05, 2.98430313e-04,
 -2.37379557e-03, 1.85510218e-01, 2.68646888e-03, 5.28622441e-04,
  2.11526389e-03, 2.33826497e-01, 1.16008651e-03, 4.51688539e-04,
  2.32206479e-02,-2.23885531e-03, 5.07848096e-03,-3.17529623e-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, 0.09907607, 0.41912226, 0.09907607, 0.28252655,
       0.03502034, 0.41912226, 0.03502034, 0.42239492, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.001788085883179382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97565451e-01, -4.30011433e-02,  5.49005675e-02, -4.29361699e-02,
        9.99075023e-01,  2.36297286e-03, -5.49513962e-02,  4.33680869e-19,
       -9.98489031e-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([ 0.11005951, -0.0803704 ,  0.11358273])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006288279510671541
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82771689e-14, -4.41385844e-14,  1.00000000e+00, -3.89642927e-27,
        1.00000000e+00,  4.41385844e-14, -1.00000000e+00,  0.00000000e+00,
       -8.82771689e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08184086, -0.06211786,  0.06198473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98876869e-05, 7.45404947e-04, 1.90317680e-04, 2.89378271e-05,
  5.48378105e-03, 6.50059616e-02, 3.61592797e-02, 1.15277892e-02,
 -1.02339102e-04, 5.30717152e-04, 2.71732173e-04,-9.96294902e-06,
 -1.54682716e-04,-2.05424656e-05,-3.44773248e-05,-1.78894755e-05,
 -9.24476551e-04, 2.92137063e-04,-7.84752637e+00, 4.83414668e-04,
  9.29186830e-03, 9.88199125e-06]


--- Step 798 ---
qpos:
[ 4.15231139e-03, 1.97813186e-01,-6.35776738e-03,-2.62765681e-02,
  5.51639950e-03, 1.69039803e-01,-2.35609160e-02, 9.94621440e-03,
  1.79518099e-02, 1.96798707e-01,-1.17200621e-02, 2.36266757e-02,
  1.11905334e+00,-9.52032645e-03, 8.05239206e-01, 6.23225539e-02,
  9.49329110e-02,-7.01317171e-02, 1.21392374e-01, 9.99980572e-01,
 -9.14697594e-04,-1.70991525e-04, 6.16365484e-03]

qacc:
[ 3.48069943e+00, 8.12700105e+00,-1.29904922e+01,-5.42557267e+00,
 -3.88148117e+01,-7.82885479e+01, 1.66901885e+01,-2.32533086e+02,
 -1.22083512e+01,-4.70713464e+00, 2.44499780e+01,-4.10846395e+01,
 -1.10029949e+00, 2.22246207e+00, 5.33954214e+00,-2.03790437e+01,
  6.87293928e-01,-9.41001106e-01, 9.20104988e-02, 2.18737420e+00,
  1.99347678e+01,-6.60782533e+01]

qfrc_actuator:
[-1.52871850e-03, 2.36455879e-01,-2.92015683e-05, 2.68740917e-04,
 -1.36526179e-03, 1.85837156e-01, 3.49234409e-03, 7.99406716e-04,
  1.90508618e-03, 2.34041959e-01, 1.30591379e-03, 4.24196639e-04,
  2.32143734e-02,-2.20054458e-03, 5.00469690e-03,-3.29544150e-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, 0.11328568, 0.41550679, 0.11328568, 0.34603749,
       0.02307551, 0.41550679, 0.02307551, 0.42438194, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0019669723893445522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97247522e-01, -4.19788950e-02,  6.11158909e-02, -4.19002843e-02,
        9.99118498e-01,  2.56784113e-03, -6.11698123e-02,  8.67361738e-19,
       -9.98127374e-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([ 0.10995723, -0.08035753,  0.11367717])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006278124542350577
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.84199586e-14, -1.10524948e-13,  1.00000000e+00, -9.77261136e-27,
        1.00000000e+00,  1.10524948e-13, -1.00000000e+00,  0.00000000e+00,
       -8.84199586e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08183947, -0.06211825,  0.06198475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85550788e-05, 8.18337085e-04, 1.67833135e-04,-6.15431884e-07,
  6.81389843e-03, 7.63634777e-02, 4.20259363e-02, 1.34914076e-02,
 -2.03476332e-04, 4.06727233e-04, 2.36609216e-04,-5.44189377e-06,
 -1.07575468e-04, 2.86360907e-06,-9.73876222e-05,-1.26919106e-04,
 -1.14002406e-03, 7.31610666e-04,-7.84748490e+00, 4.07948663e-04,
  9.30553808e-03, 1.31803083e-05]


--- Step 799 ---
qpos:
[ 4.11029044e-03, 2.02402877e-01,-6.40148457e-03,-2.62785315e-02,
  5.32639115e-03, 1.70791407e-01,-2.44913322e-02, 9.64408800e-03,
  1.79968638e-02, 2.01346518e-01,-1.17394655e-02, 2.36256901e-02,
  1.11959854e+00,-9.53543358e-03, 8.05638887e-01, 6.23221759e-02,
  9.49272198e-02,-7.01304817e-02, 1.21393313e-01, 9.99985365e-01,
 -9.57008481e-04,-3.95378275e-05, 5.32477121e-03]

qacc:
[   0.77939277,   2.89885127,   1.54992934, -12.0122401 , -65.14745457,
  -80.55164326, 108.21941501,-181.50756474, -15.74222299,  13.24318864,
  -31.29988606,  17.10464209,  -1.67981866,   4.08798655,  -2.16880708,
    4.31655055,  -2.43124712,  -0.3873207 ,  -0.2111727 ,  61.49425044,
    0.33353175,-102.25571824]

qfrc_actuator:
[-1.50538758e-03, 2.36902839e-01, 1.02850748e-04, 2.69872670e-04,
 -2.35364691e-03, 1.86398778e-01, 4.36813230e-03, 1.07731996e-03,
  1.63695972e-03, 2.34714312e-01, 1.31008098e-03, 4.08176084e-04,
  2.32176276e-02,-2.11804342e-03, 4.92472212e-03,-3.29508545e-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, -0.19195812, -0.38552771, -0.19195812,  2.56041029,
       -1.06041742, -0.38552771, -1.06041742,  0.95866585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002116703308023524
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99696282, -0.04069966,  0.06639789, -0.0406097 ,  0.99917143,
        0.00270461, -0.06645296,  0.        , -0.99778956])
  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([ 0.10987037, -0.08034304,  0.11375677])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.7173793 ,  6.28530663,  2.37025426,  6.28530663,  7.20179285,
       -1.28454052,  2.37025426, -1.28454052, 10.12365145,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006342344030261238
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.47029132e-15, -2.73514566e-14,  1.00000000e+00, -1.49620436e-28,
        1.00000000e+00,  2.73514566e-14, -1.00000000e+00,  0.00000000e+00,
       -5.47029132e-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([ 0.10885803, -0.05186111,  0.0619846 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38477400e-05, 7.76891444e-04, 2.69561018e-04, 3.19694927e-05,
  6.31816959e-03, 8.69302797e-02, 4.73226005e-02, 1.52279395e-02,
 -2.69208472e-04, 7.87192025e-04, 6.51488981e-05,-4.09921281e-07,
 -6.40395265e-05, 6.13005507e-05,-1.41689827e-04,-1.99058394e-05,
 -1.31140368e-03, 1.33581622e-03,-7.84738615e+00, 3.25724328e-04,
  9.33284847e-03, 1.66680989e-05]


--- Step 800 ---
qpos:
[ 4.06532354e-03, 2.07006517e-01,-6.44669015e-03,-2.62811809e-02,
  5.11572530e-03, 1.72461199e-01,-2.54481709e-02, 9.32939087e-03,
  1.80382307e-02, 2.05908971e-01,-1.17648842e-02, 2.36245941e-02,
  1.12014308e+00,-9.54890762e-03, 8.06036482e-01, 6.23241503e-02,
  9.49119014e-02,-7.01311740e-02, 1.21393036e-01, 9.99990478e-01,
 -8.83983952e-04, 9.23289548e-05, 4.27247415e-03]

qacc:
[-9.20319744e+00, 2.12012547e+01,-4.59238884e+01, 2.61448078e+01,
 -8.00812019e+01,-5.99842337e+01, 1.10344230e+02,-2.25792206e+02,
 -1.14681253e+01, 3.59523524e+01,-9.96115461e+01, 9.64972851e+01,
 -1.85621488e+00, 4.76411155e+00,-1.00711958e+01, 3.10034864e+01,
 -2.40677706e+00,-4.81903100e-01,-3.04204883e-01, 5.76639075e+01,
  1.60183289e-03,-1.06708138e+02]

qfrc_actuator:
[-0.00165226, 0.23831416, 0.00028743, 0.00028922,-0.00410334, 0.18708468,
  0.00527102, 0.00128392, 0.00144329, 0.23611726, 0.0012506 , 0.00045265,
  0.02320532,-0.00202777, 0.00483581,-0.00317043, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.3852269 ,  0.19256108,  0.3852269 ,  1.1637218 ,
       -1.4664956 ,  0.19256108, -1.4664956 ,  3.36446222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002237433380250114
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99673956, -0.03901923,  0.070624  , -0.03892165,  0.99923846,
        0.00275779, -0.07067782,  0.        , -0.9974992 ])
  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([ 0.10978559, -0.08032537,  0.11382258])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.7529582 , -6.48765382, -1.87424446, -6.48765382,  7.96214588,
       -4.1855752 , -1.87424446, -4.1855752 , 21.24122993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006385364773353053
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.14102152e-13,  5.43343579e-15,  1.00000000e+00,  6.19966715e-28,
        1.00000000e+00, -5.43343579e-15, -1.00000000e+00,  0.00000000e+00,
       -1.14102152e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10886681, -0.05188931,  0.06198449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59656677e-04, 1.74038201e-03, 3.27147655e-04, 5.25618576e-05,
  5.40344016e-03, 9.36629407e-02, 5.01332150e-02, 1.60805992e-02,
 -2.00088288e-04, 1.69524800e-03, 5.91405416e-05, 7.05595384e-05,
 -3.99581192e-05, 8.81800113e-05,-1.56156722e-04, 1.05344432e-04,
  1.08892447e-04, 1.76520909e-03,-7.84773118e+00, 2.91683709e-04,
  9.44135852e-03, 1.95495915e-05]


--- Step 801 ---
qpos:
[ 4.01763433e-03, 2.11628319e-01,-6.49301103e-03,-2.62847085e-02,
  4.88078246e-03, 1.74075211e-01,-2.64195494e-02, 9.00294659e-03,
  1.80778205e-02, 2.10487838e-01,-1.17922507e-02, 2.36233154e-02,
  1.12068709e+00,-9.56113826e-03, 8.06432921e-01, 6.23287427e-02,
  9.48871175e-02,-7.01340703e-02, 1.21391228e-01, 9.99995214e-01,
 -7.02963069e-04, 2.23141502e-04, 3.00475778e-03]

qacc:
[  -8.29372945,  25.33263449, -51.7664129 ,  24.97593198, -93.39115324,
  -57.0583021 , 146.40253912,-285.8025658 ,  -5.41603573,  26.76787015,
  -63.17861677,  51.02766659,  -1.4147336 ,   3.61476908,  -9.5268624 ,
   31.0371867 ,  -2.36639195,  -0.55103035,  -0.382378  ,  54.00520689,
   -0.66258181,-107.70338306]

qfrc_actuator:
[-0.00177388, 0.23972548, 0.00041716, 0.00028455,-0.00535829, 0.18755199,
  0.00621134, 0.0015413 , 0.00134825, 0.2373621 , 0.00131745, 0.00047984,
  0.02317836,-0.00196919, 0.00482152,-0.00302682, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.42178578,  0.08704192,  0.42178578,  0.49293323,
       -0.3016975 ,  0.08704192, -0.3016975 ,  1.89263231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023352155569453742
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96577539e-01, -3.69201727e-02,  7.39601891e-02, -3.68189173e-02,
        9.99318218e-01,  2.73248591e-03, -7.40106482e-02, -4.33680869e-19,
       -9.97257451e-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([ 0.10969999, -0.08030427,  0.1138774 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.76374872, -6.51909465, -1.80269288, -6.51909465,  8.18464222,
       -5.13839012, -1.80269288, -5.13839012, 25.34575567,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006398429228008373
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.25340501e-14,  2.00626642e-13,  1.00000000e+00,  6.52719723e-27,
        1.00000000e+00, -2.00626642e-13, -1.00000000e+00,  0.00000000e+00,
       -3.25340501e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10887407, -0.05191106,  0.06198446])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.47677394e-04, 2.29157791e-03, 4.79026519e-04, 7.21911736e-05,
  5.18162502e-03, 9.81728388e-02, 5.23870359e-02, 1.69656247e-02,
 -9.62679743e-05, 2.04643708e-03, 3.74716751e-04, 9.33490250e-05,
 -3.36937778e-05, 6.60746451e-05,-7.27833156e-05, 1.29742575e-04,
  2.32879748e-03, 2.20093387e-03,-7.84756539e+00, 2.94114295e-04,
  9.58867499e-03, 2.03335015e-05]


--- Step 802 ---
qpos:
[ 3.96916573e-03, 2.16262233e-01,-6.53633900e-03,-2.62883185e-02,
  4.61837070e-03, 1.75654022e-01,-2.73957141e-02, 8.66530032e-03,
  1.81165383e-02, 2.15078917e-01,-1.18177582e-02, 2.36214114e-02,
  1.12123079e+00,-9.57281088e-03, 8.06829952e-01, 6.23324060e-02,
  9.48531084e-02,-7.01393761e-02, 1.21387641e-01, 9.99998685e-01,
 -4.21279605e-04, 3.50712564e-04, 1.52659405e-03]

qacc:
[  -2.31321969,   7.47673582,  -3.08924606, -12.01372036,-104.87060898,
  -55.96228819, 179.70104953,-340.4512766 ,  -2.57996495,   9.66194173,
   -8.38354392, -14.40678371,  -0.80040905,   1.91134027,   3.72250748,
  -11.65591177,  -2.30630182,  -0.60234938,  -0.44497617,  50.34924285,
   -1.69785223,-105.21128695]

qfrc_actuator:
[-0.00179064, 0.24015062, 0.00049644, 0.00026594,-0.006269  , 0.18787709,
  0.00719056, 0.00186887, 0.00129422, 0.2379186 , 0.00138743, 0.00044352,
  0.02315861,-0.00194765, 0.00488394,-0.00306833, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.43058591,  0.00867806,  0.43058591,  0.43133759,
       -0.03295809,  0.00867806, -0.03295809,  2.06598021,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024147981029487573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99647359, -0.03439861,  0.07653186, -0.0342976 ,  0.99940819,
        0.00263415, -0.07657717,  0.        , -0.99706366])
  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([ 0.10961165, -0.08027965,  0.1139233 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.75432779, -6.53606649, -1.70316728, -6.53606649,  8.37170725,
       -6.20684757, -1.70316728, -6.20684757, 30.57369593,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006387022531209874
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03208485e-13,  4.88882299e-14,  1.00000000e+00,  5.04568015e-27,
        1.00000000e+00, -4.88882299e-14, -1.00000000e+00,  0.00000000e+00,
       -1.03208485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888015, -0.05192772,  0.06198449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.20623367e-05, 1.64536129e-03, 5.61673406e-04, 8.74630495e-05,
  5.48520973e-03, 1.01241201e-01, 5.40865069e-02, 1.78798429e-02,
 -4.71604886e-05, 1.62026357e-03, 4.89926057e-04, 5.62224168e-05,
 -2.67291272e-05, 2.64269345e-05, 4.08616643e-05,-4.42669571e-05,
  5.30036342e-03, 2.59999537e-03,-7.84697850e+00, 3.32388664e-04,
  9.77212641e-03, 1.91024889e-05]


--- Step 803 ---
qpos:
[ 3.91829240e-03, 2.20900602e-01,-6.57522030e-03,-2.62917668e-02,
  4.32575712e-03, 1.77214218e-01,-2.83690980e-02, 8.31668109e-03,
  1.81542578e-02, 2.19675584e-01,-1.18408992e-02, 2.36200662e-02,
  1.12177433e+00,-9.58466406e-03, 8.07226991e-01, 6.23336443e-02,
  9.48101789e-02,-7.01472363e-02, 1.21382078e-01, 9.99999876e-01,
 -4.63568194e-05, 4.72223567e-04,-1.51235341e-04]

qacc:
[-6.81871144e+00,-6.19574095e+00, 2.99609983e+01,-3.75424022e+01,
 -1.14449535e+02,-5.46897315e+01, 2.06038241e+02,-3.87167510e+02,
 -2.82841465e+00, 1.92611668e+00, 1.49704894e+00, 2.68168849e-01,
 -2.62495777e-02,-1.75736786e-01, 7.32669345e+00,-2.56282920e+01,
 -2.23009352e+00,-6.38594474e-01,-4.94027198e-01, 4.66495463e+01,
 -3.05873180e+00,-9.98160219e+01]

qfrc_actuator:
[-1.90511327e-03, 2.39982832e-01, 5.59543923e-04, 2.38508548e-04,
 -6.74724634e-03, 1.88065334e-01, 8.15367945e-03, 2.20718178e-03,
  1.22907986e-03, 2.37864460e-01, 1.36748942e-03, 4.40616780e-04,
  2.31378588e-02,-1.96590085e-03, 4.85381765e-03,-3.20066589e-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,  0.42746036, -0.05250888,  0.42746036,  0.48746881,
        0.46235623, -0.05250888,  0.46235623,  4.1945884 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002480467957208008
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99642131, -0.03146427,  0.07845113, -0.0313672 ,  0.99950488,
        0.00246963, -0.07848999,  0.        , -0.9969149 ])
  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([ 0.10951923, -0.08025159,  0.11396197])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.7284781 , -6.54283548, -1.56962464, -6.54283548,  8.48462621,
       -7.32034136, -1.56962464, -7.32034136, 37.24264563,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006355755437578992
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.73399736e-14, -8.73399736e-14,  1.00000000e+00, -7.62827099e-27,
        1.00000000e+00,  8.73399736e-14, -1.00000000e+00,  0.00000000e+00,
       -8.73399736e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1088853 , -0.05194039,  0.06198456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31598426e-04, 7.08516934e-04, 4.22588658e-04, 5.40985338e-05,
  6.38104529e-03, 1.03145142e-01, 5.52827333e-02, 1.87776829e-02,
 -5.44960881e-05, 7.93215971e-04, 3.24763034e-04, 7.46185905e-05,
 -3.13353866e-05,-1.87184269e-05,-2.54788260e-05,-1.31730962e-04,
  8.90822040e-03, 2.90737912e-03,-7.84605638e+00, 4.06383027e-04,
  9.98564522e-03, 1.58891821e-05]


--- Step 804 ---
qpos:
[ 3.86029355e-03, 2.25540096e-01,-6.61161389e-03,-2.62940961e-02,
  4.00066049e-03, 1.78768081e-01,-2.93339987e-02, 7.95712223e-03,
  1.81911783e-02, 2.24272700e-01,-1.18636110e-02, 2.36193166e-02,
  1.12231770e+00,-9.59687702e-03, 8.07622529e-01, 6.23335130e-02,
  9.47586862e-02,-7.01577498e-02, 1.21374392e-01, 9.99997717e-01,
  4.14295047e-04, 5.84332668e-04,-2.01322086e-03]

qacc:
[-1.96949233e+01,-3.12608575e+00, 8.64583033e+00, 5.84107642e+00,
 -1.22183704e+02,-5.42974188e+01, 2.28085892e+02,-4.26829686e+02,
 -2.19617507e+00, 6.24454013e-01,-3.87374371e+00, 1.31597854e+01,
  2.01283479e-01,-7.96255611e-01, 1.90285091e+00,-9.91698937e+00,
 -2.14080828e+00,-6.63361217e-01,-5.30908062e-01, 4.29086986e+01,
 -4.68940403e+00,-9.20584361e+01]

qfrc_actuator:
[-0.00227155, 0.23988817, 0.00061029, 0.00027659,-0.00691678, 0.18804469,
  0.00908373, 0.00257396, 0.00117551, 0.23758769, 0.00125685, 0.00043908,
  0.0231165 ,-0.00198975, 0.00474156,-0.00327911, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.41979995, -0.09616415,  0.41979995,  0.55646303,
        0.54912878, -0.09616415,  0.54912878,  2.82786854,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025361334024303884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99641214, -0.02813828,  0.07981908, -0.02804842,  0.99960404,
        0.00224686, -0.0798507 ,  0.        , -0.99680683])
  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([ 0.10942181, -0.08022025,  0.11399489])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.68935396, -6.54258583, -1.3935663 , -6.54258583,  8.46392921,
       -8.33136598, -1.3935663 , -8.33136598, 45.80387397,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006308512590854215
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19985101e-14,  1.20991806e-13,  1.00000000e+00, -2.66163946e-27,
        1.00000000e+00, -1.20991806e-13, -1.00000000e+00,  0.00000000e+00,
        2.19985101e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10888976, -0.05194993,  0.06198468])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.91602747e-04, 2.27536330e-04, 1.98386902e-04, 7.40123316e-05,
  7.72241319e-03, 1.04011670e-01, 5.60677947e-02, 1.96925971e-02,
 -4.39149039e-05, 7.46988329e-05, 4.34558627e-05, 3.51742198e-05,
 -4.50418698e-05,-3.25470831e-05,-1.44669542e-04,-9.05072399e-05,
  1.29895624e-02, 3.06529680e-03,-7.84488197e+00, 5.16078869e-04,
  1.02207402e-02, 1.06986745e-05]


--- Step 805 ---
qpos:
[ 3.79277497e-03, 2.30176400e-01,-6.64557132e-03,-2.62948863e-02,
  3.67888935e-03, 1.80159516e-01,-3.03814090e-02, 7.58644802e-03,
  1.82277694e-02, 2.28863573e-01,-1.18864045e-02, 2.36189313e-02,
  1.12286071e+00,-9.60920956e-03, 8.08016742e-01, 6.23313795e-02,
  9.47121732e-02,-7.01629950e-02, 1.21368906e-01, 9.99993008e-01,
  7.50621673e-04, 5.71830866e-04,-3.61843585e-03]

qacc:
[-2.55941277e+01,-7.81222203e+00, 1.53258196e+01, 9.65894904e+00,
  1.25054251e+01,-7.08299727e+00,-2.39398088e+02, 2.98555504e+02,
 -8.53404653e-01,-7.27011571e+00, 1.24152623e+01,-1.38602578e+00,
 -1.78320747e-01, 7.53493633e-02, 4.09255847e+00,-1.71543294e+01,
  1.24492329e+00, 1.31709855e+00, 5.50302076e-01,-6.21116018e+01,
 -6.23765590e+01, 1.28372102e+02]

qfrc_actuator:
[-0.00274798, 0.23955488, 0.0006538 , 0.00033521,-0.00690447, 0.18778737,
  0.01002263, 0.00296216, 0.00114683, 0.23689621, 0.00109278, 0.00042034,
  0.02308946,-0.00199896, 0.00468135,-0.00337855, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.41069637,  0.12964579, -0.41069637,  0.47908037,
        0.15334539,  0.12964579,  0.15334539,  0.91644614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025852217870627097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99643669, -0.02445099,  0.08072224, -0.02437115,  0.99970103,
        0.00197433, -0.08074638,  0.        , -0.99673468])
  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([ 0.1093189 , -0.08018595,  0.11402324])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.7989595 , -2.33225257, -6.38642688, -2.33225257,  9.02776651,
       -0.81393571, -6.38642688, -0.81393571,  7.09619984,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006441119624355229
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.5854737e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.5854737e-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([ 0.09429635, -0.09304646,  0.06198436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.24826727e-04,-3.25453897e-04, 6.49058816e-05, 6.65825492e-05,
  9.35984521e-03, 1.04027550e-01, 5.65766240e-02, 2.06273042e-02,
 -1.84411246e-05,-8.01466105e-04,-1.94382342e-04,-2.33070494e-05,
 -6.29960160e-05,-2.27926565e-05,-1.36379243e-04,-1.23036195e-04,
  1.73542338e-02, 3.01931060e-03,-7.84353363e+00, 6.61346375e-04,
  1.04675103e-02, 3.52615021e-06]


--- Step 806 ---
qpos:
[ 3.71989550e-03, 2.34798814e-01,-6.67493933e-03,-2.62946096e-02,
  3.36481199e-03, 1.81379365e-01,-3.14887710e-02, 7.21092323e-03,
  1.82640207e-02, 2.33437652e-01,-1.19059200e-02, 2.36199705e-02,
  1.12340281e+00,-9.62074422e-03, 8.08410308e-01, 6.23272144e-02,
  9.46687650e-02,-7.01623510e-02, 1.21364857e-01, 9.99986918e-01,
  9.74405947e-04, 4.61909529e-04,-5.00018581e-03]

qacc:
[-13.94908894,-28.96540642, 72.17905022,-50.87343538, 28.99689863,
 -69.25797326,-61.70911246,199.92674133, -0.78124258,-28.42148211,
  63.12049468,-31.34523267, -1.45854939,  3.12091127,  5.25038511,
 -19.59610452,  0.77620609,  1.47231425,  0.35898989,-56.15794126,
 -48.82879252,111.73375414]

qfrc_actuator:
[-0.00298337, 0.23824791, 0.00063877, 0.00033426,-0.00678813, 0.18763542,
  0.01107219, 0.00333227, 0.00111518, 0.23550084, 0.001039  , 0.00044454,
  0.02302175,-0.00196398, 0.00467904,-0.00347167, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.2140677 , -0.37370384,  0.2140677 ,  1.94314078,
        0.86638239, -0.37370384,  0.86638239,  0.92696071,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002618758029205462
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96492376e-01, -2.12695453e-02,  8.09354752e-02, -2.11997356e-02,
        9.99773778e-01,  1.72185028e-03, -8.09537887e-02, -2.16840434e-19,
       -9.96717856e-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([ 0.10923522, -0.08015742,  0.11404056])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.97049761,  2.21684711,  6.60858728,  2.21684711, 18.1444918 ,
       -3.74831044,  6.60858728, -3.74831044,  8.22786637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000665068843693481
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.34667745e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.34667745e-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([ 0.09417835, -0.09300448,  0.06198385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.96870601e-04,-1.63600434e-03,-1.24483711e-04,-2.14118603e-05,
  9.30826951e-03, 1.11960007e-01, 6.17482461e-02, 2.15531849e-02,
 -1.94995056e-05,-2.04654613e-03,-2.96274988e-04,-2.72661614e-05,
 -1.12787092e-04, 1.91370712e-05,-7.90089492e-05,-1.17607989e-04,
  1.12902792e-02,-5.94742321e-04,-7.84563688e+00, 9.50100770e-04,
  1.01709371e-02,-1.17106264e-05]


--- Step 807 ---
qpos:
[ 3.64847198e-03, 2.39402207e-01,-6.70411450e-03,-2.62938956e-02,
  3.06277550e-03, 1.82447355e-01,-3.26413534e-02, 6.83366701e-03,
  1.83005338e-02, 2.37994646e-01,-1.19257667e-02, 2.36220952e-02,
  1.12394348e+00,-9.63037542e-03, 8.08802453e-01, 6.23243253e-02,
  9.46270189e-02,-7.01553497e-02, 1.21361543e-01, 9.99980229e-01,
  1.09517270e-03, 2.75862546e-04,-6.18589417e-03]

qacc:
[ 3.80451200e+00,-2.47890317e+01, 5.00554256e+01,-2.88020204e+01,
  4.49665010e+01,-7.79288743e+01,-6.15983012e+00, 1.60318522e+02,
  7.39679326e-01,-1.94199128e+01, 3.18934727e+01, 4.28486927e-03,
 -2.71552988e+00, 6.30137457e+00,-5.80128712e+00, 1.75798809e+01,
  4.15518741e-01, 1.58929771e+00, 1.83973503e-01,-5.13627733e+01,
 -3.82242325e+01, 9.80314010e+01]

qfrc_actuator:
[-0.00286144, 0.23691904, 0.00047898, 0.00031519,-0.00661506, 0.18763859,
  0.0121986 , 0.00363644, 0.0011174 , 0.23467259, 0.00101258, 0.0004933 ,
  0.02294035,-0.00186784, 0.00462091,-0.00340039, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.22454419, -0.36750435,  0.22454419,  2.02305854,
        0.97294319, -0.36750435,  0.97294319,  1.0251391 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026273623483686536
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99656583, -0.01998242,  0.08035699, -0.01991777,  0.99980033,
        0.00160605, -0.08037304,  0.        , -0.99676485])
  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([ 0.10916918, -0.08014959,  0.11404587])
  solimp: array([9.0e-01, 9.5e-01, 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([ 7.08693412,  2.3034317 ,  6.70215172,  2.3034317 , 23.99579889,
       -5.81132997,  6.70215172, -5.81132997,  9.0842034 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006794892250469448
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.08477053e-14,  8.16954106e-14,  1.00000000e+00,  3.33707006e-27,
        1.00000000e+00, -8.16954106e-14, -1.00000000e+00,  0.00000000e+00,
       -4.08477053e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09408519, -0.09297187,  0.0619835 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.98762927e-05,-2.43295382e-03,-5.66176630e-04,-1.03920847e-04,
  9.09492818e-03, 1.20512248e-01, 6.58715175e-02, 2.21004169e-02,
  1.37828438e-05,-2.19619202e-03,-5.38619615e-04,-5.96358566e-05,
 -1.48241395e-04, 7.63235093e-05,-1.11248486e-04, 5.37121763e-05,
  6.88275961e-03,-2.65918415e-03,-7.84668030e+00, 1.12575397e-03,
  9.92356338e-03,-2.06186892e-05]


--- Step 808 ---
qpos:
[ 3.58320947e-03, 2.44002375e-01,-6.74465078e-03,-2.62951873e-02,
  2.77682003e-03, 1.83398890e-01,-3.38224959e-02, 6.45735447e-03,
  1.83377041e-02, 2.42556751e-01,-1.19577879e-02, 2.36221955e-02,
  1.12448297e+00,-9.63872482e-03, 8.09193393e-01, 6.23238937e-02,
  9.45858439e-02,-7.01416468e-02, 1.21358348e-01, 9.99973462e-01,
  1.12066920e-03, 3.03586475e-05,-7.19851986e-03]

qacc:
[ 1.52508059e+01, 2.33384384e+01,-8.09618819e+01, 6.67990652e+01,
  5.96317745e+01,-7.21974871e+01, 2.99683143e+01, 1.17839671e+02,
  1.50847428e+00, 3.66058321e+01,-1.12174413e+02, 9.28320165e+01,
 -1.92287470e+00, 4.31725134e+00,-9.09286454e+00, 2.94613874e+01,
  1.42774982e-01, 1.67540693e+00, 2.95604274e-02,-4.74741290e+01,
 -2.99277468e+01, 8.65588488e+01]

qfrc_actuator:
[-0.00251206, 0.23778904, 0.00027038, 0.00028545,-0.00632662, 0.187908  ,
  0.01334486, 0.00397089, 0.00113948, 0.2364462 , 0.0009516 , 0.0005033 ,
  0.02288278,-0.00180745, 0.00458797,-0.00326847, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.23430388, -0.36136025,  0.23430388,  1.55278148,
        0.72756835, -0.36136025,  0.72756835,  0.90242442,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024040970952475256
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99670472, -0.01760971,  0.07918076, -0.0175544 ,  0.99984494,
        0.00139457, -0.07919304,  0.        , -0.9968593 ])
  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([ 0.10911717, -0.08012993,  0.11404177])
  solimp: array([9.0e-01, 9.5e-01, 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([  7.15899804,   2.38898817,   6.74862864,   2.38898817,
        41.2887966 , -12.08181532,   6.74862864, -12.08181532,
        11.43591346,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006885161201553303
  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([ 0.09401159, -0.09294679,  0.06198328])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42234460e-04,-7.73532592e-04,-8.36589781e-04,-1.65585453e-04,
  8.77979990e-03, 1.28350262e-01, 6.92803898e-02, 2.25224128e-02,
  3.66691150e-05, 2.71332702e-04,-6.34804774e-04,-1.13775255e-04,
 -1.34316814e-04, 4.24365923e-05,-7.96476171e-05, 1.20281994e-04,
  3.70063163e-03,-3.72290674e-03,-7.84704548e+00, 1.21850791e-03,
  9.71112717e-03,-2.48914159e-05]


--- Step 809 ---
qpos:
[ 3.52435812e-03, 2.48614045e-01,-6.79732751e-03,-2.62992466e-02,
  2.51149075e-03, 1.84262957e-01,-3.50235023e-02, 6.08150446e-03,
  1.83751411e-02, 2.47137334e-01,-1.19985354e-02, 2.36202083e-02,
  1.12502176e+00,-9.64742751e-03, 8.09583153e-01, 6.23260348e-02,
  9.45443972e-02,-7.01209948e-02, 1.21354725e-01, 9.99966943e-01,
  1.05721839e-03,-2.61912051e-04,-8.05774641e-03]

qacc:
[ 1.54049630e+01, 4.34132099e+01,-1.21089380e+02, 8.41693950e+01,
  7.60420985e+01,-5.92124683e+01, 4.12348002e+01, 6.30742020e+01,
  4.98620048e-01, 4.45063493e+01,-1.14443328e+02, 7.86572277e+01,
 -4.24765815e-02,-5.63010213e-01,-9.51389310e+00, 3.07431707e+01,
 -6.78998264e-02, 1.73729978e+00,-1.06869967e-01,-4.43066240e+01,
 -2.36169707e+01, 7.67233194e+01]

qfrc_actuator:
[-2.17350401e-03, 2.39650627e-01, 1.50507424e-04, 2.51572971e-04,
 -5.92455294e-03, 1.88469009e-01, 1.45222023e-02, 4.37477455e-03,
  1.13746126e-03, 2.38682647e-01, 1.02389557e-03, 5.10472225e-04,
  2.28342036e-02,-1.83965485e-03, 4.53822142e-03,-3.13735707e-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,  0.07412464,  0.42424648,  0.07412464,  2.18715997,
       -0.30689458,  0.42424648, -0.30689458,  0.48429419,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002371025668783382
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96869933e-01, -1.55752379e-02,  7.75096726e-02, -1.55283700e-02,
        9.99878699e-01,  1.20737805e-03, -7.75190758e-02,  2.16840434e-19,
       -9.96990869e-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([ 0.10907581, -0.08011373,  0.11403008])
  solimp: array([9.0e-01, 9.5e-01, 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([  7.19542789,   2.4569574 ,   6.76295371,   2.4569574 ,
        37.52382538, -11.0182006 ,   6.76295371, -11.0182006 ,
        11.19830159,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0006931138080848304
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.00895186e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.00895186e-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([ 0.0939534 , -0.09292774,  0.06198317])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57801671e-04, 1.08801115e-03,-4.40327165e-04,-1.09166842e-04,
  8.37664633e-03, 1.34714208e-01, 7.18890748e-02, 2.28804218e-02,
  1.56077716e-05, 2.09200621e-03,-5.37747339e-06,-1.52051498e-05,
 -1.23588387e-04,-5.29606768e-05,-7.56230453e-05, 1.26969009e-04,
  1.43764897e-03,-4.14637135e-03,-7.84696531e+00, 1.24874090e-03,
  9.52405410e-03,-2.56628141e-05]


--- Step 810 ---
qpos:
[ 3.46988287e-03, 2.53235955e-01,-6.85371139e-03,-2.63039881e-02,
  2.27080327e-03, 1.85064018e-01,-3.62372373e-02, 5.70579802e-03,
  1.84122467e-02, 2.51731504e-01,-1.20380014e-02, 2.36183761e-02,
  1.12555990e+00,-9.65721696e-03, 8.09971730e-01, 6.23300832e-02,
  9.45020360e-02,-7.00932220e-02, 1.21350194e-01, 9.99960859e-01,
  9.10004012e-04,-5.91395887e-04,-8.78076458e-03]

qacc:
[ 10.27854958, 22.47374077,-57.64290736, 44.25410784, 90.48232806,
 -47.50810134, 47.71280473, 21.72364716, -0.82675263, 14.69397429,
 -26.99097852, 17.62201203,  0.64200244, -2.52643126, -7.54993045,
  23.77203935, -0.22866179,  1.78015979, -0.22683409,-41.71287129,
 -18.87136658, 68.13435127]

qfrc_actuator:
[-1.95067694e-03, 2.40495995e-01, 1.06936193e-04, 2.52283118e-04,
 -5.44753577e-03, 1.89400100e-01, 1.57386840e-02, 4.80267302e-03,
  1.10336347e-03, 2.39459386e-01, 1.14206310e-03, 5.34576693e-04,
  2.27750476e-02,-1.90854247e-03, 4.47842644e-03,-3.04333887e-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,  0.06509874,  0.4257249 ,  0.06509874,  1.65710261,
       -0.18753659,  0.4257249 , -0.18753659,  0.45935008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023298556983488345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97052363e-01, -1.38469427e-02,  7.54642166e-02, -1.38074507e-02,
        9.99904126e-01,  1.04504888e-03, -7.54714523e-02,  2.16840434e-19,
       -9.97147963e-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([ 0.10904233, -0.08010048,  0.11401265])
  solimp: array([9.0e-01, 9.5e-01, 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([ 7.20322526,  2.51623856,  6.74944425,  2.51623856, 16.37928664,
       -3.42089788,  6.74944425, -3.42089788,  8.47855917,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006941011205832959
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.19963395e-13,  1.59951193e-13,  1.00000000e+00,  1.91882882e-26,
        1.00000000e+00, -1.59951193e-13, -1.00000000e+00,  0.00000000e+00,
       -1.19963395e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09390733, -0.0929135 ,  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:
[ 2.45083537e-04, 1.19691616e-03, 7.13138420e-05, 1.99811865e-05,
  7.82146564e-03, 1.40002266e-01, 7.41033584e-02, 2.32867472e-02,
 -1.79410781e-05, 1.78427996e-03, 4.97498378e-04, 1.03442408e-04,
 -1.47910452e-04,-1.03249491e-04,-8.28337416e-05, 9.07943699e-05,
 -1.27770232e-04,-4.17327189e-03,-7.84657820e+00, 1.23061619e-03,
  9.35563291e-03,-2.37027958e-05]


--- Step 811 ---
qpos:
[ 3.41865175e-03, 2.57864241e-01,-6.90999896e-03,-2.63079626e-02,
  2.05810190e-03, 1.85821985e-01,-3.74583192e-02, 5.33087183e-03,
  1.84483103e-02, 2.56336909e-01,-1.20760436e-02, 2.36159100e-02,
  1.12609706e+00,-9.66789479e-03, 8.10360431e-01, 6.23297604e-02,
  9.44582644e-02,-7.00582110e-02, 1.21344328e-01, 9.99955300e-01,
  6.83252825e-04,-9.50903439e-04,-9.38230772e-03]

qacc:
[ 7.45837430e+00, 9.72678068e+00,-2.57060459e+01, 3.41449497e+01,
  1.02455289e+02,-3.49537932e+01, 3.83993222e+01, 1.88555639e+01,
 -2.42916710e+00, 9.56955167e+00,-9.89080995e+00,-1.16335028e+01,
 -4.38354621e-02,-1.15819001e+00, 1.33602881e+01,-4.65202612e+01,
 -3.52562099e-01, 1.80957261e+00,-3.33940630e-01,-3.95993511e+01,
 -1.53050394e+01, 6.07746303e+01]

qfrc_actuator:
[-1.78006362e-03, 2.40799304e-01, 1.05571301e-04, 2.90520447e-04,
 -4.92006188e-03, 1.90723539e-01, 1.69617041e-02, 5.19185590e-03,
  1.03275614e-03, 2.39996894e-01, 1.19247584e-03, 4.96421362e-04,
  2.26989133e-02,-1.96305982e-03, 4.47123086e-03,-3.27373375e-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,  0.05547849,  0.42708509,  0.05547849,  1.88478111,
       -0.18888907,  0.42708509, -0.18888907,  0.45521011,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00228279432004862
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97244452e-01, -1.23905413e-02,  7.31435346e-02, -1.23573472e-02,
        9.99923234e-01,  9.06357562e-04, -7.31491499e-02,  0.00000000e+00,
       -9.97321012e-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([ 0.10901443, -0.0800897 ,  0.11399099])
  solimp: array([9.0e-01, 9.5e-01, 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([ 7.18799783,  2.59474708,  6.70332756,  2.59474708, 18.92199421,
       -4.54203566,  6.70332756, -4.54203566,  8.94614461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006921740843536528
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.00991257e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -4.00991257e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09387083, -0.09290311,  0.06198319])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82200680e-04, 8.26753830e-04, 2.03473007e-04, 8.23915155e-05,
  7.11619734e-03, 1.44461948e-01, 7.59683136e-02, 2.36704772e-02,
 -5.79645312e-05, 1.48158192e-03, 4.32102885e-04, 4.76826446e-05,
 -1.90988888e-04,-1.02472634e-04,-3.73327629e-05,-2.36512246e-04,
 -1.15978857e-03,-3.96355619e-03,-7.84596560e+00, 1.17378317e-03,
  9.20094684e-03,-1.95260218e-05]


--- Step 812 ---
qpos:
[ 3.37029618e-03, 2.62495510e-01,-6.96537772e-03,-2.63116024e-02,
  1.87647175e-03, 1.86548068e-01,-3.86807429e-02, 4.95806611e-03,
  1.84838319e-02, 2.60950947e-01,-1.21126654e-02, 2.36131548e-02,
  1.12663305e+00,-9.67910510e-03, 8.10749033e-01, 6.23239982e-02,
  9.44127074e-02,-7.00158903e-02, 1.21336748e-01, 9.99950271e-01,
  3.80456724e-04,-1.33525630e-03,-9.87564640e-03]

qacc:
[ 6.46644819e+00, 2.07999659e+00,-3.12772768e+00, 5.29069448e+00,
  1.13535337e+02,-3.41661557e+01, 5.14057023e+01, 1.12215824e+01,
 -1.23881614e+00, 6.84553836e+00,-6.63000628e+00,-7.00317895e+00,
 -5.43596225e-01, 4.14189250e-02, 1.62827191e+01,-5.71637000e+01,
 -4.46383978e-01, 1.82743541e+00,-4.28584689e-01,-3.78529411e+01,
 -1.27416209e+01, 5.41469480e+01]

qfrc_actuator:
[-1.62364441e-03, 2.40865907e-01, 1.09456969e-04, 2.96839706e-04,
 -4.42877286e-03, 1.91968130e-01, 1.82416149e-02, 5.59262058e-03,
  9.94344163e-04, 2.40387780e-01, 1.23708609e-03, 4.74894874e-04,
  2.26339481e-02,-1.99096608e-03, 4.45291357e-03,-3.55123988e-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,  0.0445236 ,  0.42836572,  0.0445236 ,  2.41951524,
       -0.20671683,  0.42836572, -0.20671683,  0.45215915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002231663852139406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97440115e-01, -1.11766321e-02,  7.06279013e-02, -1.11487176e-02,
        9.99937539e-01,  7.89431380e-04, -7.06323130e-02,  0.00000000e+00,
       -9.97502419e-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([ 0.10899023, -0.08008098,  0.11396636])
  solimp: array([9.0e-01, 9.5e-01, 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([ 7.15434383,  2.68476454,  6.63149116,  2.68476454, 22.10079935,
       -6.05108456,  6.63149116, -6.05108456,  9.60413029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006879304646743439
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.21039453e-13,  1.61385937e-13,  1.00000000e+00,  1.95340654e-26,
        1.00000000e+00, -1.61385937e-13, -1.00000000e+00,  0.00000000e+00,
       -1.21039453e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.09384186, -0.09289575,  0.0619833 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61880120e-04, 4.12944815e-04, 1.50676868e-04, 4.04019348e-05,
  6.20771390e-03, 1.47848924e-01, 7.76216878e-02, 2.40340701e-02,
 -3.01161846e-05, 1.14955013e-03, 3.53699351e-04, 4.79778575e-05,
 -2.06665460e-04,-8.50141578e-05,-6.82627421e-05,-2.96991186e-04,
 -1.78185258e-03,-3.61753578e-03,-7.84517570e+00, 1.08462288e-03,
  9.05632820e-03,-1.34714430e-05]


--- Step 813 ---
qpos:
[ 3.32492729e-03, 2.67122148e-01,-7.01740149e-03,-2.63145107e-02,
  1.68068448e-03, 1.87254737e-01,-3.98978286e-02, 4.58797235e-03,
  1.85195218e-02, 2.65567947e-01,-1.21464868e-02, 2.36106138e-02,
  1.12716787e+00,-9.69063188e-03, 8.11136725e-01, 6.23188923e-02,
  9.43685018e-02,-6.99803926e-02, 1.21334716e-01, 9.99942573e-01,
  5.54395068e-05,-1.66150856e-03,-1.05870969e-02]

qacc:
[   6.60108202, -14.00368637,  37.9395634 , -27.20690337, -51.36946011,
  -34.81172407,  75.6640161 , -23.24217273,   0.37658482,  -3.47048004,
   17.14896136, -20.09525117,  -0.49260879,   0.12747122,  -3.31163006,
    9.66259729,   0.33786199,  -1.70577704,   1.38708685, -11.54201392,
   28.89585711,-109.05989635]

qfrc_actuator:
[-1.45891807e-03, 2.40276503e-01, 1.33394592e-04, 3.01886474e-04,
 -4.06223749e-03, 1.93153688e-01, 1.95348413e-02, 5.99868203e-03,
  9.92918801e-04, 2.40298243e-01, 1.27764875e-03, 4.63254575e-04,
  2.25863881e-02,-2.00290623e-03, 4.44924200e-03,-3.49914346e-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,  0.05485623,  0.42716546,  0.05485623,  0.93237297,
       -0.06442784,  0.42716546, -0.06442784,  0.43894712,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002177500141322897
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97635760e-01, -1.01787681e-02,  6.79653029e-02, -1.01552291e-02,
        9.99948195e-01,  6.91838895e-04, -6.79688241e-02,  1.08420217e-19,
       -9.97687446e-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([ 0.10896846, -0.08007397,  0.11393951])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006895607592960623
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.050219e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
       -8.050219e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08173395, -0.06144068,  0.06198325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68341326e-04,-4.87101616e-04, 7.73097845e-05, 1.87611909e-05,
  5.02033241e-03, 1.50617496e-01, 7.89885179e-02, 2.43360206e-02,
  9.65061664e-06, 4.67150474e-04, 2.71357478e-04, 4.09170055e-05,
 -1.95566566e-04,-6.93991874e-05,-7.33925976e-05, 2.55602444e-05,
 -2.08789462e-03,-3.20370251e-03,-7.84423447e+00, 9.67702328e-04,
  8.91886874e-03,-5.76793442e-06]


--- Step 814 ---
qpos:
[ 3.28293510e-03, 2.71738536e-01,-7.06629948e-03,-2.63167734e-02,
  1.46616102e-03, 1.87954320e-01,-4.11063368e-02, 4.22121563e-03,
  1.85545848e-02, 2.70183502e-01,-1.21772695e-02, 2.36079792e-02,
  1.12770143e+00,-9.70195782e-03, 8.11523371e-01, 6.23177108e-02,
  9.43256515e-02,-6.99512451e-02, 1.21337217e-01, 9.99931816e-01,
 -2.87907367e-04,-1.93353279e-03,-1.15126511e-02]

qacc:
[   7.30017235, -20.96781764,  52.35889121, -38.61778673, -67.99784374,
  -26.26330892,  66.2326117 , -17.28953411,  -1.31414214, -10.59114457,
   35.39191343, -40.80881661,  -0.92803284,   1.37469797, -13.34765323,
   44.55300627,   0.33883216,  -1.58753626,   1.13318018,  -9.62915427,
   27.00695088,-107.0482229 ]

qfrc_actuator:
[-1.27271620e-03, 2.39477442e-01, 1.66553682e-04, 3.05638824e-04,
 -3.77325973e-03, 1.94392871e-01, 2.07056455e-02, 6.35322396e-03,
  9.42181369e-04, 2.40046938e-01, 1.34933989e-03, 4.39405607e-04,
  2.25333352e-02,-1.98751709e-03, 4.43313133e-03,-3.28871065e-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,  0.06504603,  0.42573296,  0.06504603,  1.00722988,
       -0.08808975,  0.42573296, -0.08808975,  0.44413223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021172710281040486
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97832736e-01, -8.74855371e-03,  6.52172803e-02, -8.72992737e-03,
        9.99961731e-01,  5.70578715e-04, -6.52197762e-02,  1.08420217e-19,
       -9.97870924e-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([ 0.1089457 , -0.08006247,  0.1139115 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 7.2924725 ,  6.00525934, -4.13727149,  6.00525934, 17.77017194,
       15.20840549, -4.13727149, 15.20840549, 29.36750901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007054901899320037
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.93422559e-14, -9.83556399e-14,  1.00000000e+00, -3.86953276e-27,
        1.00000000e+00,  9.83556399e-14, -1.00000000e+00,  0.00000000e+00,
       -3.93422559e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174293, -0.06142769,  0.06198287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.90698462e-04,-1.21583347e-03,-1.09098322e-04,-2.40343955e-05,
  6.01716386e-03, 1.52817055e-01, 7.98991919e-02, 2.45569236e-02,
 -3.55316801e-05,-9.34611188e-05, 1.51122136e-04,-3.52522554e-06,
 -1.90406957e-04,-3.72313850e-05,-5.03586280e-05, 2.01665078e-04,
 -3.22521345e-03,-3.89085729e-03,-7.84475394e+00, 9.02202903e-04,
  8.74628742e-03,-2.07093257e-06]


--- Step 815 ---
qpos:
[ 3.24361574e-03, 2.76350459e-01,-7.11737726e-03,-2.63198834e-02,
  1.22846605e-03, 1.88654070e-01,-4.23031743e-02, 3.85916544e-03,
  1.85884238e-02, 2.74795044e-01,-1.22056005e-02, 2.36056137e-02,
  1.12823365e+00,-9.71272485e-03, 8.11909482e-01, 6.23144294e-02,
  9.42841627e-02,-6.99280049e-02, 1.21343350e-01, 9.99917511e-01,
 -6.46276009e-04,-2.15485647e-03,-1.26455487e-02]

qacc:
[   5.600028  ,  -1.56443871,   0.57152116,  -8.44104053, -84.0282992 ,
  -22.4692188 ,  60.88689911,   1.41937133,  -2.52510998, -11.59540715,
   32.52109145, -28.83625936,  -1.54783308,   2.86912596,   5.6216088 ,
  -20.65524178,   0.34036238,  -1.47682057,   0.90824641,  -8.00319738,
   25.28848787,-103.66329264]

qfrc_actuator:
[-1.12847160e-03, 2.39696225e-01, 2.04132865e-04, 2.90655456e-04,
 -3.52057460e-03, 1.95535400e-01, 2.18508794e-02, 6.74615485e-03,
  8.62584519e-04, 2.39790558e-01, 1.43834972e-03, 4.43958883e-04,
  2.24717121e-02,-1.95612109e-03, 4.36699584e-03,-3.41286991e-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,  0.07662342,  0.4238023 ,  0.07662342,  1.24353808,
       -0.14696588,  0.4238023 , -0.14696588,  0.45724478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020528688789161454
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98024691e-01, -6.89385651e-03,  6.24434968e-02, -6.88040251e-03,
        9.99976237e-01,  4.30486737e-04, -6.24449807e-02,  0.00000000e+00,
       -9.98048408e-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([ 0.10892117, -0.08004659,  0.11388321])
  solimp: array([9.0e-01, 9.5e-01, 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([ 7.37173317,  5.94094992, -4.3643515 ,  5.94094992, 21.84139942,
       19.69675509, -4.3643515 , 19.69675509, 34.18383472,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007157573984268584
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.87779095e-14, -5.81668642e-14,  1.00000000e+00, -2.25558940e-27,
        1.00000000e+00,  5.81668642e-14, -1.00000000e+00,  0.00000000e+00,
       -3.87779095e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174946, -0.06141719,  0.06198262])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51545241e-04,-6.45304957e-04,-2.79506468e-04,-8.12441924e-05,
  7.20674301e-03, 1.54303838e-01, 8.06223183e-02, 2.47849555e-02,
 -6.96860487e-05,-4.38577257e-04, 3.63256446e-05,-4.16317006e-06,
 -1.88463368e-04,-1.49176280e-05,-7.05893023e-05,-1.20246055e-04,
 -4.34812053e-03,-4.20641961e-03,-7.84516324e+00, 8.12764689e-04,
  8.58788426e-03, 2.28965084e-06]


--- Step 816 ---
qpos:
[ 3.20674741e-03, 2.80964457e-01,-7.17188214e-03,-2.63237676e-02,
  9.63938349e-04, 1.89358419e-01,-4.34840830e-02, 3.50228006e-03,
  1.86213059e-02, 2.79398535e-01,-1.22310608e-02, 2.36043188e-02,
  1.12876476e+00,-9.72337490e-03, 8.12294206e-01, 6.23088146e-02,
  9.42440428e-02,-6.99102693e-02, 1.21352328e-01, 9.99899079e-01,
 -1.01686892e-03,-2.32861510e-03,-1.39776713e-02]

qacc:
[  4.98700323, 10.71885546,-30.98371047, 21.54625318,-97.17186933,
 -27.51344445, 85.49962039,-25.40424107, -1.90546957,-16.45506009,
  38.71639861,-18.852164  , -0.95664293,  1.43711929,  5.03703807,
 -20.5117955 ,  0.3422453 , -1.37614097,  0.71082874, -6.62837438,
  23.76319872,-99.60188771]

qfrc_actuator:
[-0.0009923 , 0.24043527, 0.00026617, 0.00030117,-0.00343751, 0.19652675,
  0.02304526, 0.00712391, 0.00080203, 0.23925024, 0.00151937, 0.00048298,
  0.02242098,-0.00195106, 0.00427084,-0.00353805, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.08810331,  0.42156535,  0.08810331,  1.23907927,
       -0.16894945,  0.42156535, -0.16894945,  0.46598225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019856648394638837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98206516e-01, -4.62810305e-03,  5.96852711e-02, -4.61985210e-03,
        9.99989290e-01,  2.76232544e-04, -5.96859103e-02,  5.42101086e-20,
       -9.98217207e-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([ 0.10889444, -0.08002653,  0.1138552 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 7.41407445,  5.80069473, -4.61740625,  5.80069473, 27.77970227,
       25.58466455, -4.61740625, 25.58466455, 39.55524221,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007213091539199218
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.84794446e-14, -3.84794446e-14,  1.00000000e+00, -1.48066766e-27,
        1.00000000e+00,  3.84794446e-14, -1.00000000e+00,  0.00000000e+00,
       -3.84794446e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175404, -0.06140865,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.39667525e-04, 1.56727265e-04,-1.60022771e-04,-3.82913525e-05,
  8.44854162e-03, 1.55276657e-01, 8.12398074e-02, 2.49293052e-02,
 -5.48490861e-05,-9.38950820e-04,-5.70416235e-05, 1.15468846e-05,
 -1.72052548e-04,-3.68928223e-05,-1.46380827e-04,-1.41953644e-04,
 -5.41915475e-03,-4.18363250e-03,-7.84548241e+00, 7.02104005e-04,
  8.44490973e-03, 7.27342434e-06]


--- Step 817 ---
qpos:
[ 3.17189665e-03, 2.85583608e-01,-7.22873087e-03,-2.63285248e-02,
  6.68825799e-04, 1.90077695e-01,-4.46476151e-02, 3.15090703e-03,
  1.86547009e-02, 2.83999681e-01,-1.22586743e-02, 2.36022343e-02,
  1.12929510e+00,-9.73457633e-03, 8.12677467e-01, 6.23036441e-02,
  9.42053088e-02,-6.98976676e-02, 1.21363461e-01, 9.99875878e-01,
 -1.39723773e-03,-2.45760178e-03,-1.54995432e-02]

qacc:
[ 4.00354554e+00, 1.15583076e+01,-2.76588718e+01, 1.25256883e+01,
 -1.10673329e+02,-1.71902367e+01, 6.70584227e+01,-1.08864848e+01,
  1.01694272e+00, 1.29083918e+00,-5.76805677e+00,-2.72892477e+00,
  1.64017898e-02,-8.82724287e-01,-3.51391124e+00, 9.12555278e+00,
  3.46450466e-01,-1.28348773e+00, 5.39150129e-01,-5.42373087e+00,
  2.24063200e+01,-9.48643856e+01]

qfrc_actuator:
[-0.00087956, 0.24112666, 0.0003095 , 0.00029174,-0.00358531, 0.19790222,
  0.02418919, 0.00747246, 0.00082412, 0.23957485, 0.00155869, 0.00047076,
  0.02239278,-0.00197935, 0.00423132,-0.003503  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.09926239,  0.41907818,  0.09926239,  1.50684845,
       -0.25490163,  0.41907818, -0.25490163,  0.49104907,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019167854602616574
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98373638e-01, -1.96747091e-03,  5.69755054e-02, -1.96427489e-03,
        9.99998065e-01,  1.12097866e-04, -5.69756157e-02,  0.00000000e+00,
       -9.98375570e-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([ 0.10886527, -0.08000248,  0.11382793])
  solimp: array([9.0e-01, 9.5e-01, 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([ 7.42674112,  5.57647947, -4.90503419,  5.57647947, 36.57515656,
       33.13851321, -4.90503419, 33.13851321, 45.10155263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007229798409397331
  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([ 0.08175706, -0.06140165,  0.06198245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.15489938e-04, 5.84247174e-04, 3.21273464e-06,-1.88929053e-05,
  9.64260673e-03, 1.56411640e-01, 8.15937075e-02, 2.50214884e-02,
  2.92032793e-05,-3.71992205e-04,-2.12946764e-04,-6.40398004e-05,
 -1.44495772e-04,-7.01238381e-05,-1.22933747e-04, 8.26671533e-06,
 -6.41444690e-03,-3.86107720e-03,-7.84572762e+00, 5.73021640e-04,
  8.31798713e-03, 1.28263823e-05]


--- Step 818 ---
qpos:
[ 3.13783082e-03, 2.90207400e-01,-7.28620473e-03,-2.63332695e-02,
  3.40160727e-04, 1.90820721e-01,-4.57925330e-02, 2.80469530e-03,
  1.86899358e-02, 2.88606337e-01,-1.22918396e-02, 2.35993818e-02,
  1.12982466e+00,-9.74608879e-03, 8.13060365e-01, 6.22957448e-02,
  9.41679869e-02,-6.98898356e-02, 1.21376160e-01, 9.99847245e-01,
 -1.78515250e-03,-2.54446660e-03,-1.71995667e-02]

qacc:
[ 1.51598663e+00, 7.90571642e+00,-1.93426497e+01, 1.71446273e+01,
 -1.21273482e+02,-9.70045222e+00, 5.87859783e+01,-1.71832714e+01,
  3.53498458e+00, 2.12086327e+01,-6.18226427e+01, 5.33590350e+01,
 -3.65881335e-01, 6.96951008e-02, 7.71007788e+00,-2.77378134e+01,
  3.53029128e-01,-1.19242230e+00, 3.91383193e-01,-4.32167231e+00,
  2.11176268e+01,-8.90682645e+01]

qfrc_actuator:
[-0.0008347 , 0.24153702, 0.00034189, 0.00030627,-0.00371511, 0.19951375,
  0.02531278, 0.00780109, 0.00091248, 0.24052245, 0.00152361, 0.00048249,
  0.02236213,-0.0019915 , 0.00422585,-0.00363994, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.11174226,  0.41592452,  0.11174226,  1.60509758,
       -0.31552075,  0.41592452, -0.31552075,  0.51544114,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018479186525563317
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98520488e-01,  1.06924507e-03,  5.43662773e-02,  1.06766371e-03,
        9.99999428e-01, -5.81309069e-05, -5.43663083e-02,  0.00000000e+00,
       -9.98521059e-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([ 0.10883316, -0.07997469,  0.11380216])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007214971971252759
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.69388314e-14, -7.69388314e-14,  1.00000000e+00,  5.91958378e-27,
        1.00000000e+00,  7.69388314e-14, -1.00000000e+00,  0.00000000e+00,
        7.69388314e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175884, -0.06139588,  0.06198249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.51938425e-05, 5.76862526e-04, 1.01388768e-04, 2.94011850e-05,
  1.10423901e-02, 1.57265708e-01, 8.18545276e-02, 2.50762843e-02,
  1.05724843e-04, 5.32952200e-04,-1.91928837e-04,-2.26397006e-05,
 -1.36541494e-04,-5.37756572e-05,-6.15541091e-05,-1.52392476e-04,
 -7.31471782e-03,-3.27543273e-03,-7.84591192e+00, 4.28078912e-04,
  8.20763041e-03, 1.88932777e-05]


--- Step 819 ---
qpos:
[ 3.10524787e-03, 2.94829122e-01,-7.34112137e-03,-2.63366597e-02,
 -2.40458301e-05, 1.91587551e-01,-4.69161688e-02, 2.46336314e-03,
  1.87275338e-02, 2.93215865e-01,-1.23270500e-02, 2.35972737e-02,
  1.13035334e+00,-9.75766228e-03, 8.13442293e-01, 6.22895636e-02,
  9.41321119e-02,-6.98863995e-02, 1.21389922e-01, 9.99812539e-01,
 -2.17851916e-03,-2.59184768e-03,-1.90636878e-02]

qacc:
[   2.8576649 ,  -7.09961315,  15.62466096,   5.24476146,-128.20461549,
  -17.61762303,  88.34993388, -55.98724444,   4.48386761,  11.03495107,
  -36.99357525,  51.04300056,  -0.48332067,   0.46757341,  -6.60022604,
   21.05214833,   0.36173608,  -1.09899261,   0.26554215,  -3.27929664,
   19.83071905, -82.04641062]

qfrc_actuator:
[-0.00074136, 0.24117362, 0.00036694, 0.00035238,-0.00365916, 0.20070179,
  0.02645148, 0.00813365, 0.0010213 , 0.24073626, 0.00144815, 0.00052664,
  0.0223194 ,-0.00199401, 0.0042088 ,-0.00353978, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.12637704,  0.41171396,  0.12637704,  1.44741435,
       -0.31209221,  0.41171396, -0.31209221,  0.52647115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017806002628870314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98642139e-01,  4.45905151e-03,  5.19037046e-02,  4.45304101e-03,
        9.99990058e-01, -2.31443593e-04, -5.19042206e-02, -2.71050543e-20,
       -9.98652067e-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([ 0.10879776, -0.07994344,  0.11377856])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000717492524164795
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.73682643e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.73682643e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175966, -0.06139108,  0.06198259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.52247421e-05,-1.78654215e-04, 1.06300463e-04, 6.50129200e-05,
  1.27764620e-02, 1.57254001e-01, 8.20681116e-02, 2.51524722e-02,
  1.36091850e-04, 3.11448654e-04,-4.12771304e-05, 5.01023875e-05,
 -1.39920906e-04,-3.97874273e-05,-6.68297879e-05, 8.27120293e-05,
 -8.10123300e-03,-2.46527481e-03,-7.84604542e+00, 2.69815739e-04,
  8.11450079e-03, 2.54205245e-05]


--- Step 820 ---
qpos:
[ 3.07441390e-03, 2.99441003e-01,-7.39206764e-03,-2.63380548e-02,
 -4.25702889e-04, 1.92377337e-01,-4.80170184e-02, 2.12725587e-03,
  1.87674475e-02, 2.97818871e-01,-1.23600511e-02, 2.35954064e-02,
  1.13088122e+00,-9.76948883e-03, 8.13823135e-01, 6.22882407e-02,
  9.40977334e-02,-6.98869702e-02, 1.21404322e-01, 9.99771189e-01,
 -2.57528073e-03,-2.60240784e-03,-2.10752150e-02]

qacc:
[ 3.32569320e+00,-2.00020081e+01, 4.40242008e+01,-8.61492757e+00,
 -1.34801691e+02,-2.21938140e+01, 1.01619801e+02,-6.51089521e+01,
  4.35186570e+00,-1.43041706e+01, 3.74658524e+01,-3.20132361e+01,
 -1.33782658e-01,-3.49180293e-01,-1.62671133e+01, 5.45895561e+01,
  3.74119648e-01,-1.00168268e+00, 1.59640580e-01,-2.24638958e+00,
  1.85266155e+01,-7.37081935e+01]

qfrc_actuator:
[-0.00063771, 0.2402798 , 0.0004024 , 0.00041609,-0.00345857, 0.20164392,
  0.02758914, 0.0085023 , 0.0011234 , 0.2399599 , 0.00138268, 0.00050027,
  0.0222801 ,-0.0020086 , 0.0041902 ,-0.00328296, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.14304803,  0.4062226 ,  0.14304803,  1.6256583 ,
       -0.42080436,  0.4062226 , -0.42080436,  0.57885624,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017154779238427204
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98735566e-01,  8.17398815e-03,  4.96029676e-02,  8.16392542e-03,
        9.99966592e-01, -4.05467615e-04, -4.96046248e-02,  0.00000000e+00,
       -9.98768933e-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([ 0.10875924, -0.07990906,  0.11375732])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007115105003789313
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.80187379e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.80187379e-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([ 0.08175972, -0.06138705,  0.06198274])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00548888e-04,-1.12875466e-03,-3.74566936e-05, 5.11255302e-05,
  1.47546887e-02, 1.56992753e-01, 8.21467408e-02, 2.52787271e-02,
  1.33452154e-04,-7.68206642e-04,-5.59149279e-05,-2.32722777e-05,
 -1.35335500e-04,-5.03746676e-05,-4.32281499e-05, 2.52124706e-04,
 -8.75765467e-03,-1.47462384e-03,-7.84613681e+00, 1.00958105e-04,
  8.03927178e-03, 3.23512766e-05]


--- Step 821 ---
qpos:
[ 3.04483590e-03, 3.04044353e-01,-7.44313974e-03,-2.63387394e-02,
 -8.64705983e-04, 1.93193661e-01,-4.90945209e-02, 1.79455301e-03,
  1.88086664e-02, 3.02405542e-01,-1.23888979e-02, 2.35945450e-02,
  1.13140805e+00,-9.78078358e-03, 8.14203174e-01, 6.22896887e-02,
  9.40649148e-02,-6.98911564e-02, 1.21419006e-01, 9.99722729e-01,
 -2.97342533e-03,-2.57875190e-03,-2.32158014e-02]

qacc:
[ 2.32476514e+00,-9.46428633e+00, 1.43890070e+01, 4.37124266e+00,
 -1.34145487e+02,-2.27592652e+01, 1.18200902e+02,-1.16739466e+02,
  2.45475836e+00,-3.11292361e+01, 7.54139359e+01,-5.26095086e+01,
 -1.12823163e+00, 2.15267066e+00,-9.49235837e+00, 3.16175345e+01,
  3.89976865e-01,-9.03866701e-01, 7.11794534e-02,-1.22901628e+00,
  1.72465012e+01,-6.45441017e+01]

qfrc_actuator:
[-0.00056424, 0.23998172, 0.00042392, 0.00045368,-0.00317284, 0.20271389,
  0.02869841, 0.00878378, 0.0011673 , 0.23859769, 0.00137302, 0.0005028 ,
  0.02223223,-0.00197696, 0.00414408,-0.00314901, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.16061073,  0.39960447,  0.16061073,  1.17177381,
       -0.29786624,  0.39960447, -0.29786624,  0.55039302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016530996494984245
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98798126e-01,  1.21808741e-02,  4.74755745e-02,  1.21671369e-02,
        9.99925810e-01, -5.78336904e-04, -4.74790970e-02,  1.08420217e-19,
       -9.98872232e-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([ 0.10871788, -0.07987195,  0.11373858])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007040162817900236
  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([ 0.08175921, -0.06138364,  0.06198292])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.23647635e-05,-1.09408733e-03,-2.65709290e-04,-2.09204390e-05,
  1.69135907e-02, 1.56900703e-01, 8.21212410e-02, 2.53004452e-02,
  7.49532136e-05,-1.96356357e-03,-2.27358749e-04,-4.25487892e-05,
 -1.42959541e-04,-5.11180780e-06,-4.13466127e-05, 1.41649808e-04,
 -9.26940225e-03,-3.51979632e-04,-7.84619465e+00,-7.55963085e-05,
  7.98265105e-03, 3.96237588e-05]


--- Step 822 ---
qpos:
[ 0.00301461, 0.30864357,-0.00749815,-0.0263405 ,-0.00134173, 0.19404023,
 -0.05015   , 0.00146465, 0.01884984, 0.3069721 ,-0.012416  , 0.02359386,
  1.13193381,-0.00979132, 0.81458286, 0.06228909, 0.09403373,-0.06989856,
  0.12143368, 0.99966682,-0.00337101,-0.00252347,-0.02546585]

qacc:
[-1.17844287e+00, 3.34451341e+00,-1.52992249e+01, 6.00412582e+00,
 -1.36270223e+02,-1.54381559e+01, 1.01763059e+02,-1.11418682e+02,
 -4.27639429e-03,-3.10783447e+01, 7.14989618e+01,-5.64057047e+01,
 -1.54444110e+00, 3.15597216e+00, 5.74185175e+00,-2.06817839e+01,
  4.07496175e-01,-8.05187846e-01,-1.90808117e-03,-2.39784834e-01,
  1.59672924e+01,-5.47539681e+01]

qfrc_actuator:
[-0.00059784, 0.24015023, 0.00035082, 0.00042283,-0.00280339, 0.20397206,
  0.02976321, 0.00908371, 0.00114087, 0.2373757 , 0.00135852, 0.0004863 ,
  0.02218461,-0.00193603, 0.00409745,-0.00326616, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.17918689,  0.39162686,  0.17918689,  1.24773556,
       -0.37384268,  0.39162686, -0.37384268,  0.60172318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015944579610561679
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98826814e-01,  1.64433440e-02,  4.55479162e-02,  1.64262738e-02,
        9.99864799e-01, -7.49061331e-04, -4.55540752e-02,  0.00000000e+00,
       -9.98961874e-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([ 0.10867378, -0.07983253,  0.11372272])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006954034370181272
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.98258224e-14, -7.98258224e-14,  1.00000000e+00,  6.37216192e-27,
        1.00000000e+00,  7.98258224e-14, -1.00000000e+00,  0.00000000e+00,
        7.98258224e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175828, -0.06138073,  0.06198313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.81092078e-05,-6.57826067e-04,-3.83604176e-04,-9.71531200e-05,
  1.91510934e-02, 1.56816447e-01, 8.20226762e-02, 2.54315183e-02,
 -3.21161494e-06,-2.52730503e-03,-5.00718824e-04,-1.19068129e-04,
 -1.37835194e-04, 1.01736269e-05,-5.41674109e-05,-1.15566713e-04,
 -9.62944999e-03, 8.54305044e-04,-7.84622691e+00,-2.56983729e-04,
  7.94491220e-03, 4.71709631e-05]


--- Step 823 ---
qpos:
[ 0.00298331, 0.3132385 ,-0.00756005,-0.02634293,-0.00185782, 0.19491533,
 -0.0511845 , 0.00113803, 0.01889009, 0.31152184,-0.01244501, 0.02359263,
  1.13245863,-0.00980129, 0.8149621 , 0.06228573, 0.09400424,-0.06990879,
  0.12144811, 0.9996033 ,-0.00376618,-0.00243919,-0.02780477]

qacc:
[-1.89337821e+00, 1.21872740e+01,-4.88306434e+01, 5.13209962e+01,
 -1.39654905e+02,-1.37570959e+01, 9.03801113e+01,-8.85068105e+01,
 -1.59799862e+00,-1.80276416e+01, 3.43283636e+01,-2.83390812e+01,
 -1.29201680e+00, 2.55343154e+00, 7.72047865e+00,-2.78088967e+01,
  4.25351657e-01,-7.05248238e-01,-6.13758732e-02, 7.13599940e-01,
  1.46688760e+01,-4.44780251e+01]

qfrc_actuator:
[-6.41025435e-04, 2.39994106e-01, 1.17826983e-05, 3.87910876e-04,
 -2.33260078e-03, 2.05062542e-01, 3.08110624e-02, 9.48271745e-03,
  1.07305469e-03, 2.36833999e-01, 1.35961914e-03, 4.76574129e-04,
  2.21424851e-02,-1.90771090e-03, 4.07179984e-03,-3.40599035e-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,  0.19874263,  0.38207448,  0.19874263,  1.68682433,
       -0.65340861,  0.38207448, -0.65340861,  0.77055512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015404872343906834
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98819272e-01,  2.09226297e-02,  4.38441091e-02,  2.09025013e-02,
        9.99781098e-01, -9.17534907e-04, -4.38537088e-02,  0.00000000e+00,
       -9.99037963e-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([ 0.10862708, -0.07979126,  0.11371005])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006860036851204648
  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([ 0.08175704, -0.06137823,  0.06198336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.23327652e-05,-7.65712937e-04,-5.76412229e-04,-8.80545854e-05,
  2.15237013e-02, 1.56377892e-01, 8.19726530e-02, 2.56919422e-02,
 -5.52605715e-05,-2.22113676e-03,-6.37621452e-04,-1.47355870e-04,
 -1.26205824e-04, 1.39321622e-06,-6.83639680e-05,-1.54378877e-04,
 -9.83674063e-03, 2.09540615e-03,-7.84624033e+00,-4.40345777e-04,
  7.92599921e-03, 5.49239256e-05]


--- Step 824 ---
qpos:
[ 2.95050862e-03, 3.17822963e-01,-7.62912235e-03,-2.63444452e-02,
 -2.41064361e-03, 1.95815810e-01,-5.21987093e-02, 8.12851926e-04,
  1.89291676e-02, 3.16059232e-01,-1.24766105e-02, 2.35912617e-02,
  1.13298250e+00,-9.81079365e-03, 8.15341057e-01, 6.22842112e-02,
  9.39765251e-02,-6.99214498e-02, 1.21462109e-01, 9.99532158e-01,
 -4.15718382e-03,-2.32844677e-03,-3.02119392e-02]

qacc:
[-2.59717577e+00, 8.11940012e+00,-5.28587850e+01, 8.78915041e+01,
 -1.30922092e+02,-1.98074882e+01, 1.13784444e+02,-1.40718128e+02,
 -1.97435757e+00,-9.36863181e+00, 1.03257327e+01, 4.40299117e-01,
 -1.04201363e+00, 1.98006447e+00,-5.90880011e+00, 2.01571976e+01,
  4.43331429e-01,-6.07675816e-01,-1.09219966e-01, 1.61600950e+00,
  1.33989743e+01,-3.41672008e+01]

qfrc_actuator:
[-0.00070704, 0.23914795,-0.0004823 , 0.00040384,-0.00173149, 0.20597102,
  0.03184099, 0.00983304, 0.00099908, 0.23670522, 0.00140853, 0.00050706,
  0.02209304,-0.00188707, 0.00411734,-0.00329162, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.21815874,  0.37133045,  0.21815874,  1.10813003,
       -0.39800963,  0.37133045, -0.39800963,  0.66450627,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014915243004934287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9987746 ,  0.02557799,  0.04236812,  0.02555501,  0.99967283,
       -0.00108405, -0.04238198,  0.        , -0.99910148])
  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([ 0.10857822, -0.07974865,  0.11370062])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006760950830893425
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.21055390e-14, -8.21055390e-14,  1.00000000e+00,  6.74131954e-27,
        1.00000000e+00,  8.21055390e-14, -1.00000000e+00,  0.00000000e+00,
        8.21055390e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175559, -0.06137605,  0.0619836 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.86236044e-05,-1.55505144e-03,-7.76968889e-04,-4.82824422e-05,
  2.40791419e-02, 1.55842192e-01, 8.19566233e-02, 2.58787478e-02,
 -6.86618420e-05,-1.66567894e-03,-5.44121387e-04,-9.92507377e-05,
 -1.28286790e-04,-5.19250321e-06,-7.35680861e-06, 9.59892172e-05,
 -9.89530321e-03, 3.32334848e-03,-7.84624087e+00,-6.22889980e-04,
  7.92555357e-03, 6.28129812e-05]


--- Step 825 ---
qpos:
[ 2.91531738e-03, 3.22390839e-01,-7.70399263e-03,-2.63448872e-02,
 -2.99771290e-03, 1.96739263e-01,-5.31943023e-02, 4.87483549e-04,
  1.89666984e-02, 3.20584816e-01,-1.25091611e-02, 2.35898827e-02,
  1.13350548e+00,-9.82020634e-03, 8.15719550e-01, 6.22844197e-02,
  9.39506556e-02,-6.99361616e-02, 1.21475516e-01, 9.99453563e-01,
 -4.54238955e-03,-2.19372401e-03,-3.26669550e-02]

qacc:
[-4.00993513e+00,-3.50205930e+00,-2.38004585e+01, 6.37026029e+01,
 -1.21651082e+02,-2.16676103e+01, 1.22586083e+02,-1.73054392e+02,
 -2.57575808e+00,-1.29570338e+01, 2.36041062e+01,-1.35459260e+01,
 -6.46687676e-01, 9.10034252e-01,-5.87348614e+00, 1.96295321e+01,
  4.61113107e-01,-5.13288894e-01,-1.47014583e-01, 2.46446168e+00,
  1.21643339e+01,-2.39831336e+01]

qfrc_actuator:
[-0.00082138, 0.23803768,-0.00088883, 0.00043121,-0.00103888, 0.20686854,
  0.03285246, 0.01015469, 0.00090425, 0.23636489, 0.00145207, 0.00052599,
  0.02203925,-0.00188892, 0.00409376,-0.00320573, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.23713402,  0.35950938,  0.23713402,  0.88349861,
       -0.29868559,  0.35950938, -0.29868559,  0.62768772,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014476735573681872
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99869274,  0.0303685 ,  0.04111652,  0.0303428 ,  0.99953877,
       -0.00124922, -0.0411355 ,  0.        , -0.99915358])
  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([ 0.10852773, -0.07970515,  0.11369431])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006659080429336772
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.33615870e-14, -1.66723174e-13,  1.00000000e+00,  1.38983084e-26,
        1.00000000e+00,  1.66723174e-13, -1.00000000e+00,  0.00000000e+00,
        8.33615870e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175401, -0.06137413,  0.06198385])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41046758e-04,-2.29961605e-03,-8.75529021e-04,-7.67760082e-05,
  2.66095240e-02, 1.55451215e-01, 8.19558473e-02, 2.61298428e-02,
 -9.14806524e-05,-1.54457182e-03,-4.21326095e-04,-8.27898672e-05,
 -1.34662553e-04,-2.95862359e-05,-2.24771004e-05, 8.88555582e-05,
 -9.81517717e-03, 4.49837132e-03,-7.84623357e+00,-8.02242880e-04,
  7.94274798e-03, 7.07710194e-05]


--- Step 826 ---
qpos:
[ 2.88015344e-03, 3.26945242e-01,-7.78806885e-03,-2.63460354e-02,
 -3.61682343e-03, 1.97684975e-01,-5.41740930e-02, 1.60730433e-04,
  1.90009194e-02, 3.25102590e-01,-1.25439385e-02, 2.35877742e-02,
  1.13402747e+00,-9.82923086e-03, 8.16096695e-01, 6.22835545e-02,
  9.39267038e-02,-6.99525444e-02, 1.21488221e-01, 9.99367901e-01,
 -4.92020573e-03,-2.03753320e-03,-3.51488130e-02]

qacc:
[ 3.59662929e-02, 6.47021823e+00,-4.59034548e+01, 5.82587716e+01,
 -1.13473372e+02,-1.72413069e+01, 1.10459771e+02,-1.76586209e+02,
 -5.44456111e+00,-5.59117431e+00, 8.05370600e+00,-1.13868139e+01,
 -1.07623092e+00, 1.95447040e+00, 1.30159481e+00,-7.33516552e+00,
  4.79394918e-01,-4.17773066e-01,-1.75312269e-01, 3.29661752e+00,
  1.09020781e+01,-1.34885849e+01]

qfrc_actuator:
[-7.85714368e-04, 2.37649127e-01,-1.25910275e-03, 4.11654268e-04,
 -1.54911802e-04, 2.07982526e-01, 3.38641558e-02, 1.05134474e-02,
  7.09006770e-04, 2.36399091e-01, 1.49178305e-03, 5.20144883e-04,
  2.19881871e-02,-1.86856220e-03, 3.97014331e-03,-3.27958910e-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,  0.25666431,  0.34583663,  0.25666431,  0.812579  ,
       -0.2834331 ,  0.34583663, -0.2834331 ,  0.64102459,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00140903525761507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98574117e-01,  3.52537853e-02,  4.00861996e-02,  3.52254139e-02,
        9.99378392e-01, -1.41406927e-03, -4.01111330e-02, -2.16840434e-19,
       -9.99195225e-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([ 0.10847612, -0.0796612 ,  0.11369106])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006556313929561713
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.46682325e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.46682325e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175235, -0.06137243,  0.0619841 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.66688167e-07,-2.01496709e-03,-1.00585335e-03,-1.59486654e-04,
  2.92065750e-02, 1.55396613e-01, 8.20385006e-02, 2.64988806e-02,
 -1.95439156e-04,-1.07561547e-03,-3.84228064e-04,-9.77556993e-05,
 -1.41260260e-04,-1.28307852e-05,-1.29447600e-04,-7.30508439e-05,
 -9.60943367e-03, 5.58721503e-03,-7.84622260e+00,-9.76367043e-04,
  7.97651817e-03, 7.87352446e-05]


--- Step 827 ---
qpos:
[ 2.84716313e-03, 3.31489304e-01,-7.88177915e-03,-2.63479784e-02,
 -4.26291545e-03, 1.98648796e-01,-5.51411720e-02,-1.69859870e-04,
  1.90315007e-02, 3.29611850e-01,-1.25782809e-02, 2.35860131e-02,
  1.13454826e+00,-9.83703097e-03, 8.16472916e-01, 6.22807166e-02,
  9.39047309e-02,-6.99702407e-02, 1.21500140e-01, 9.99275710e-01,
 -5.28923909e-03,-1.86226998e-03,-3.76378972e-02]

qacc:
[ 3.50181108e+00, 1.16198143e+01,-5.78923984e+01, 6.71048113e+01,
 -9.52224445e+01,-1.91711463e+01, 1.19673330e+02,-2.20188623e+02,
 -5.85814396e+00,-1.17417826e+01, 2.40899444e+01,-1.25232577e+01,
 -2.05397587e+00, 4.47471820e+00, 4.69653593e+00,-1.81792783e+01,
  4.94735176e-01,-3.28352224e-01,-1.96672641e-01, 4.03002700e+00,
  9.69566793e+00,-3.68757504e+00]

qfrc_actuator:
[-0.00064375, 0.2375196 ,-0.00160188, 0.00040081, 0.00092638, 0.20909365,
  0.03487136, 0.01082473, 0.00050915, 0.23616167, 0.00158412, 0.00055343,
  0.02193881,-0.00179971, 0.00393573,-0.00337617, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.27463125,  0.33174872,  0.27463125,  0.62196952,
       -0.15836053,  0.33174872, -0.15836053,  0.56176881,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013758369197381132
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98419644e-01,  4.01923043e-02,  3.92784158e-02,  4.01612379e-02,
        9.99191963e-01, -1.57996671e-03, -3.93101799e-02, -2.16840434e-19,
       -9.99227056e-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([ 0.10842379, -0.07961727,  0.11369085])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006454165019310898
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.60082614e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.60082614e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08175065, -0.0613709 ,  0.06198435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28005833e-04,-1.62637439e-03,-9.38155903e-04,-1.44652809e-04,
  3.18908567e-02, 1.55373617e-01, 8.22569760e-02, 2.68802554e-02,
 -2.15635099e-04,-1.07749421e-03,-2.30497071e-04,-3.75038559e-05,
 -1.40952985e-04, 3.74746064e-05,-1.02745115e-04,-1.17453165e-04,
 -9.28893320e-03, 6.55499243e-03,-7.84621225e+00,-1.14315550e-03,
  8.02603352e-03, 8.66446193e-05]


--- Step 828 ---
qpos:
[ 2.81770298e-03, 3.36022694e-01,-7.98220974e-03,-2.63497019e-02,
 -4.93269769e-03, 1.99624270e-01,-5.60978931e-02,-5.05112877e-04,
  1.90601697e-02, 3.34111619e-01,-1.26118228e-02, 2.35856130e-02,
  1.13506807e+00,-9.84422951e-03, 8.16848537e-01, 6.22762778e-02,
  9.38847893e-02,-6.99889222e-02, 1.21511209e-01, 9.99177661e-01,
 -5.64827658e-03,-1.67016534e-03,-4.01162001e-02]

qacc:
[ 5.60543558e+00, 5.12154987e+00,-3.96462354e+01, 6.20028296e+01,
 -8.32838875e+01,-2.28343877e+01, 1.23807516e+02,-2.30069031e+02,
 -3.00427597e+00,-1.19743880e+01, 1.87550126e+01, 1.04992788e+01,
 -1.30165093e+00, 2.58515961e+00, 4.01164652e+00,-1.51798009e+01,
  5.07842880e-01,-2.46306354e-01,-2.12305356e-01, 4.67193206e+00,
  8.56876594e+00, 5.31171298e+00]

qfrc_actuator:
[-0.00044016, 0.23721045,-0.00185305, 0.00043106, 0.00202731, 0.20998528,
  0.03583714, 0.01112828, 0.00041469, 0.23578285, 0.00165299, 0.00062715,
  0.02189051,-0.00177377, 0.00392821,-0.00344955, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.29068424,  0.31777698,  0.29068424,  0.57865438,
       -0.13536459,  0.31777698, -0.13536459,  0.55449715,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013477769390331234
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98231419e-01,  4.51451372e-02,  3.86775251e-02,  4.51112881e-02,
        9.98980439e-01, -1.74788425e-03, -3.87169994e-02, -2.16840434e-19,
       -9.99250216e-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([ 0.10837136, -0.07957374,  0.11369339])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006353861368176422
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.73660094e-14, -4.36830047e-14,  1.00000000e+00,  3.81640980e-27,
        1.00000000e+00,  4.36830047e-14, -1.00000000e+00,  0.00000000e+00,
        8.73660094e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08174896, -0.06136952,  0.06198459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.08960979e-04,-1.57336171e-03,-7.57134778e-04,-8.42264152e-05,
  3.43416686e-02, 1.55337859e-01, 8.25881624e-02, 2.73764602e-02,
 -1.13907283e-04,-1.18510834e-03,-2.33165986e-04, 9.37863631e-06,
 -1.28702446e-04, 3.02893737e-06,-7.02978828e-05,-9.36961174e-05,
 -8.87490504e-03, 7.38361177e-03,-7.84620467e+00,-1.30132010e-03,
  8.08950092e-03, 9.44446255e-05]


--- Step 829 ---
qpos:
[ 2.79226616e-03, 3.40538958e-01,-8.08381879e-03,-2.63504448e-02,
 -5.61559408e-03, 2.00696284e-01,-5.69887619e-02,-8.37174165e-04,
  1.90873456e-02, 3.38604880e-01,-1.26466968e-02, 2.35846395e-02,
  1.13558724e+00,-9.85167585e-03, 8.17223199e-01, 6.22716461e-02,
  9.38539792e-02,-7.00000214e-02, 1.21519144e-01, 9.99071852e-01,
 -5.81010650e-03,-1.47704539e-03,-4.26555484e-02]

qacc:
[ 6.31097728e+00,-1.73336486e+01, 2.48196335e+01, 6.61500948e+00,
 -4.58061753e+01,-4.92396572e+01, 3.47724948e+02,-4.69439143e+02,
 -2.31342783e+00,-6.05328843e+00, 1.15325536e+01,-1.45438339e+01,
 -2.13444439e-01,-1.07136939e-01,-8.29511033e-01, 8.51383578e-01,
 -2.71714340e+00, 1.89554716e+00,-7.83690135e-01, 9.84295386e+01,
  4.62877020e+00,-3.08151103e+01]

qfrc_actuator:
[-2.19581749e-04, 2.36176653e-01,-1.97729835e-03, 4.67517004e-04,
  3.21852758e-03, 2.11046208e-01, 3.67753259e-02, 1.14828191e-02,
  3.29937128e-04, 2.35767394e-01, 1.68950272e-03, 6.17469014e-04,
  2.18588389e-02,-1.79119515e-03, 3.88891199e-03,-3.45534366e-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, -0.27480395, -0.33160568, -0.27480395,  0.87816778,
       -0.37084177, -0.33160568, -0.37084177,  0.73799254,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013243079038828339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98012265e-01,  5.00764987e-02,  3.82604564e-02,  5.00397405e-02,
        9.98745385e-01, -1.91835650e-03, -3.83085189e-02,  2.16840434e-19,
       -9.99265959e-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([ 0.1083195 , -0.07953098,  0.1136983 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.7083435 ,  6.47038701,  1.77086546,  6.47038701,  6.84969875,
       -0.51648374,  1.77086546, -0.51648374,  8.59547144,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000633143113393006
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.76755193e-14,  8.76755193e-14,  1.00000000e+00, -7.68699668e-27,
        1.00000000e+00, -8.76755193e-14, -1.00000000e+00,  0.00000000e+00,
        8.76755193e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10960039, -0.05365258,  0.06198465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.38846345e-04,-2.22771711e-03,-5.94625305e-04,-6.82595270e-05,
  3.67180641e-02, 1.55793620e-01, 8.30091921e-02, 2.79648794e-02,
 -8.92298422e-05,-8.79894303e-04,-2.86308592e-04,-7.77910012e-05,
 -1.11605648e-04,-4.36282991e-05,-8.58909843e-05,-2.09296482e-05,
 -8.38790800e-03, 8.06438280e-03,-7.84620126e+00,-1.45006286e-03,
  8.16508567e-03, 1.02089910e-04]


--- Step 830 ---
qpos:
[ 0.00277107, 0.34502602,-0.00818153,-0.02635006,-0.00630599, 0.20188141,
 -0.05782822,-0.00117265, 0.0191135 , 0.34308874,-0.01268092, 0.02358223,
  1.13610555,-0.00985866, 0.8175964 , 0.06226835, 0.09381311,-0.07000531,
  0.12152426, 0.99895776,-0.00581072,-0.00129272,-0.04525436]

qacc:
[   6.58161751, -47.17389458, 107.41720363, -72.59531155, -26.28686634,
   -0.87950513, 234.71441891,-459.45488104,  -1.54148887, -17.20293905,
   49.39642472, -68.45659089,  -0.95898591,   1.84809602,  -6.13920013,
   18.45569335,  -2.51468418,   1.45276029,  -0.70419549,  80.65490354,
   -0.79034323, -30.02727518]

qfrc_actuator:
[ 9.29080874e-06, 2.34079691e-01,-2.02824928e-03, 4.71349539e-04,
  4.64034991e-03, 2.12722764e-01, 3.76550741e-02, 1.18619559e-02,
  2.69113314e-04, 2.35278415e-01, 1.70840464e-03, 5.41383477e-04,
  2.18211829e-02,-1.76301585e-03, 3.81994016e-03,-3.38583791e-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,  0.37401321,  0.21352671,  0.37401321,  0.62103641,
       -0.33343978,  0.21352671, -0.33343978,  1.0147262 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013050832945794048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.97771222e-01,  5.50373251e-02,  3.77290493e-02,  5.49980198e-02,
        9.98484298e-01, -2.07965810e-03, -3.77863222e-02,  4.33680869e-19,
       -9.99285842e-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([ 0.10825405, -0.0794883 ,  0.11370448])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.73205716, -6.50389184, -1.73781025, -6.50389184,  6.99097959,
       -0.96903759, -1.73781025, -0.96903759, 10.35875673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006360081924075278
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.364028e-14,  0.000000e+00,  1.000000e+00,  0.000000e+00,
        1.000000e+00,  0.000000e+00, -1.000000e+00,  0.000000e+00,
        4.364028e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.1096299 , -0.0537622 ,  0.06198458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.52311932e-04,-3.62172688e-03,-6.35659075e-04,-1.22932527e-04,
  3.87980728e-02, 1.52616436e-01, 8.05952704e-02, 2.81848371e-02,
 -6.17128337e-05,-1.19697215e-03,-2.50267688e-04,-1.34619945e-04,
 -1.17015510e-04,-2.19506770e-06,-1.13158085e-04, 5.67441135e-05,
 -2.62156050e-04, 7.92920095e-03,-7.84740784e+00,-1.53062466e-03,
  8.64546429e-03, 1.10970827e-04]


--- Step 831 ---
qpos:
[ 2.75479867e-03, 3.49472295e-01,-8.27378547e-03,-2.63490876e-02,
 -6.99432570e-03, 2.03168156e-01,-5.86304812e-02,-1.51664305e-03,
  1.91398232e-02, 3.47558182e-01,-1.27136136e-02, 2.35793266e-02,
  1.13662295e+00,-9.86518976e-03, 8.17968557e-01, 6.22641974e-02,
  9.37627536e-02,-7.00061397e-02, 1.21526752e-01, 9.98834663e-01,
 -5.67795907e-03,-1.12451693e-03,-4.79146271e-02]

qacc:
[ 7.51878085e+00,-6.79750921e+01, 1.61665708e+02,-1.30277241e+02,
  6.93003630e+00, 1.29369581e+01, 1.84784474e+02,-4.66584227e+02,
  3.06311097e-01,-2.43291997e+01, 6.11476438e+01,-6.13637374e+01,
 -1.07958797e+00, 2.04938133e+00, 1.09248210e+00,-5.95751191e+00,
 -2.37199202e+00, 1.11455614e+00,-6.56794029e-01, 6.69130365e+01,
 -4.85781451e+00,-3.10289801e+01]

qfrc_actuator:
[ 0.00027682, 0.23132825,-0.00203983, 0.00043731, 0.00609365, 0.214678  ,
  0.03852336, 0.01220792, 0.00027603, 0.23435105, 0.00169754, 0.00049756,
  0.02176932,-0.00174359, 0.0037652 ,-0.00343238, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.39758164,  0.16555476,  0.39758164,  0.44816863,
       -0.0420151 ,  0.16555476, -0.0420151 ,  0.5315731 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001292002201601048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99747629,  0.06019512,  0.03765096,  0.06015228,  0.99818663,
       -0.00227052, -0.03771936,  0.        , -0.99928837])
  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([ 0.10817514, -0.0794438 ,  0.11371856])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.73139886, -6.51389237, -1.69733226, -6.51389237,  7.04522641,
       -1.20438344, -1.69733226, -1.20438344, 11.3534898 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006359286085430432
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.36457414e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.36457414e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10965324, -0.0538485 ,  0.06198458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.93521134e-04,-5.06536937e-03,-8.90831482e-04,-2.22932305e-04,
  4.06290146e-02, 1.48884395e-01, 7.88900406e-02, 2.87014126e-02,
  1.00371612e-05,-1.80710728e-03,-3.42890585e-04,-1.15768027e-04,
 -1.25721539e-04,-5.09050079e-06,-1.01159488e-04,-5.80886353e-05,
  6.70940995e-03, 7.37890647e-03,-7.84749418e+00,-1.53755307e-03,
  9.06381426e-03, 1.15541221e-04]


--- Step 832 ---
qpos:
[ 2.74419485e-03, 3.53871702e-01,-8.36254168e-03,-2.63477688e-02,
 -7.67612510e-03, 2.04536158e-01,-5.94034562e-02,-1.87052710e-03,
  1.91680628e-02, 3.52010338e-01,-1.27447558e-02, 2.35764677e-02,
  1.13713959e+00,-9.87196788e-03, 8.18339752e-01, 6.22604364e-02,
  9.37033518e-02,-7.00035670e-02, 1.21526724e-01, 9.98701801e-01,
 -5.43372290e-03,-9.78096782e-04,-5.06382381e-02]

qacc:
[ 8.49488552e+00,-7.10240737e+01, 1.61864765e+02,-1.26919049e+02,
  2.23595052e+01, 5.30127795e+00, 1.78683051e+02,-4.56418763e+02,
  2.86384422e+00,-2.70982989e+01, 6.32966550e+01,-5.23553233e+01,
 -2.77573204e-01,-3.89616197e-02,-2.59242046e+00, 7.02634389e+00,
 -2.26123366e+00, 8.50702292e-01,-6.29756179e-01, 5.61331022e+01,
 -8.03594757e+00,-3.19954477e+01]

qfrc_actuator:
[ 0.00058291, 0.22859795,-0.0020309 , 0.00041615, 0.00731074, 0.21619861,
  0.03934293, 0.01254046, 0.00037606, 0.23341796, 0.00173869, 0.00049047,
  0.02171963,-0.0017651 , 0.00374032,-0.00340487, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.30673355e-01,  4.13576568e-01,  1.20141422e-01,  4.13576568e-01,
        4.30719712e-01, -1.59579599e-04,  1.20141422e-01, -1.59579599e-04,
        4.31222694e-01,  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: -0.0012832647614119557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9971421 ,  0.06547917,  0.03768447,  0.06543245,  0.99785394,
       -0.00247285, -0.03776552,  0.        , -0.99928663])
  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([ 0.10808439, -0.0793981 ,  0.11373633])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.71108544, -6.50545899, -1.64853603, -6.50545899,  7.08943313,
       -1.49303707, -1.64853603, -1.49303707, 12.60291386,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006334742157997064
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38148466e-14,  8.76296933e-14,  1.00000000e+00, -3.83948157e-27,
        1.00000000e+00, -8.76296933e-14, -1.00000000e+00,  0.00000000e+00,
        4.38148466e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10967179, -0.0539164 ,  0.06198464])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39275637e-04,-5.90692134e-03,-1.20294950e-03,-2.82577932e-04,
  4.17452700e-02, 1.45288662e-01, 7.78453014e-02, 2.94599191e-02,
  1.14437025e-04,-2.17160830e-03,-4.27463564e-04,-1.07982219e-04,
 -1.29652484e-04,-4.83957448e-05,-7.98037933e-05, 1.08208022e-05,
  1.27891552e-02, 6.49863606e-03,-7.84695651e+00,-1.48444010e-03,
  9.43154678e-03, 1.16371345e-04]


--- Step 833 ---
qpos:
[ 2.73971684e-03, 3.58224748e-01,-8.45115855e-03,-2.63463676e-02,
 -8.34755655e-03, 2.05965007e-01,-6.01542501e-02,-2.23489299e-03,
  1.91990932e-02, 3.56445267e-01,-1.27763011e-02, 2.35731520e-02,
  1.13765518e+00,-9.87828203e-03, 8.18709683e-01, 6.22593555e-02,
  9.36352609e-02,-6.99984190e-02, 1.21524230e-01, 9.98558427e-01,
 -5.09530739e-03,-8.57946504e-04,-5.34263071e-02]

qacc:
[   8.9964001 , -61.51155728, 130.05130903, -94.73633274,  35.38115492,
   -3.05781295, 171.81070326,-433.42555901,   4.07739057, -22.58443312,
   49.40947926, -43.9761557 ,  -1.05039692,   1.93306874,  -9.90530924,
   32.0600051 ,  -2.17228295,   0.64379413,  -0.61637819,  47.63365984,
  -10.5633683 , -32.5708605 ]

qfrc_actuator:
[ 0.00090942, 0.2263643 ,-0.00200989, 0.00042047, 0.00836305, 0.21733164,
  0.04010853, 0.01288747, 0.0005124 , 0.23264984, 0.00173939, 0.00046959,
  0.02166593,-0.00173965, 0.0036961 ,-0.00326283, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.43067336, 0.42383034, 0.07646819, 0.42383034, 0.42847101,
       0.01220667, 0.07646819, 0.01220667, 0.36301701, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.001276418155552508
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96769884e-01,  7.08911710e-02,  3.77390950e-02,  7.08404148e-02,
        9.97484056e-01, -2.68211669e-03, -3.78342839e-02, -4.33680869e-19,
       -9.99284027e-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([ 0.10798364, -0.07935103,  0.11375633])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.67503112, -6.48259829, -1.59121331, -6.48259829,  7.12703493,
       -1.8414622 , -1.59121331, -1.8414622 , 14.17714263,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006291239847952129
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.41178151e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.41178151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10968662, -0.05396981,  0.06198475])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68087947e-04,-5.94608190e-03,-1.40465736e-03,-3.05000796e-04,
  4.24723951e-02, 1.42319659e-01, 7.71406191e-02, 3.03008242e-02,
  1.67942694e-04,-2.22674691e-03,-5.53097625e-04,-1.40129972e-04,
 -1.45236220e-04,-9.72025851e-06,-8.22726187e-05, 1.31790350e-04,
  1.81711937e-02, 5.33185618e-03,-7.84608003e+00,-1.38085946e-03,
  9.75754224e-03, 1.13965136e-04]


--- Step 834 ---
qpos:
[ 2.74013307e-03, 3.62534868e-01,-8.54107128e-03,-2.63451046e-02,
 -9.00689107e-03, 2.07439048e-01,-6.08876076e-02,-2.60953670e-03,
  1.92328041e-02, 3.60863731e-01,-1.28094378e-02, 2.35701066e-02,
  1.13816948e+00,-9.88355690e-03, 8.19079308e-01, 6.22598211e-02,
  9.35587761e-02,-6.99913551e-02, 1.21519285e-01, 9.98403831e-01,
 -4.67635365e-03,-7.67615408e-04,-5.62790652e-02]

qacc:
[   7.07415501, -53.41184016, 108.69554212, -77.44020367,  41.05381743,
  -10.06316787, 165.89843079,-404.88296068,   3.84391998, -16.76234375,
   27.04066624,  -7.68859379,  -1.83178791,   3.82573828,  -5.02295431,
   17.13414649,  -2.09848257,   0.47898672,  -0.61281483,  40.95135436,
  -12.57668864, -32.70842421]

qfrc_actuator:
[ 0.00115671, 0.22458889,-0.00194417, 0.0004402 , 0.00911476, 0.21827329,
  0.0408549 , 0.01322996, 0.00063337, 0.23200532, 0.00171717, 0.00049416,
  0.02159923,-0.00168662, 0.00370958,-0.00317878, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([0.43067336, 0.42925957, 0.03486771, 0.42925957, 0.42999605,
       0.00833836, 0.03486771, 0.00833836, 0.328019  , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0012689932737798301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.96360876e-01,  7.64312489e-02,  3.77262424e-02,  7.63765186e-02,
        9.97074854e-01, -2.89192313e-03, -3.78369210e-02, -4.33680869e-19,
       -9.99283927e-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([ 0.10787464, -0.07930245,  0.11377711])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.62650612, -6.44862333, -1.52507064, -6.44862333,  7.16016291,
       -2.2565195 , -1.52507064, -2.2565195 , 16.16799481,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006232799296752856
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.78125906e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.78125906e-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([ 0.10969855, -0.0540118 ,  0.06198489])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94883958e-04,-5.55053930e-03,-1.39307346e-03,-2.98569239e-04,
  4.27067917e-02, 1.40177460e-01, 7.67710115e-02, 3.11667475e-02,
  1.61884278e-04,-2.16045353e-03,-6.03730637e-04,-1.01953712e-04,
 -1.59456686e-04, 2.09433005e-05,-1.17269311e-05, 8.03512928e-05,
  2.29980623e-02, 3.90647638e-03,-7.84502740e+00,-1.23404941e-03,
  1.00483965e-02, 1.08754302e-04]


--- Step 835 ---
qpos:
[ 2.74356163e-03, 3.66807134e-01,-8.63321353e-03,-2.63440480e-02,
 -9.65494970e-03, 2.08956375e-01,-6.16075458e-02,-2.99443544e-03,
  1.92687128e-02, 3.65270943e-01,-1.28455655e-02, 2.35669626e-02,
  1.13868263e+00,-9.88888128e-03, 8.19449330e-01, 6.22614784e-02,
  9.34741771e-02,-6.99829284e-02, 1.21511884e-01, 9.98237421e-01,
 -4.18775251e-03,-7.10034352e-04,-5.91946760e-02]

qacc:
[ 4.30153689e+00,-4.42340208e+01, 8.59961297e+01,-5.81729966e+01,
  3.79456761e+01,-1.37081548e+00, 1.31119161e+02,-3.61827137e+02,
  3.08737258e+00,-6.71875676e+00, 2.78743531e+00, 8.57811996e+00,
 -7.51228524e-01, 8.64202340e-01,-2.98133594e+00, 1.13510071e+01,
 -2.02855095e+00, 3.40701334e-01,-6.13925041e-01, 3.56380093e+01,
 -1.42466269e+01,-3.18119953e+01]

qfrc_actuator:
[ 0.00130197, 0.22321006,-0.00186799, 0.00046937, 0.00920092, 0.21976603,
  0.0415856 , 0.01359148, 0.00072637, 0.23195592, 0.00175356, 0.00052771,
  0.02151414,-0.00170657, 0.00375763,-0.00311171, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.43056146, -0.00981661,  0.43056146,  0.43061492,
       -0.00256285, -0.00981661, -0.00256285,  0.31826551,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001259212576236827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95915410e-01,  8.20981194e-02,  3.75818447e-02,  8.20397277e-02,
        9.96624252e-01, -3.09584958e-03, -3.77091413e-02, -4.33680869e-19,
       -9.99288757e-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([ 0.10775874, -0.07925224,  0.11379764])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.56826991, -6.40644283, -1.44902029, -6.40644283,  7.1888298 ,
       -2.74363409, -1.44902029, -2.74363409, 18.69848988,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006162799558580151
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.00745687e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.00745687e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10970823, -0.05404483,  0.06198505])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81657853e-04,-4.92843644e-03,-1.29870997e-03,-2.71555843e-04,
  4.21887905e-02, 1.39367169e-01, 7.66222180e-02, 3.20413711e-02,
  1.33315541e-04,-1.53626462e-03,-5.36071091e-04,-9.10895294e-05,
 -1.79666896e-04,-5.01578003e-05, 4.53999593e-05, 6.86137101e-05,
  2.73788593e-02, 2.24453155e-03,-7.84388702e+00,-1.04971646e-03,
  1.03092092e-02, 1.01103833e-04]


--- Step 836 ---
qpos:
[ 2.74606482e-03, 3.71043652e-01,-8.72652054e-03,-2.63435305e-02,
 -1.02926254e-02, 2.10516076e-01,-6.23180215e-02,-3.38964821e-03,
  1.93052892e-02, 3.69672155e-01,-1.28846900e-02, 2.35630275e-02,
  1.13919459e+00,-9.89456874e-03, 8.19819017e-01, 6.22607957e-02,
  9.33816908e-02,-6.99735837e-02, 1.21502000e-01, 9.98058617e-01,
 -3.63794863e-03,-6.87482620e-04,-6.21714618e-02]

qacc:
[-1.20704464e+00,-4.51020076e+01, 9.45422090e+01,-7.57254999e+01,
  3.46251314e+01, 8.29035828e+00, 9.51331119e+01,-3.19799738e+02,
  9.19553763e-01,-1.18472251e+00,-3.94325693e+00,-5.41568919e-01,
 -6.06202876e-01, 2.92489552e-01, 6.58540788e+00,-2.37246206e+01,
 -1.97181898e+00, 2.29506027e-01,-6.20859348e-01, 3.15366006e+01,
 -1.55486804e+01,-3.09957183e+01]

qfrc_actuator:
[ 0.00122618, 0.22176173,-0.00180185, 0.00046883, 0.00899025, 0.22164426,
  0.04230395, 0.01395075, 0.00073098, 0.23221169, 0.00180938, 0.00053141,
  0.02143402,-0.00173414, 0.00368259,-0.00325038, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.42748016, -0.05234741,  0.42748016,  0.42885512,
       -0.0148481 , -0.05234741, -0.0148481 ,  0.3094206 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012469885483930667
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99543189,  0.08788737,  0.03729841,  0.08782574,  0.99613042,
       -0.00329079, -0.0374433 ,  0.        , -0.99929875])
  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([ 0.10763643, -0.07920046,  0.11381776])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.50261021, -6.35876701, -1.360155  , -6.35876701,  7.20703082,
       -3.29318833, -1.360155  , -3.29318833, 21.89836827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006084012850267329
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.12410158e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.12410158e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.10971616, -0.05407084,  0.06198524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.79902244e-05,-4.62791849e-03,-1.16716919e-03,-2.70737673e-04,
  4.14149509e-02, 1.39036059e-01, 7.66612991e-02, 3.29125068e-02,
  4.05199268e-05,-8.66933629e-04,-3.78735875e-04,-9.15979411e-05,
 -2.02281658e-04,-7.44000967e-05,-5.56681657e-05,-1.31116526e-04,
  3.13723617e-02, 3.60167709e-04,-7.84270676e+00,-8.32083857e-04,
  1.05428513e-02, 9.12999617e-05]


--- Step 837 ---
qpos:
[ 2.74426385e-03, 3.75244338e-01,-8.81983890e-03,-2.63432740e-02,
 -1.09198688e-02, 2.12107460e-01,-6.30223631e-02,-3.79456754e-03,
  1.93417067e-02, 3.74064753e-01,-1.29240886e-02, 2.35594713e-02,
  1.13970545e+00,-9.90085659e-03, 8.20187529e-01, 6.22566029e-02,
  9.32814788e-02,-6.99636583e-02, 1.21489585e-01, 9.97866791e-01,
 -3.03340704e-03,-7.01700838e-04,-6.52086943e-02]

qacc:
[-5.77785966e+00,-4.78591852e+01, 1.03048062e+02,-8.12151586e+01,
  3.45421654e+01, 4.71226065e+00, 8.48233258e+01,-2.85795783e+02,
 -1.98146351e-01,-9.83805877e+00, 1.69599608e+01,-3.62461818e+00,
 -3.34476453e-01,-3.90203580e-01, 8.86031559e+00,-3.35250632e+01,
 -1.93143919e+00, 1.45168934e-01,-6.32657307e-01, 2.84143412e+01,
 -1.65422711e+01,-3.06552551e+01]

qfrc_actuator:
[ 0.00098498, 0.2201427 ,-0.00174189, 0.00046861, 0.00886416, 0.22308053,
  0.04297796, 0.01434833, 0.00070096, 0.23181545, 0.00180707, 0.00055343,
  0.02137823,-0.00176594, 0.00358699,-0.00343841, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.4212158 , -0.08975962,  0.4212158 ,  0.4245133 ,
       -0.02890737, -0.08975962, -0.02890737,  0.29501949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012322875783615601
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99490853,  0.09379501,  0.03687153,  0.09373067,  0.99559153,
       -0.00347368, -0.03703479,  0.        , -0.99931398])
  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([ 0.10750808, -0.07914716,  0.11383737])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.43148418, -6.30745715, -1.25696979, -6.30745715,  7.2086089 ,
       -3.89960121, -1.25696979, -3.89960121, 25.99962959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005998774906615795
  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([ 0.10972272, -0.05409136,  0.06198545])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.65183602e-04,-4.60196995e-03,-1.09457225e-03,-2.52862711e-04,
  4.07703009e-02, 1.38307045e-01, 7.68533127e-02, 3.38248209e-02,
 -1.00987402e-05,-1.11172301e-03,-2.79066457e-04,-3.91180388e-05,
 -1.98159516e-04,-8.72287097e-05,-1.40670598e-04,-2.03622745e-04,
  3.50577348e-02,-1.72483843e-03,-7.84150245e+00,-5.85124527e-04,
  1.07529974e-02, 7.96015279e-05]


--- Step 838 ---
qpos:
[ 2.73774303e-03, 3.79411962e-01,-8.91426132e-03,-2.63441708e-02,
 -1.15363700e-02, 2.13718631e-01,-6.37233467e-02,-4.20833022e-03,
  1.93777807e-02, 3.78443170e-01,-1.29614417e-02, 2.35565906e-02,
  1.14021521e+00,-9.90753606e-03, 8.20554861e-01, 6.22507510e-02,
  9.31736560e-02,-6.99534094e-02, 1.21474579e-01, 9.97661285e-01,
 -2.37904327e-03,-7.54029988e-04,-6.83061632e-02]

qacc:
[-6.25601821e+00,-4.29792843e+01, 9.47244618e+01,-8.86131958e+01,
  3.53244633e+01,-1.45901158e+00, 8.03793271e+01,-2.53246265e+02,
 -4.21292209e-01,-2.30624717e+01, 5.21875661e+01,-3.33253629e+01,
 -4.62087068e-01, 3.26251249e-02, 3.27704226e+00,-1.39768445e+01,
 -1.90268965e+00, 8.08585310e-02,-6.47685633e-01, 2.60587206e+01,
 -1.73038629e+01,-3.05754598e+01]

qfrc_actuator:
[ 0.0007548 , 0.21880846,-0.00168633, 0.00043303, 0.0088201 , 0.22428088,
  0.04367818, 0.01477243, 0.00066848, 0.23089099, 0.00182161, 0.00056783,
  0.02133175,-0.00178214, 0.0035537 ,-0.00351195, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.41304965, -0.12194066,  0.41304965,  0.41774893,
       -0.04377892, -0.12194066, -0.04377892,  0.28238102,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012138871693868944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99434481,  0.09981822,  0.03625921,  0.09975192,  0.99500569,
       -0.0036375 , -0.03644121,  0.        , -0.9993358 ])
  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([ 0.10737461, -0.07909226,  0.11385579])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.35658965, -6.25394966, -1.13769314, -6.25394966,  7.18206812,
       -4.53769176, -1.13769314, -4.53769176, 31.30048245,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005909078450300476
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.39421463e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.39421463e-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([ 0.10972822, -0.05410761,  0.06198566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91559455e-04,-4.28553162e-03,-1.08358188e-03,-2.84160495e-04,
  4.02050019e-02, 1.37875487e-01, 7.72375081e-02, 3.47332006e-02,
 -2.17197408e-05,-1.75347011e-03,-2.98519307e-04,-5.27168814e-05,
 -1.89687518e-04,-7.26099994e-05,-1.21318113e-04,-1.03112716e-04,
  3.85153110e-02,-3.99307880e-03,-7.84027362e+00,-3.12038897e-04,
  1.09433932e-02, 6.62206030e-05]


--- Step 839 ---
qpos:
[ 2.72628358e-03, 3.83549751e-01,-9.01030417e-03,-2.63463913e-02,
 -1.21886032e-02, 2.15307163e-01,-6.44423101e-02,-4.62608885e-03,
  1.94128808e-02, 3.82805018e-01,-1.29970449e-02, 2.35544125e-02,
  1.14072388e+00,-9.91417172e-03, 8.20921296e-01, 6.22423002e-02,
  9.30719986e-02,-6.99538427e-02, 1.21465558e-01, 9.97461812e-01,
 -1.86863490e-03,-8.63882508e-04,-7.11737058e-02]

qacc:
[  -6.45928883, -37.62259496,  82.52899821, -80.90899874,-116.87387111,
   12.1317536 , -69.55595034,  45.57092322,  -1.23752228, -25.33810385,
   55.60769845, -34.05152907,  -0.89918017,   1.25887417,   6.55655541,
  -24.78620662,   1.5413604 ,  -2.67051572,   1.49604423, -69.7510923 ,
  -33.88221681, 114.88668454]

qfrc_actuator:
[ 0.00051562, 0.21769215,-0.00163232, 0.00039498, 0.00898057, 0.22539215,
  0.04441219, 0.01514444, 0.00059926, 0.23001367, 0.00187955, 0.00059498,
  0.02129623,-0.00177121, 0.00351525,-0.00364149, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.40884692, -0.13536518,  0.40884692,  0.41372968,
       -0.05117542, -0.13536518, -0.05117542,  0.27610692,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011904097823305215
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93740044e-01,  1.05954993e-01,  3.54155995e-02,  1.05887770e-01,
        9.94370926e-01, -3.77370205e-03, -3.56160851e-02, -4.33680869e-19,
       -9.99365546e-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([ 0.10723696, -0.07903567,  0.11387222])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.31236777, -6.1698675 , -1.3336873 , -6.1698675 ,  6.37753307,
       -0.30146593, -1.3336873 , -0.30146593,  7.70700116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005856118052640635
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.42187582e-13, -2.36979304e-14,  1.00000000e+00, -3.36955143e-27,
        1.00000000e+00,  2.36979304e-14, -1.00000000e+00,  0.00000000e+00,
       -1.42187582e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08147299, -0.06025724,  0.06198578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.05943209e-04,-3.88834964e-03,-1.01903995e-03,-2.73217716e-04,
  3.98284665e-02, 1.37948913e-01, 7.77940121e-02, 3.55462921e-02,
 -6.08487462e-05,-2.06910925e-03,-3.90344152e-04,-6.83810740e-05,
 -1.70041288e-04,-4.12771975e-05,-1.06890969e-04,-1.51142301e-04,
  4.18086126e-02,-6.43352068e-03,-7.83901261e+00,-1.51880607e-05,
  1.11171223e-02, 5.13185719e-05]


--- Step 840 ---
qpos:
[ 2.71094490e-03, 3.87654949e-01,-9.10535796e-03,-2.63480153e-02,
 -1.28730872e-02, 2.16865130e-01,-6.51771669e-02,-5.04668653e-03,
  1.94471200e-02, 3.87148558e-01,-1.30322383e-02, 2.35527246e-02,
  1.14123153e+00,-9.92069337e-03, 8.21286615e-01, 6.22362390e-02,
  9.29755922e-02,-6.99624874e-02, 1.21461354e-01, 9.97269353e-01,
 -1.46692934e-03,-1.02018489e-03,-7.38284889e-02]

qacc:
[  -4.97322291, -44.60487866,  94.04694091, -61.37177386,-104.57750388,
   -1.72440587, -40.21410755,  38.68654751,  -1.07403433, -24.32832338,
   49.56822075, -28.26325289,  -0.72262663,   1.00537559,  -8.82720281,
   28.56383773,   1.3127476 ,  -2.05288821,   1.20459455, -52.46210659,
  -27.23015153, 106.36340634]

qfrc_actuator:
[ 0.00034415, 0.2160775 ,-0.00157828, 0.0004271 , 0.00935918, 0.22659101,
  0.04515098, 0.0155549 , 0.00054428, 0.22906617, 0.00187424, 0.00061171,
  0.02125666,-0.00176202, 0.00351099,-0.00350125, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.28262463,  0.32496593,  0.28262463,  1.47698896,
       -0.90998633,  0.32496593, -0.90998633,  1.22209338,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011751379997023794
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99314264,  0.11163356,  0.03472245,  0.1115654 ,  0.99374944,
       -0.00390057, -0.03494085,  0.        , -0.99938938])
  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([ 0.10710715, -0.07898551,  0.11388971])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.3347801 ,  6.20577201,  1.27194053,  6.20577201,  6.54716853,
       -1.03623882,  1.27194053, -1.03623882, 11.39056826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005882960285461952
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  9.43592146e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -9.43592146e-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([ 0.08144587, -0.06013108,  0.06198572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.41512945e-04,-4.14952185e-03,-9.28219347e-04,-1.83517147e-04,
  4.19946108e-02, 1.40233033e-01, 7.94228190e-02, 3.61555885e-02,
 -5.41416099e-05,-2.33465378e-03,-5.30405641e-04,-9.57522186e-05,
 -1.55020718e-04,-3.34712756e-05,-7.23899187e-05, 1.17603963e-04,
  3.11569132e-02,-8.22983215e-03,-7.84210866e+00, 3.03066481e-04,
  1.05868829e-02, 3.35462113e-05]


--- Step 841 ---
qpos:
[ 0.00269317, 0.39172008,-0.0091971 ,-0.0263486 ,-0.01358612, 0.21839336,
 -0.06592782,-0.00546989, 0.01948009, 0.39146898,-0.01306535, 0.02355159,
  1.14173829,-0.00992713, 0.82165081, 0.06223485, 0.09288372,-0.06997735,
  0.12146101, 0.99708491,-0.00114605,-0.00121465,-0.07628167]

qacc:
[ -3.03417122,-60.08014437,133.00951292,-90.87501987,-91.84343439,
  -0.44198709,-44.25199798, 46.12800152, -1.56046241,-35.23130715,
  78.95725055,-55.72301789, -0.51531074,  0.63848029,-15.74992484,
  52.73788595,  1.13474011, -1.55355564,  0.96516492,-38.78624434,
 -22.1570267 ,100.83489983]

qfrc_actuator:
[ 0.00024973, 0.21369921,-0.00156168, 0.00044665, 0.00984399, 0.22791266,
  0.04587997, 0.01602438, 0.0004626 , 0.22772989, 0.00190265, 0.00062213,
  0.02122535,-0.00175396, 0.00348469,-0.00325634, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.27388365,  0.33236619,  0.27388365,  1.79043885,
       -1.1205037 ,  0.33236619, -1.1205037 ,  1.35401531,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011656598492835206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99255866,  0.11688872,  0.03412233,  0.1168197 ,  0.99314502,
       -0.00401605, -0.03435785,  0.        , -0.99940959])
  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([ 0.10698476, -0.07894123,  0.1139075 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.34181561,  6.22095633,  1.23220435,  6.22095633,  6.58180488,
       -1.21161948,  1.23220435, -1.21161948, 12.45884637,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005891385855736481
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.42242667e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.42242667e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08142472, -0.06003158,  0.0619857 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.53117235e-04,-5.03527477e-03,-1.00491430e-03,-2.02289670e-04,
  4.40925610e-02, 1.43037497e-01, 8.09380211e-02, 3.67661569e-02,
 -7.98718978e-05,-2.90117717e-03,-5.69483200e-04,-1.18773464e-04,
 -1.35170038e-04,-3.02871362e-05,-4.90251554e-05, 2.41592874e-04,
  2.34472645e-02,-9.30575108e-03,-7.84388739e+00, 5.36517978e-04,
  1.01852596e-02, 2.06825064e-05]


--- Step 842 ---
qpos:
[ 2.67396812e-03, 3.95738368e-01,-9.28566809e-03,-2.63485532e-02,
 -1.43240339e-02, 2.19890123e-01,-6.66935245e-02,-5.89520275e-03,
  1.95109014e-02, 3.95764922e-01,-1.30962119e-02, 2.35502365e-02,
  1.14224444e+00,-9.93408981e-03, 8.22014197e-01, 6.22344456e-02,
  9.27958254e-02,-6.99968374e-02, 1.21463728e-01, 9.96909357e-01,
 -8.84122464e-04,-1.44091175e-03,-7.85421953e-02]

qacc:
[-1.69764493e+00,-6.94608300e+01, 1.55183253e+02,-1.14894325e+02,
 -7.94607238e+01,-3.82089722e+00,-3.75729774e+01, 4.79067381e+01,
 -2.65191964e+00,-3.90684028e+01, 9.32905544e+01,-8.26065753e+01,
  9.96945000e-02,-9.31546525e-01,-4.15845850e+00, 1.28033778e+01,
  9.92007924e-01,-1.15799810e+00, 7.64646306e-01,-2.80534312e+01,
 -1.82047708e+01, 9.64046109e+01]

qfrc_actuator:
[ 2.01652740e-04, 2.10954273e-01,-1.57027442e-03, 4.40245415e-04,
  1.03661972e-02, 2.29124096e-01, 4.66271105e-02, 1.64414027e-02,
  3.30157856e-04, 2.26545268e-01, 2.02044918e-03, 6.10758981e-04,
  2.11990169e-02,-1.78210903e-03, 3.42390288e-03,-3.21815919e-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,  0.26472314,  0.33970752,  0.26472314,  2.26706907,
       -1.43104414,  0.33970752, -1.43104414,  1.54584004,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011607992019524783
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99199294,  0.1217436 ,  0.03359335,  0.12167385,  0.99256158,
       -0.00412042, -0.0338451 ,  0.        , -0.99942709])
  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([ 0.10686905, -0.07890249,  0.11392536])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.33590532,  6.22397632,  1.1856707 ,  6.22397632,  6.6077879 ,
       -1.42720131,  1.1856707 , -1.42720131, 13.82775538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005884307837296238
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.83012817e-13, -9.43376057e-14,  1.00000000e+00, -2.66987515e-26,
        1.00000000e+00,  9.43376057e-14, -1.00000000e+00,  0.00000000e+00,
       -2.83012817e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08140816, -0.0599531 ,  0.06198571])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.06139124e-05,-5.91232452e-03,-1.22269305e-03,-2.69125394e-04,
  4.60424379e-02, 1.45691704e-01, 8.24671566e-02, 3.73125037e-02,
 -1.35992427e-04,-3.07437962e-03,-6.02420695e-04,-1.66592046e-04,
 -1.16837833e-04,-6.17893817e-05,-5.94559174e-05, 4.46475643e-05,
  1.78364805e-02,-9.87520763e-03,-7.84487825e+00, 7.08350150e-04,
  9.87330576e-03, 1.11211199e-05]


--- Step 843 ---
qpos:
[ 2.65483329e-03, 3.99707637e-01,-9.37240638e-03,-2.63487036e-02,
 -1.50831262e-02, 2.21353165e-01,-6.74734071e-02,-6.32210443e-03,
  1.95394784e-02, 4.00040010e-01,-1.31276766e-02, 2.35476274e-02,
  1.14274980e+00,-9.94077954e-03, 8.22376829e-01, 6.22292714e-02,
  9.27114381e-02,-7.00196901e-02, 1.21468839e-01, 9.96743553e-01,
 -6.63921687e-04,-1.69423850e-03,-8.06162424e-02]

qacc:
[   0.17730727, -70.32147229, 157.56399271,-127.85479302, -67.08334672,
   -8.12664363, -28.825586  ,  48.66409305,  -2.71885122, -28.46042186,
   66.7960382 , -72.2477649 ,  -0.97621884,   1.74270771,  13.31689529,
  -48.12936807,   0.87800967,  -0.84043475,   0.59873869, -19.5982733 ,
  -15.20508087,  93.35186228]

qfrc_actuator:
[ 2.34597988e-04, 2.08420453e-01,-1.52414890e-03, 4.18251032e-04,
  1.10251300e-02, 2.30194267e-01, 4.74084553e-02, 1.68807656e-02,
  2.04158614e-04, 2.25835054e-01, 2.10212341e-03, 5.69098248e-04,
  2.11703561e-02,-1.76039640e-03, 3.33178687e-03,-3.47971960e-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,  0.25396937,  0.34782049,  0.25396937,  2.88108797,
       -1.78922829,  0.34782049, -1.78922829,  1.73712079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011593588522078211
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99145002,  0.1262165 ,  0.03310961,  0.12614618,  0.99200272,
       -0.00421267, -0.03337653,  0.        , -0.99944285])
  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([ 0.10675955, -0.07886895,  0.11394299])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.31931722,  6.21741214,  1.13029038,  6.21741214,  6.62820876,
       -1.69912623,  1.13029038, -1.69912623, 15.66573674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000586444143401324
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.89314368e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.89314368e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08139513, -0.05989117,  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:
[ 2.06214990e-06,-6.23770411e-03,-1.37772434e-03,-3.31010062e-04,
  4.79460500e-02, 1.48291986e-01, 8.39934300e-02, 3.78570900e-02,
 -1.40910525e-04,-2.70465822e-03,-6.79720333e-04,-2.06307541e-04,
 -1.14874111e-04,-1.31742006e-05,-1.17730861e-04,-2.67483298e-04,
  1.37459432e-02,-1.00797399e-02,-7.84540096e+00, 8.35279787e-04,
  9.62417620e-03, 3.78317516e-06]


--- Step 844 ---
qpos:
[ 2.63652232e-03, 4.03639005e-01,-9.46421539e-03,-2.63498888e-02,
 -1.58595260e-02, 2.22789498e-01,-6.82687511e-02,-6.75106783e-03,
  1.95667267e-02, 4.04302023e-01,-1.31632421e-02, 2.35432498e-02,
  1.14325432e+00,-9.94662849e-03, 8.22738430e-01, 6.22206194e-02,
  9.26302046e-02,-7.00448697e-02, 1.21475805e-01, 9.96588429e-01,
 -4.71830209e-04,-1.97126945e-03,-8.25069361e-02]

qacc:
[  1.06373615,-38.05409354, 67.37752739,-49.32373851,-54.49249923,
   3.63153073,-55.38337166, 63.99698694, -1.60569665, -9.45691564,
  16.11856582,-30.55488135, -1.48662239,  3.19016724,  9.0519891 ,
 -33.71600425,  0.78847535, -0.58169689,  0.4635824 ,-12.89456434,
 -12.99834693, 91.82470907]

qfrc_actuator:
[ 2.97485340e-04, 2.07312406e-01,-1.49838387e-03, 4.22985328e-04,
  1.18078418e-02, 2.31886877e-01, 4.81977233e-02, 1.73516001e-02,
  1.36220822e-04, 2.25823969e-01, 2.12857078e-03, 5.28147249e-04,
  2.11456610e-02,-1.70934909e-03, 3.29013248e-03,-3.64947753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011602924841041325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90934333e-01,  1.30320039e-01,  3.26471172e-02,  1.30249370e-01,
        9.91471980e-01, -4.29116876e-03, -3.29279272e-02, -8.67361738e-19,
       -9.99457729e-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([ 0.10665592, -0.07884034,  0.11396007])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.29410862,  6.20319791,  1.06589826,  6.20319791,  6.58895231,
       -1.71589899,  1.06589826, -1.71589899, 16.28010961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005834247083319338
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.51470694e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.51470694e-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([ 0.08138482, -0.05984228,  0.06198584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.01221830e-05,-5.02667942e-03,-1.48594978e-03,-3.24676807e-04,
  4.97874695e-02, 1.51629123e-01, 8.54848281e-02, 3.84066131e-02,
 -8.42100302e-05,-1.81549175e-03,-6.69153467e-04,-1.93138641e-04,
 -9.98963181e-05, 2.52125531e-05,-1.27480679e-04,-2.00244812e-04,
  1.07500716e-02,-1.00170187e-02,-7.84564424e+00, 9.29818294e-04,
  9.41832212e-03,-2.08723187e-06]


--- Step 845 ---
qpos:
[ 2.61917548e-03, 4.07545409e-01,-9.56389260e-03,-2.63523236e-02,
 -1.66493381e-02, 2.24207935e-01,-6.90816154e-02,-7.18289606e-03,
  1.95939375e-02, 4.08557242e-01,-1.32035347e-02, 2.35384942e-02,
  1.14375819e+00,-9.95237740e-03, 8.23099092e-01, 6.22164063e-02,
  9.25518316e-02,-7.00715429e-02, 1.21484180e-01, 9.96444879e-01,
 -2.97171880e-04,-2.26962398e-03,-8.42161669e-02]

qacc:
[ 1.18754525e+00,-1.35787076e+01, 5.82864588e+00, 3.45580795e+00,
 -4.20137754e+01, 1.92376150e+01,-9.08524236e+01, 8.25542703e+01,
 -4.81286780e-02, 3.45169356e+00,-2.37408060e+01, 2.97538598e+01,
 -3.65230813e-01, 4.79449117e-01,-1.47671649e+01, 4.96943149e+01,
  7.15096267e-01,-3.73421576e-01, 3.52558300e-01,-7.62559393e+00,
 -1.13759938e+01, 9.09117342e+01]

qfrc_actuator:
[ 3.59800457e-04, 2.07121572e-01,-1.49641672e-03, 4.44673428e-04,
  1.27049290e-02, 2.34261219e-01, 4.89986986e-02, 1.78246758e-02,
  1.38614046e-04, 2.26108652e-01, 2.12562062e-03, 5.59646701e-04,
  2.11074013e-02,-1.71239086e-03, 3.33739051e-03,-3.39073225e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011636623096252425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99044925,  0.13406141,  0.03221514,  0.13399056,  0.99097303,
       -0.00435815, -0.03250859,  0.        , -0.99947146])
  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([ 0.1065574 , -0.07881652,  0.11397684])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.26208133,  6.18383695,  0.98682479,  6.18383695,  6.58818021,
       -2.04346538,  0.98682479, -2.04346538, 19.0672488 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005795875471915485
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -9.57769909e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  9.57769909e-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([ 0.0813766 , -0.05980365,  0.06198593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.96467391e-05,-3.45278930e-03,-1.27217896e-03,-2.59375462e-04,
  5.15498911e-02, 1.55298417e-01, 8.70524843e-02, 3.89823225e-02,
 -2.68053001e-06,-1.01899455e-03,-5.12844243e-04,-8.19078488e-05,
 -9.58020522e-05,-1.90985373e-05,-3.47387542e-05, 2.30957854e-04,
  8.53737603e-03,-9.75017250e-03,-7.84571767e+00, 1.00114524e-03,
  9.24147841e-03,-7.02182943e-06]


--- Step 846 ---
qpos:
[ 2.60309652e-03, 4.11429056e-01,-9.66659685e-03,-2.63556332e-02,
 -1.74487786e-02, 2.25609461e-01,-6.99126304e-02,-7.61768003e-03,
  1.96211868e-02, 4.12804345e-01,-1.32450799e-02, 2.35352783e-02,
  1.14426151e+00,-9.95838517e-03, 8.23459792e-01, 6.22164745e-02,
  9.24760662e-02,-7.00990553e-02, 1.21493594e-01, 9.96313650e-01,
 -1.31684291e-04,-2.58755608e-03,-8.57461200e-02]

qacc:
[ 1.54728240e+00,-2.34230138e+01, 4.35654502e+01,-3.71313797e+01,
 -2.99943642e+01, 2.20616346e+01,-9.87079583e+01, 8.91943383e+01,
  5.57208260e-02,-4.05470015e+00,-7.60595557e+00, 4.22302045e+01,
  1.61029954e-03,-4.88447185e-01,-1.28711924e+01, 4.51091016e+01,
  6.51920061e-01,-2.09797270e-01, 2.59408455e-01,-3.53942861e+00,
 -1.01527906e+01, 8.98465975e+01]

qfrc_actuator:
[ 4.39055041e-04, 2.06435882e-01,-1.46839725e-03, 4.41657413e-04,
  1.37269273e-02, 2.36602656e-01, 4.97794364e-02, 1.82474662e-02,
  1.29188142e-04, 2.25859641e-01, 2.12505121e-03, 6.51685938e-04,
  2.10769923e-02,-1.72972901e-03, 3.37944115e-03,-3.16545262e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011697996266343779
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89997782e-01,  1.37445486e-01,  3.18297188e-02,  1.37374502e-01,
        9.90509333e-01, -4.41676925e-03, -3.21346986e-02,  8.67361738e-19,
       -9.99483547e-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([ 0.10646322, -0.07879738,  0.11399363])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.22484888,  6.16090775,  0.88992093,  6.16090775,  6.56975763,
       -2.38779748,  0.88992093, -2.38779748, 22.75553094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005751247608315191
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.65201901e-14, -1.93040380e-13,  1.00000000e+00, -1.86322942e-26,
        1.00000000e+00,  1.93040380e-13, -1.00000000e+00,  0.00000000e+00,
       -9.65201901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08137   , -0.05977309,  0.06198604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.91787774e-05,-3.01945561e-03,-8.92022869e-04,-2.07921899e-04,
  5.32424923e-02, 1.58494861e-01, 8.87032627e-02, 3.95479880e-02,
  2.10392479e-06,-1.06967534e-03,-3.22619697e-04, 2.03768474e-05,
 -9.38847518e-05,-4.06059389e-05, 4.82088396e-05, 2.32857236e-04,
  6.88573198e-03,-9.32259020e-03,-7.84568584e+00, 1.05609441e-03,
  9.08330847e-03,-1.13944911e-05]


--- Step 847 ---
qpos:
[ 2.58821917e-03, 4.15290119e-01,-9.77036834e-03,-2.63589353e-02,
 -1.82541756e-02, 2.26991361e-01,-7.07616510e-02,-8.05512542e-03,
  1.96478205e-02, 4.17040152e-01,-1.32846722e-02, 2.35325167e-02,
  1.14476430e+00,-9.96431682e-03, 8.23820894e-01, 6.22162856e-02,
  9.24026895e-02,-7.01268925e-02, 1.21503739e-01, 9.96195362e-01,
  3.10072929e-05,-2.92382162e-03,-8.70990915e-02]

qacc:
[ 1.45517558e+00,-2.68516188e+01, 5.24062136e+01,-3.39745164e+01,
 -1.84537165e+01, 1.86702052e+01,-9.30895420e+01, 9.04517432e+01,
 -6.92565158e-01,-1.94497353e+01, 4.57685835e+01,-3.27107354e+01,
 -4.87851291e-01, 7.45814127e-01, 1.38985465e+00,-3.95328136e+00,
  5.97168565e-01,-8.12119840e-02, 1.82934261e-01,-3.77018979e-01,
 -9.24770365e+00, 8.87218741e+01]

qfrc_actuator:
[ 5.10031280e-04, 2.05514317e-01,-1.44419291e-03, 4.59449129e-04,
  1.47899478e-02, 2.38681985e-01, 5.05379177e-02, 1.86768274e-02,
  7.71044604e-05, 2.25276698e-01, 2.21308980e-03, 6.71766773e-04,
  2.10619598e-02,-1.71982085e-03, 3.37038112e-03,-3.19265457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001178297108487093
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98958331,  0.14047697,  0.03148169,  0.14040594,  0.99008395,
       -0.00446675, -0.03179699,  0.        , -0.99949435])
  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([ 0.10637308, -0.07878277,  0.11401037])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.18390879,  6.13613548,  0.76718263,  6.13613548,  6.52078866,
       -2.69445695,  0.76718263, -2.69445695, 27.73490869,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005702142324649356
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.73513954e-14,  9.73513954e-14,  1.00000000e+00, -9.47729419e-27,
        1.00000000e+00, -9.73513954e-14, -1.00000000e+00,  0.00000000e+00,
        9.73513954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08136464, -0.0597489 ,  0.06198616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.52712627e-05,-2.93130601e-03,-7.57391495e-04,-1.54332826e-04,
  5.47867924e-02, 1.61380743e-01, 9.03636944e-02, 4.01248484e-02,
 -3.96348512e-05,-1.38774190e-03,-2.17335057e-04,-4.51499673e-05,
 -8.14251098e-05,-1.68927499e-05, 3.11791488e-05,-9.86155604e-06,
  5.63558006e-03,-8.76666491e-03,-7.84558723e+00, 1.09985878e-03,
  8.93629643e-03,-1.54702574e-05]


--- Step 848 ---
qpos:
[ 2.57416571e-03, 4.19131606e-01,-9.87553627e-03,-2.63625247e-02,
 -1.90620376e-02, 2.28345937e-01,-7.16271444e-02,-8.49432067e-03,
  1.96741460e-02, 4.21261778e-01,-1.33218786e-02, 2.35308863e-02,
  1.14526637e+00,-9.96975499e-03, 8.24181559e-01, 6.22129783e-02,
  9.23315036e-02,-7.01546612e-02, 1.21514363e-01, 9.96090452e-01,
  1.95743286e-04,-3.27749451e-03,-8.82781417e-02]

qacc:
[ 9.90048465e-01,-2.25652552e+01, 4.41302626e+01,-3.24809076e+01,
 -7.57288289e+00, 6.16650606e+00,-6.70857286e+01, 8.33612573e+01,
 -3.23758512e-01,-2.30760251e+01, 5.03129890e+01,-2.41121738e+01,
 -1.07120570e+00, 2.15204233e+00, 8.82204816e+00,-3.16869674e+01,
  5.47710800e-01, 1.71239465e-02, 1.19704389e-01, 2.03044093e+00,
 -8.55925841e+00, 8.72098078e+01]

qfrc_actuator:
[ 5.57847002e-04, 2.04886219e-01,-1.38752137e-03, 4.71440488e-04,
  1.58777614e-02, 2.40276231e-01, 5.13611706e-02, 1.91287718e-02,
  5.33227938e-05, 2.24499825e-01, 2.29833072e-03, 7.20152530e-04,
  2.10242181e-02,-1.69379633e-03, 3.29334009e-03,-3.36851964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0011884386151111844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98920914,  0.14316038,  0.03115083,  0.14308945,  0.9896995 ,
       -0.00450598, -0.03147504,  0.        , -0.99950454])
  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([ 0.1062869 , -0.0787725 ,  0.11402676])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.1405827 ,  6.11021277,  0.60996384,  6.11021277,  6.42303739,
       -2.82944351,  0.60996384, -2.82944351, 34.48406929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005650126633950509
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82476232e-14, -9.82476232e-14,  1.00000000e+00, -9.65259546e-27,
        1.00000000e+00,  9.82476232e-14, -1.00000000e+00,  0.00000000e+00,
       -9.82476232e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08136025, -0.0597297 ,  0.06198629])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.16158534e-05,-2.55748525e-03,-6.87965184e-04,-1.50595069e-04,
  5.61721068e-02, 1.63918143e-01, 9.20820390e-02, 4.07096569e-02,
 -2.02540607e-05,-1.74000700e-03,-2.74958928e-04,-2.80737878e-05,
 -9.16378890e-05, 6.16161168e-06,-7.20130614e-05,-1.74329722e-04,
  4.66787885e-03,-8.10499741e-03,-7.84544364e+00, 1.13632699e-03,
  8.79487001e-03,-1.94401732e-05]


--- Step 849 ---
qpos:
[ 2.55980778e-03, 4.22953062e-01,-9.98022533e-03,-2.63665207e-02,
 -1.98688988e-02, 2.29667568e-01,-7.25074414e-02,-8.93441140e-03,
  1.97002135e-02, 4.25466874e-01,-1.33582020e-02, 2.35297505e-02,
  1.14576776e+00,-9.97505465e-03, 8.24541571e-01, 6.22072281e-02,
  9.22623413e-02,-7.01820478e-02, 1.21525257e-01, 9.95999311e-01,
  3.66272482e-04,-3.64798905e-03,-8.92856673e-02]

qacc:
[-3.16449243e-01,-2.86494277e+01, 6.54550025e+01,-5.85236984e+01,
  3.08317491e+00,-4.10613519e+00,-4.48252188e+01, 7.72926006e+01,
 -2.63220410e-01,-2.32932362e+01, 4.92659985e+01,-2.99468091e+01,
 -6.93782204e-01, 1.13224703e+00, 6.44060867e+00,-2.38697212e+01,
  5.05890357e-01, 9.55398287e-02, 6.76028298e-02, 3.90750243e+00,
 -8.08288310e+00, 8.60269259e+01]

qfrc_actuator:
[ 5.38405596e-04, 2.04031916e-01,-1.31061341e-03, 4.62490843e-04,
  1.71746206e-02, 2.41665983e-01, 5.22644613e-02, 1.95589138e-02,
  2.87085471e-05, 2.23578491e-01, 2.29191575e-03, 7.31404904e-04,
  2.09782110e-02,-1.69405507e-03, 3.26610981e-03,-3.48859734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001199073300613461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98887847,  0.14550122,  0.03080205,  0.14543068,  0.98935807,
       -0.00452994, -0.03113337,  0.        , -0.99951524])
  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([ 0.1062049 , -0.07876633,  0.11404227])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.09604306,  6.0827319 ,  0.40263341,  6.0827319 ,  6.26110342,
       -2.49362784,  0.40263341, -2.49362784, 43.76820166,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005596590193636258
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.91874504e-14,  1.98374901e-13,  1.00000000e+00, -1.96763006e-26,
        1.00000000e+00, -1.98374901e-13, -1.00000000e+00,  0.00000000e+00,
        9.91874504e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08135661, -0.05971443,  0.06198642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.02510831e-05,-2.55928441e-03,-5.81544451e-04,-1.52994826e-04,
  5.75915869e-02, 1.66636951e-01, 9.38042393e-02, 4.12271722e-02,
 -1.72061239e-05,-2.09192462e-03,-4.45688364e-04,-8.19286354e-05,
 -1.02119454e-04,-1.79884774e-05,-8.35099664e-05,-1.39930071e-04,
  3.89668195e-03,-7.35637681e-03,-7.84526826e+00, 1.16850914e-03,
  8.65503281e-03,-2.34408964e-05]


--- Step 850 ---
qpos:
[ 2.54512631e-03, 4.26750618e-01,-1.00822809e-02,-2.63700502e-02,
 -2.06711664e-02, 2.30957133e-01,-7.34021804e-02,-9.37517829e-03,
  1.97260257e-02, 4.29653590e-01,-1.33933250e-02, 2.35270890e-02,
  1.14626847e+00,-9.98027886e-03, 8.24900867e-01, 6.22022996e-02,
  9.21950704e-02,-7.02087785e-02, 1.21536262e-01, 9.95922407e-01,
  5.45589544e-04,-4.03515462e-03,-9.01220228e-02]

qacc:
[-3.21811273e-01,-3.79885745e+01, 8.76512398e+01,-6.62191136e+01,
  1.39513991e+01,-3.52446891e+00,-4.61709927e+01, 8.12470920e+01,
 -2.53477480e-01,-3.07812743e+01, 8.09514592e+01,-9.57482360e+01,
 -5.08263914e-01, 7.20102767e-01,-3.51684968e+00, 1.08154504e+01,
  4.72838302e-01, 1.63967581e-01, 2.78102701e-02, 5.43019728e+00,
 -7.85252414e+00, 8.58652896e+01]

qfrc_actuator:
[ 5.32666595e-04, 2.02730628e-01,-1.22288033e-03, 4.76716000e-04,
  1.87186960e-02, 2.43127119e-01, 5.31496841e-02, 2.00113252e-02,
  3.66771309e-06, 2.22649512e-01, 2.33757155e-03, 6.49550651e-04,
  2.09432451e-02,-1.69217355e-03, 3.26880118e-03,-3.43260971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012093690016573347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88593886e-01,  1.47503809e-01,  3.04097906e-02,  1.47434073e-01,
        9.89061488e-01, -4.53516794e-03, -3.07461073e-02,  8.67361738e-19,
       -9.99527227e-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([ 0.10612719, -0.07876405,  0.11405649])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.0513214 ,  6.05011947,  0.12060287,  6.05011947,  6.07145013,
       -1.00977043,  0.12060287, -1.00977043, 56.7070974 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005542757751055699
  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([ 0.08135355, -0.05970225,  0.06198655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16795983e-05,-2.98455110e-03,-5.57790970e-04,-1.26206050e-04,
  5.90847659e-02, 1.69709552e-01, 9.54254185e-02, 4.17243339e-02,
 -1.71774901e-05,-2.33313761e-03,-4.88961063e-04,-1.97025862e-04,
 -1.02859208e-04,-2.22490796e-05,-5.42227668e-05, 3.67717871e-05,
  3.25552034e-03,-6.52850788e-03,-7.84506710e+00, 1.19840490e-03,
  8.51374228e-03,-2.75703735e-05]


--- Step 851 ---
qpos:
[ 2.53135242e-03, 4.30522156e-01,-1.01810782e-02,-2.63736427e-02,
 -2.14652356e-02, 2.32216866e-01,-7.43113691e-02,-9.81656545e-03,
  1.97524021e-02, 4.33822857e-01,-1.34278910e-02, 2.35235736e-02,
  1.14676831e+00,-9.98530989e-03, 8.25258995e-01, 6.22001056e-02,
  9.21295767e-02,-7.02346266e-02, 1.21547255e-01, 9.95860165e-01,
  7.36010437e-04,-4.43907491e-03,-9.07870337e-02]

qacc:
[ 1.07250316e+00,-4.36270730e+01, 1.05919064e+02,-9.30749000e+01,
  2.47246834e+01,-4.80337239e-01,-5.30272288e+01, 8.75051247e+01,
  6.52295905e-01,-2.63711150e+01, 6.41738355e+01,-6.69973269e+01,
 -6.76996027e-01, 1.04792589e+00,-9.94448898e+00, 3.23623579e+01,
  4.44323442e-01, 2.20669893e-01,-3.15678652e-03, 6.62595993e+00,
 -7.76652231e+00, 8.59658380e+01]

qfrc_actuator:
[ 6.06300438e-04, 2.01403815e-01,-1.07774048e-03, 4.68630362e-04,
  2.04426132e-02, 2.44714393e-01, 5.40296259e-02, 2.04594846e-02,
  3.17294588e-05, 2.21972946e-01, 2.43155192e-03, 6.20170787e-04,
  2.08829733e-02,-1.68900023e-03, 3.22023957e-03,-3.29102298e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012192384452469017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98835737,  0.14916905,  0.02997165,  0.14910051,  0.98881171,
       -0.00452143, -0.03031077,  0.        , -0.99954052])
  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([ 0.10605356, -0.07876555,  0.11406942])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005489604570256268
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01120492e-13, -3.03361475e-13,  1.00000000e+00, -3.06760614e-26,
        1.00000000e+00,  3.03361475e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01120492e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08135095, -0.0596925 ,  0.06198668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.73049819e-05,-3.24086242e-03,-5.84082911e-04,-1.65331336e-04,
  6.05780608e-02, 1.72865469e-01, 9.70237392e-02, 4.22063769e-02,
  3.57559878e-05,-2.22862874e-03,-4.99510843e-04,-1.58572213e-04,
 -1.29142116e-04,-2.20477496e-05,-7.29598408e-05, 1.35841457e-04,
  2.69135922e-03,-5.61722439e-03,-7.84484069e+00, 1.22711271e-03,
  8.36845595e-03,-3.18995150e-05]


--- Step 852 ---
qpos:
[ 2.51864722e-03, 4.34265960e-01,-1.02772750e-02,-2.63775280e-02,
 -2.22475127e-02, 2.33449054e-01,-7.52350233e-02,-1.02585365e-02,
  1.97789057e-02, 4.37975570e-01,-1.34630050e-02, 2.35209082e-02,
  1.14726720e+00,-9.99043302e-03, 8.25616085e-01, 6.22015884e-02,
  9.20657573e-02,-7.02594065e-02, 1.21558137e-01, 9.95812924e-01,
  9.39289025e-04,-4.85998405e-03,-9.12804418e-02]

qacc:
[ 1.23985090e+00,-4.45286172e+01, 1.06812973e+02,-9.56294595e+01,
  3.53515209e+01, 2.61347919e+00,-5.98791257e+01, 9.33982288e+01,
  1.62559250e-01,-1.85955440e+01, 3.09682178e+01,-3.19312033e+00,
 -4.28132552e-01, 2.94805508e-01,-1.26164193e+01, 4.19504209e+01,
  4.18558007e-01, 2.67023207e-01,-2.77731527e-02, 7.54877273e+00,
 -7.77915149e+00, 8.61049415e+01]

qfrc_actuator:
[ 6.73198387e-04, 1.99984602e-01,-9.70845244e-04, 4.47501220e-04,
  2.23932615e-02, 2.46547715e-01, 5.49654415e-02, 2.08875545e-02,
  1.99247449e-05, 2.21329978e-01, 2.46592707e-03, 6.75471887e-04,
  2.08182118e-02,-1.70295237e-03, 3.18892456e-03,-3.10031824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012287689374653637
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98817053,  0.15049691,  0.02949035,  0.15042994,  0.98861048,
       -0.00448934, -0.0298301 ,  0.        , -0.99955498])
  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([ 0.10598378, -0.07877073,  0.11408113])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005437934519715304
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.04162632e-13, -3.06243948e-13,  1.00000000e+00, -6.25235705e-26,
        1.00000000e+00,  3.06243948e-13, -1.00000000e+00,  0.00000000e+00,
       -2.04162632e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08134871, -0.05968465,  0.06198681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.78190664e-05,-3.48264401e-03,-6.79557530e-04,-1.90967189e-04,
  6.21178008e-02, 1.76156903e-01, 9.86788161e-02, 4.26656308e-02,
  7.56952788e-06,-2.13627195e-03,-5.37233112e-04,-6.89787440e-05,
 -1.49920940e-04,-4.48643300e-05,-5.19639346e-05, 1.88386307e-04,
  2.16826943e-03,-4.62103200e-03,-7.84458975e+00, 1.25552117e-03,
  8.21731850e-03,-3.64791553e-05]


--- Step 853 ---
qpos:
[ 0.00250642, 0.43799049,-0.01037619,-0.02638216,-0.02301424, 0.23466573,
 -0.0761754 ,-0.01070215, 0.01980508, 0.44210973,-0.01349717, 0.02351926,
  1.14776502,-0.00999533, 0.82597204, 0.06220541, 0.09200353,-0.07028294,
  0.12156884, 0.99578108, 0.00115685,-0.0052984 ,-0.09160035]

qacc:
[ 5.50037649e-01,-1.94351108e+01, 3.54949379e+01,-2.99598791e+01,
  4.62777278e+01, 2.24291012e+01,-1.03133909e+02, 1.13300861e+02,
 -3.28540400e-01,-2.50748968e+01, 4.95423734e+01,-1.98081572e+01,
 -8.72611894e-01, 1.35557964e+00,-8.70511837e+00, 2.81087506e+01,
  3.98179125e-01, 3.10963992e-01,-4.47407223e-02, 8.32419672e+00,
 -7.94391721e+00, 8.70624623e+01]

qfrc_actuator:
[ 7.00025389e-04, 1.99640488e-01,-8.87542214e-04, 4.54306116e-04,
  2.46506020e-02, 2.49408193e-01, 5.59228246e-02, 2.13037826e-02,
 -1.55883964e-05, 2.20429214e-01, 2.51867928e-03, 7.26961295e-04,
  2.07614454e-02,-1.69146651e-03, 3.12005593e-03,-2.98869464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012380829700334404
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98803462,  0.15148716,  0.0289694 ,  0.15142209,  0.98845923,
       -0.00443973, -0.02930763,  0.        , -0.99957044])
  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([ 0.10591761, -0.07877953,  0.1140917 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005388438069640344
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06038004e-13, -1.03019002e-13,  1.00000000e+00, -2.12258295e-26,
        1.00000000e+00,  1.03019002e-13, -1.00000000e+00,  0.00000000e+00,
       -2.06038004e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08134675, -0.05967829,  0.06198693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.02649517e-05,-2.56246577e-03,-7.65404219e-04,-1.77126850e-04,
  6.37845238e-02, 1.80362273e-01, 1.00356712e-01, 4.31113104e-02,
 -2.24325275e-05,-2.34557243e-03,-5.01060750e-04,-6.83445667e-05,
 -1.59579583e-04,-2.79683733e-05,-7.48870037e-05, 1.14724643e-04,
  1.66080501e-03,-3.53859886e-03,-7.84431467e+00, 1.28426463e-03,
  8.05893850e-03,-4.13448805e-05]


--- Step 854 ---
qpos:
[ 0.002495  , 0.44170347,-0.01047799,-0.02638783,-0.02376179, 0.23587684,
 -0.07713494,-0.01114845, 0.01983114, 0.446223  ,-0.01353016, 0.02351664,
  1.14826187,-0.01000034, 0.82632718, 0.06220659, 0.09194281,-0.0703051 ,
  0.12157932, 0.99576485, 0.00138966,-0.00575483,-0.09174594]

qacc:
[ 8.84039304e-01,-9.30230913e+00, 1.54118091e+01,-2.02316659e+01,
  5.67631771e+01, 4.01005280e+01,-1.42844249e+02, 1.31912431e+02,
 -7.78398758e-02,-3.28993902e+01, 8.13182794e+01,-8.45776961e+01,
 -6.75588468e-01, 7.44043758e-01, 6.82479840e+00,-2.55574392e+01,
  3.76139434e-01, 3.45146590e-01,-5.63608469e-02, 8.87138904e+00,
 -8.13485798e+00, 8.74782016e+01]

qfrc_actuator:
[ 7.56228860e-04, 1.99784297e-01,-7.60860788e-04, 4.60692996e-04,
  2.69592191e-02, 2.52901700e-01, 5.68656820e-02, 2.17319522e-02,
 -2.94118947e-05, 2.19329130e-01, 2.54567313e-03, 6.69141105e-04,
  2.07095225e-02,-1.70050593e-03, 3.04467871e-03,-3.13768646e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012483252489188525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98794996,  0.1521373 ,  0.02844489,  0.15207428,  0.98835937,
       -0.0043785 , -0.02877991,  0.        , -0.99958577])
  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([ 0.10585432, -0.07879196,  0.11410177])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005341628866171455
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03921767e-13, -3.11765302e-13,  1.00000000e+00, -3.23992012e-26,
        1.00000000e+00,  3.11765302e-13, -1.00000000e+00,  0.00000000e+00,
       -1.03921767e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08134502, -0.0596731 ,  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:
[ 5.17270986e-05,-1.57625138e-03,-5.41751881e-04,-1.40778443e-04,
  6.53150337e-02, 1.84599677e-01, 1.02133120e-01, 4.36220347e-02,
 -7.69058807e-06,-2.65358993e-03,-5.65312284e-04,-1.85310060e-04,
 -1.57295938e-04,-4.76016641e-05,-9.94201008e-05,-1.52778273e-04,
  1.14566198e-03,-2.35620637e-03,-7.84401258e+00, 1.31325127e-03,
  7.89185106e-03,-4.65199224e-05]


--- Step 855 ---
qpos:
[ 0.00248418, 0.44540101,-0.01057796,-0.02639337,-0.02448714, 0.2370772 ,
 -0.07811328,-0.01159695, 0.01985627, 0.45031496,-0.01356376, 0.02351337,
  1.1487578 ,-0.0100057 , 0.82668163, 0.06220654, 0.09188346,-0.07032583,
  0.12158953, 0.99576387, 0.00163803,-0.00622938,-0.09172145]

qacc:
[ 6.75102821e-01,-2.52676773e+01, 5.98981461e+01,-4.91456773e+01,
  6.54336643e+01, 3.32084629e+01,-1.30180807e+02, 1.30603800e+02,
 -9.60665383e-01,-2.77470342e+01, 6.08458023e+01,-5.54592898e+01,
 -3.64932875e-01,-3.16676965e-02, 2.68446108e+00,-1.08824742e+01,
  3.44372528e-01, 3.56020989e-01,-6.58727332e-02, 9.05734840e+00,
 -8.13942767e+00, 8.53433301e+01]

qfrc_actuator:
[ 7.94036761e-04, 1.98978148e-01,-6.77899948e-04, 4.67415366e-04,
  2.88271786e-02, 2.55759386e-01, 5.77912129e-02, 2.22044868e-02,
 -1.01327113e-04, 2.18314504e-01, 2.52109985e-03, 6.36076899e-04,
  2.06605347e-02,-1.72161165e-03, 3.03464281e-03,-3.19045855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001260377675912101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98791656,  0.15244668,  0.02794439,  0.15238573,  0.9883117 ,
       -0.00431041, -0.02827488,  0.        , -0.99960019])
  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([ 0.10579334, -0.07880803,  0.11411184])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000529789455994259
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.04779645e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.04779645e-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([ 0.08134347, -0.05966883,  0.06198715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85753597e-05,-1.92636158e-03,-3.52748223e-04,-8.97182367e-05,
  6.62231631e-02, 1.87704441e-01, 1.04015202e-01, 4.42290434e-02,
 -6.25857136e-05,-2.75772393e-03,-6.92177855e-04,-1.78196650e-04,
 -1.57669106e-04,-6.23258121e-05,-7.51037107e-05,-7.46166241e-05,
  6.12471578e-04,-1.07650184e-03,-7.84368441e+00, 1.34292598e-03,
  7.71532729e-03,-5.20208936e-05]


--- Step 856 ---
qpos:
[ 0.00247294, 0.44907717,-0.01067428,-0.0263976 ,-0.02518782, 0.23825881,
 -0.07910878,-0.01204671, 0.01988055, 0.45438784,-0.01359958, 0.02351043,
  1.14925269,-0.01001097, 0.82703526, 0.06220712, 0.09182535,-0.07034517,
  0.12159945, 0.99577738, 0.00190185,-0.00672173,-0.0915347 ]

qacc:
[-4.13100123e-01,-3.57780734e+01, 8.10426249e+01,-4.84846027e+01,
  7.24095777e+01, 2.01408553e+01,-1.02945767e+02, 1.23088944e+02,
 -8.54569925e-01,-1.83722754e+01, 2.75347443e+01,-4.28370921e+00,
 -7.84198673e-01, 1.08285856e+00,-3.08075589e+00, 9.11627813e+00,
  3.07876110e-01, 3.48454749e-01,-7.36501923e-02, 9.00048586e+00,
 -7.97863166e+00, 8.14224063e+01]

qfrc_actuator:
[ 7.67430427e-04, 1.97628303e-01,-6.06987259e-04, 5.09088475e-04,
  3.02780294e-02, 2.58083206e-01, 5.87491414e-02, 2.26864871e-02,
 -1.53961370e-04, 2.17626201e-01, 2.50242021e-03, 6.71195060e-04,
  2.06133378e-02,-1.71416765e-03, 3.01589916e-03,-3.15035206e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001273535418493406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98786461,  0.15287063,  0.02746037,  0.15281161,  0.98824621,
       -0.00424781, -0.02778697,  0.        , -0.99961387])
  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([ 0.10573566, -0.0788224 ,  0.11412172])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005257554582486362
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05583595e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.05583595e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08134206, -0.05966527,  0.06198725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87540774e-05,-2.62393941e-03,-4.11864604e-04,-6.21878187e-05,
  6.65629982e-02, 1.90534497e-01, 1.05910944e-01, 4.48219140e-02,
 -5.62697627e-05,-2.51458314e-03,-7.22860227e-04,-1.18665425e-04,
 -1.59044967e-04,-3.65165131e-05,-6.47428146e-05, 2.55582619e-05,
  6.82675830e-05, 2.63877729e-04,-7.84333883e+00, 1.37501250e-03,
  7.53009760e-03,-5.78592346e-05]


--- Step 857 ---
qpos:
[ 0.00246126, 0.45273185,-0.01076931,-0.02640159,-0.02586188, 0.23941661,
 -0.08011961,-0.01249687, 0.01990472, 0.45844263,-0.01363634, 0.02350687,
  1.14974642,-0.01001555, 0.82738815, 0.06220782, 0.09176832,-0.07036319,
  0.12160905, 0.99580433, 0.00218071,-0.00723128,-0.09119587]

qacc:
[-4.16540707e-01,-3.15027133e+01, 7.01595361e+01,-5.24327711e+01,
  7.78487636e+01, 1.01504015e+01,-8.05491684e+01, 1.16131477e+02,
 -8.42094859e-02,-2.25631630e+01, 4.83834343e+01,-4.43855427e+01,
 -1.45713752e+00, 2.83882730e+00,-1.37917940e+00, 3.39162019e+00,
  2.69682108e-01, 3.27489617e-01,-8.01253494e-02, 8.77242255e+00,
 -7.68420241e+00, 7.62948612e+01]

qfrc_actuator:
[ 7.56221563e-04, 1.96585691e-01,-5.45862302e-04, 5.17242457e-04,
  3.14672730e-02, 2.60152280e-01, 5.97501541e-02, 2.31385895e-02,
 -1.59243601e-04, 2.16962467e-01, 2.54236733e-03, 6.57739975e-04,
  2.05672598e-02,-1.67213609e-03, 2.98131430e-03,-3.14465527e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001286686946377622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98793274,  0.15252491,  0.02692667,  0.15246829,  0.98829963,
       -0.00415561, -0.02724545,  0.        , -0.99962877])
  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([ 0.10568009, -0.07884498,  0.1141305 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005220847687038149
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06325935e-13, -1.06325935e-13,  1.00000000e+00, -1.13052045e-26,
        1.00000000e+00,  1.06325935e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06325935e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08134078, -0.05966227,  0.06198734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89548977e-05,-2.71697000e-03,-5.71817923e-04,-1.27043603e-04,
  6.65179838e-02, 1.93511697e-01, 1.07768967e-01, 4.53371923e-02,
 -7.61737039e-06,-2.35692963e-03,-6.15419894e-04,-1.56664174e-04,
 -1.52978008e-04, 2.10074999e-06,-6.47985767e-05,-1.96014909e-06,
 -4.79895381e-04, 1.63099188e-03,-7.84298363e+00, 1.41095112e-03,
  7.33719681e-03,-6.40367649e-05]


--- Step 858 ---
qpos:
[ 0.00244876, 0.45636722,-0.01086501,-0.02640644,-0.02650775, 0.2405501 ,
 -0.08114431,-0.01294692, 0.01992859, 0.46247827,-0.0136723 , 0.02350232,
  1.15023896,-0.01001903, 0.82774001, 0.06220927, 0.09171221,-0.07038003,
  0.12161831, 0.99584351, 0.00247404,-0.00775728,-0.09071613]

qacc:
[-8.34344894e-01,-2.53699574e+01, 5.70231049e+01,-5.64424714e+01,
  8.20921698e+01, 6.55086933e+00,-7.08011805e+01, 1.13137305e+02,
 -2.87893858e-01,-2.95298554e+01, 7.27081765e+01,-7.67665825e+01,
 -1.81627130e+00, 3.86193666e+00,-3.68917140e+00, 1.09087294e+01,
  2.31865373e-01, 2.99267073e-01,-8.39283381e-02, 8.45320053e+00,
 -7.33175330e+00, 7.06867213e+01]

qfrc_actuator:
[ 7.18918134e-04, 1.95842590e-01,-5.07450173e-04, 4.88089001e-04,
  3.24699754e-02, 2.62169817e-01, 6.07642798e-02, 2.35901522e-02,
 -1.89774015e-04, 2.16107095e-01, 2.61711380e-03, 6.15964248e-04,
  2.05219015e-02,-1.60999838e-03, 2.93192218e-03,-3.10608212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012991767012029973
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88048186e-01,  1.51878480e-01,  2.63383659e-02,  1.51824546e-01,
        9.88399174e-01, -4.04718162e-03, -2.66474989e-02, -8.67361738e-19,
       -9.99644892e-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([ 0.10562755, -0.0788703 ,  0.11413804])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005187942704486387
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07000317e-13,  1.07000317e-13,  1.00000000e+00,  1.14490678e-26,
        1.00000000e+00, -1.07000317e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07000317e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08133959, -0.0596597 ,  0.06198742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.51059859e-05,-2.50438851e-03,-6.35411479e-04,-1.75080288e-04,
  6.61883799e-02, 1.96690391e-01, 1.09547923e-01, 4.58092784e-02,
 -2.14024067e-05,-2.43897212e-03,-5.35851890e-04,-1.75196706e-04,
 -1.40122123e-04, 3.01595711e-05,-8.29288843e-05, 2.93259141e-05,
 -1.02543467e-03, 2.99374928e-03,-7.84262580e+00, 1.45194840e-03,
  7.13781411e-03,-7.05481448e-05]


--- Step 859 ---
qpos:
[ 0.00243646, 0.45998055,-0.01095927,-0.02641084,-0.02709202, 0.24171244,
 -0.08214535,-0.01339494, 0.01995267, 0.46649318,-0.01370766, 0.02349738,
  1.15073063,-0.01002205, 0.82809084, 0.06220919, 0.09164679,-0.07038636,
  0.12162498, 0.9959105 , 0.00267612,-0.00819933,-0.08993263]

qacc:
[   0.24254147, -32.26884258,  70.94681534, -49.47111569, 178.69758039,
  -23.71284171, 131.06550941,-154.91628886,   0.24551423, -29.92805029,
   68.64704754, -61.31825693,  -1.07767014,   2.03193436,   3.13635566,
  -13.05778444,  -2.32821992,   2.62510475,  -0.64980454, -48.09808191,
   38.14276536, 152.75966974]

qfrc_actuator:
[ 7.55289736e-04, 1.94717527e-01,-4.45713490e-04, 5.08549422e-04,
  3.33307817e-02, 2.64219722e-01, 6.18087244e-02, 2.40410480e-02,
 -1.81946730e-04, 2.15074008e-01, 2.64036103e-03, 5.93300116e-04,
  2.04823447e-02,-1.58974125e-03, 2.86304680e-03,-3.19048346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013107976356651796
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88207063e-01,  1.50953092e-01,  2.56897789e-02,  1.50902110e-01,
        9.88540927e-01, -3.92290441e-03, -2.59875724e-02,  4.33680869e-19,
       -9.99662266e-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([ 0.10557795, -0.07889805,  0.11414428])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.80727588, -1.20713812,  5.68042875, -1.20713812,  8.36268728,
        0.54304607,  5.68042875,  0.54304607,  5.92267767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005247108773454023
  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([ 0.08821029, -0.09271059,  0.06198728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24389807e-05,-2.78182136e-03,-5.77392974e-04,-1.19443294e-04,
  6.56383859e-02, 1.99928043e-01, 1.11286233e-01, 4.62556625e-02,
  1.34983231e-05,-2.64605905e-03,-5.94864308e-04,-1.57154048e-04,
 -1.20312680e-04,-4.07295216e-06,-1.06170141e-04,-9.39819538e-05,
 -1.56439193e-03, 4.33023965e-03,-7.84226962e+00, 1.49874110e-03,
  6.93297112e-03,-7.73828229e-05]


--- Step 860 ---
qpos:
[ 0.00242499, 0.46357027,-0.01105187,-0.02641526,-0.02760762, 0.24291483,
 -0.08312445,-0.01384286, 0.01997743, 0.47048825,-0.01374403, 0.02349136,
  1.15122154,-0.01002508, 0.82844086, 0.06220703, 0.09157269,-0.07038233,
  0.12162898, 0.99600362, 0.00279109,-0.00856794,-0.08885716]

qacc:
[   0.88662864, -35.89578459,  82.77221079, -68.3554878 , 198.21001248,
   -8.20237191, 105.16072191,-167.3623913 ,   0.69689404, -25.58509985,
   57.73355586, -60.17813431,  -0.59670124,   0.79274388,   5.12167073,
  -19.60847133,  -2.17027166,   2.58969479,  -0.66564383, -45.52163785,
   33.15072732, 146.82291022]

qfrc_actuator:
[ 8.17416636e-04, 1.93533516e-01,-3.71836096e-04, 5.04571551e-04,
  3.40085050e-02, 2.65997073e-01, 6.28393557e-02, 2.44895799e-02,
 -1.51506693e-04, 2.14227586e-01, 2.63258049e-03, 5.46415295e-04,
  2.04409583e-02,-1.59439816e-03, 2.83045009e-03,-3.29343892e-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, -0.38447559, -0.19405684, -0.38447559,  1.10459592,
       -1.33521071, -0.19405684, -1.33521071,  3.07606278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013194541229913119
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98845455,  0.14942402,  0.0251012 ,  0.14937587,  0.98877321,
       -0.00379331, -0.02538621,  0.        , -0.99967772])
  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([ 0.10552086, -0.07893121,  0.11415224])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.83600961,  1.65652903, -5.59597353,  1.65652903, 21.33627257,
        4.58841262, -5.59597353,  4.58841262,  7.19427885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005282118944501812
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.25462904e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -5.25462904e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08823504, -0.09270297,  0.06198719])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.42235939e-05,-2.98062860e-03,-6.13211424e-04,-1.52621262e-04,
  6.32353564e-02, 2.00233245e-01, 1.11132081e-01, 4.66034559e-02,
  4.44859074e-05,-2.58567828e-03,-6.75022861e-04,-1.91884501e-04,
 -1.17573937e-04,-3.04263687e-05,-9.34462461e-05,-1.22209880e-04,
 -1.45409135e-03, 5.74213018e-03,-7.84435685e+00, 1.50287223e-03,
  6.77997981e-03,-7.67553011e-05]


--- Step 861 ---
qpos:
[ 0.0024134 , 0.467136  ,-0.01114295,-0.02642012,-0.02804824, 0.24415871,
 -0.08408239,-0.01429178, 0.02000211, 0.47446568,-0.01378216, 0.02348408,
  1.15171155,-0.01002802, 0.82878997, 0.06220687, 0.09149049,-0.07036814,
  0.12163026, 0.99612057, 0.00282251,-0.00887284,-0.08750491]

qacc:
[-9.55948134e-02,-3.68619854e+01, 8.72807585e+01,-7.96656190e+01,
  2.15409228e+02,-6.45785553e+00, 1.06358075e+02,-1.87653807e+02,
 -5.63577662e-02,-2.09879613e+01, 4.63124009e+01,-5.22196514e+01,
 -6.35445286e-01, 8.54433397e-01,-7.35175815e+00, 2.38251689e+01,
 -2.02513323e+00, 2.53954023e+00,-6.80856279e-01,-4.32826266e+01,
  2.85057902e+01, 1.39161520e+02]

qfrc_actuator:
[ 8.05521712e-04, 1.92413290e-01,-2.73716717e-04, 4.86210692e-04,
  3.45801817e-02, 2.67730170e-01, 6.38717125e-02, 2.49200451e-02,
 -1.79058170e-04, 2.13624833e-01, 2.64307631e-03, 5.03588975e-04,
  2.03825164e-02,-1.59598280e-03, 2.83028980e-03,-3.17557105e-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, -0.37591786, -0.21015542, -0.37591786,  1.21031152,
       -1.39458649, -0.21015542, -1.39458649,  2.92525553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013270909853705336
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88783171e-01,  1.47315722e-01,  2.46154092e-02,  1.47270094e-01,
        9.89089520e-01, -3.66623719e-03, -2.48869376e-02, -4.33680869e-19,
       -9.99690272e-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([ 0.10545612, -0.07896951,  0.11416262])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.85096583,  1.66013107, -5.61050497,  1.66013107, 25.4566435 ,
        5.8012594 , -5.61050497,  5.8012594 ,  7.56754056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005300318109155433
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.23658676e-14, -1.04731735e-13,  1.00000000e+00, -5.48436817e-27,
        1.00000000e+00,  1.04731735e-13, -1.00000000e+00,  0.00000000e+00,
       -5.23658676e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08825448, -0.09269711,  0.06198715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.62830699e-06,-3.03586947e-03,-6.35300909e-04,-1.77348765e-04,
  6.03730852e-02, 1.99932376e-01, 1.11065453e-01, 4.70287918e-02,
 -5.84099717e-06,-2.32536413e-03,-6.55045687e-04,-1.88628929e-04,
 -1.38598848e-04,-3.13301018e-05,-5.89802100e-05, 9.85176900e-05,
 -4.24656573e-04, 6.32935579e-03,-7.84574594e+00, 1.50888005e-03,
  6.69787912e-03,-7.57975330e-05]


--- Step 862 ---
qpos:
[ 0.00240184, 0.47068625,-0.01123656,-0.02642509,-0.02840845, 0.24546292,
 -0.08502385,-0.01474477, 0.02002602, 0.47843144,-0.01382379, 0.02347554,
  1.15220065,-0.01003092, 0.8291386 , 0.06220673, 0.09140077,-0.07034406,
  0.12162877, 0.99625852, 0.00277359,-0.00912337,-0.08589544]

qacc:
[ 5.73044818e-02,-1.35681958e+01, 1.91674316e+01,-5.61157837e+00,
  2.29708924e+02, 2.48435229e+01, 4.34913632e+01,-1.83643965e+02,
 -7.46707721e-01,-8.24587903e+00, 1.23620165e+01,-2.01015147e+01,
 -6.79187340e-01, 9.01419188e-01,-7.44036169e-01, 1.63943416e+00,
 -1.87896730e+00, 2.47354456e+00,-6.89790859e-01,-4.12825515e+01,
  2.40205254e+01, 1.29310642e+02]

qfrc_actuator:
[ 8.20854592e-04, 1.92299799e-01,-1.61575475e-04, 5.30659568e-04,
  3.50366939e-02, 2.70999237e-01, 6.48261020e-02, 2.53052400e-02,
 -2.40921479e-04, 2.13582318e-01, 2.66567442e-03, 4.81555378e-04,
  2.03351860e-02,-1.59580645e-03, 2.80702346e-03,-3.17699532e-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, -0.36931987, -0.22154543, -0.36931987,  1.30822417,
       -1.46289163, -0.22154543, -1.46289163,  2.86933773,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013345466576487857
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98918468,  0.1446584 ,  0.02424095,  0.14461498,  0.98948166,
       -0.00354393, -0.02449864,  0.        , -0.99969986])
  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([ 0.10538412, -0.0790125 ,  0.11417554])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.85437238,  1.66091246, -5.6138263 ,  1.66091246, 30.77693955,
        7.37361653, -5.6138263 ,  7.37361653,  8.0359382 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005304461057616533
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.23249682e-14,  2.09299873e-13,  1.00000000e+00, -1.09516092e-26,
        1.00000000e+00, -2.09299873e-13, -1.00000000e+00,  0.00000000e+00,
        5.23249682e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08826974, -0.0926926 ,  0.06198714])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21609477e-06,-2.06469366e-03,-6.35963510e-04,-1.18090511e-04,
  5.70793575e-02, 2.01093828e-01, 1.10959408e-01, 4.74647078e-02,
 -5.26611171e-05,-1.61445537e-03,-5.86307849e-04,-1.55867568e-04,
 -1.40234443e-04,-3.45573077e-05,-4.24708176e-05,-4.22088615e-06,
  1.41542729e-03, 6.26941048e-03,-7.84656287e+00, 1.51067917e-03,
  6.67751560e-03,-7.42266174e-05]


--- Step 863 ---
qpos:
[ 0.00239009, 0.47422831,-0.01133309,-0.02643056,-0.02872103, 0.24675537,
 -0.08601355,-0.01520448, 0.02004947, 0.4823928 ,-0.01386928, 0.0234664 ,
  1.15268907,-0.01003418, 0.82948661, 0.06220495, 0.09131763,-0.07031936,
  0.12163081, 0.99639047, 0.00275855,-0.00947684,-0.0843126 ]

qacc:
[-1.96544950e-01,-3.73201706e+00,-2.85472159e-01, 2.26539208e+00,
  1.35041902e+02, 1.03594795e+02,-3.65032524e+02, 3.36785037e+02,
 -4.42438713e-01, 3.74399565e+00,-1.92684701e+01, 1.83809845e+01,
 -2.08379503e-01,-2.12365723e-01, 4.05392585e+00,-1.55153296e+01,
  1.64552475e+00, 1.54655673e-01, 8.79982619e-01, 2.11875425e+01,
 -4.98883901e+01,-1.35329648e+01]

qfrc_actuator:
[ 8.16897718e-04, 1.92560645e-01,-5.53182098e-05, 5.59380955e-04,
  3.53886856e-02, 2.75101204e-01, 6.57121842e-02, 2.57377485e-02,
 -2.69384787e-04, 2.14054571e-01, 2.73349339e-03, 5.08018231e-04,
  2.03105326e-02,-1.61231319e-03, 2.75923568e-03,-3.26657050e-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,  0.36402397,  0.23014362,  0.36402397,  0.80767843,
       -0.59631844,  0.23014362, -0.59631844,  1.37388526,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013443672951454295
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98964732,  0.14149239,  0.0240433 ,  0.14145065,  0.98993934,
       -0.00343652, -0.02428765,  0.        , -0.99970501])
  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([ 0.10530434, -0.07905982,  0.11419209])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.8637217 ,  1.09151465, -5.76123493,  1.09151465, 51.91584844,
        8.72496467, -5.76123493,  8.72496467,  7.51674001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005315827251413385
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.04426176e-13,  1.04426176e-13,  1.00000000e+00,  1.09048262e-26,
        1.00000000e+00, -1.04426176e-13, -1.00000000e+00,  0.00000000e+00,
       -1.04426176e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08109238, -0.05970743,  0.06198711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38695433e-05,-1.14414579e-03,-4.39029995e-04,-9.10490355e-05,
  5.34094605e-02, 2.02144671e-01, 1.11018738e-01, 4.81009095e-02,
 -3.10417081e-05,-6.85882437e-04,-3.84387143e-04,-7.38392286e-05,
 -1.19276254e-04,-5.21651799e-05,-7.22187233e-05,-9.62976604e-05,
  3.94363308e-03, 5.73877496e-03,-7.84690772e+00, 1.50236474e-03,
  6.70938419e-03,-7.18061956e-05]


--- Step 864 ---
qpos:
[ 0.0023779 , 0.47776026,-0.01142805,-0.02643621,-0.02898908, 0.24801141,
 -0.08704099,-0.01566666, 0.02007284, 0.4863516 ,-0.01391539, 0.02345736,
  1.15317676,-0.0100376 , 0.82983343, 0.06220314, 0.09123944,-0.07029457,
  0.12163573, 0.99651551, 0.00276964,-0.00991012,-0.08277045]

qacc:
[-4.00805847e-01,-1.81189454e+01, 4.59603828e+01,-4.41000790e+01,
  1.25801677e+02, 5.10829594e+01,-2.42503376e+02, 2.88096608e+02,
 -7.31968069e-02,-1.43137876e+00,-2.30407154e-01, 4.84462014e+00,
 -3.47023449e-01, 1.69141589e-01,-1.67782185e+00, 3.33944398e+00,
  1.23568052e+00, 2.36832874e-02, 7.19843441e-01, 1.61978094e+01,
 -3.87488706e+01,-2.05803366e+01]

qfrc_actuator:
[ 8.01594854e-04, 1.92157373e-01, 6.65458998e-05, 5.61350557e-04,
  3.57140878e-02, 2.78277383e-01, 6.66686442e-02, 2.62384213e-02,
 -2.77816662e-04, 2.14300494e-01, 2.84795113e-03, 5.45660170e-04,
  2.02728674e-02,-1.62070609e-03, 2.70209083e-03,-3.26535582e-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,  0.26840708,  0.33680436,  0.26840708,  2.6167054 ,
       -1.74209881,  0.33680436, -1.74209881,  1.81899164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013578588958548623
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90093792e-01,  1.38382240e-01,  2.37621242e-02,  1.38342403e-01,
        9.90378895e-01, -3.32019996e-03, -2.39929631e-02,  4.33680869e-19,
       -9.99712127e-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([ 0.10523131, -0.07910552,  0.11420694])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.91805899, -1.46339175,  5.73427474, -1.46339175, 13.57996424,
        1.95532469,  5.73427474,  1.95532469,  6.4170595 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005381769715517709
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.06293298e-13, -2.06293298e-13,  1.00000000e+00, -4.25569249e-26,
        1.00000000e+00,  2.06293298e-13, -1.00000000e+00,  0.00000000e+00,
       -2.06293298e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08101867, -0.05972349,  0.06198696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89499570e-05,-1.25118025e-03,-2.07914104e-04,-7.10027538e-05,
  5.13517811e-02, 2.05874420e-01, 1.14383642e-01, 4.89375253e-02,
 -5.44652285e-06,-3.47283064e-04,-1.18050481e-04,-1.42501676e-05,
 -1.23414371e-04,-4.23704806e-05,-1.04206907e-04,-1.41718269e-05,
  3.21308629e-03, 8.39110610e-03,-7.84600642e+00, 1.37847684e-03,
  6.53420156e-03,-7.06786291e-05]


--- Step 865 ---
qpos:
[ 0.00236514, 0.48128342,-0.01152211,-0.0264424 ,-0.02921586, 0.24922842,
 -0.08809855,-0.01612908, 0.02009615, 0.49030392,-0.01395966, 0.02344937,
  1.15366358,-0.01004104, 0.83017897, 0.06220168, 0.09116489,-0.07027012,
  0.12164299, 0.99663292, 0.00280065,-0.01040477,-0.08128177]

qacc:
[-5.48773596e-01,-1.52398886e+01, 3.97593973e+01,-4.40877401e+01,
  1.16057386e+02, 3.12218573e+01,-1.86013545e+02, 2.59979063e+02,
 -5.08977418e-02,-1.15468943e+01, 2.43489768e+01,-4.47324899e+00,
 -5.64900558e-01, 6.54932943e-01,-2.89915744e+00, 7.45484359e+00,
  9.09749945e-01,-8.71394522e-02, 5.84724704e-01, 1.22057734e+01,
 -2.98639290e+01,-2.69701952e+01]

qfrc_actuator:
[ 7.79788749e-04, 1.91911155e-01, 1.76704306e-04, 5.47145105e-04,
  3.60075797e-02, 2.81069474e-01, 6.76406406e-02, 2.67074356e-02,
 -2.92177433e-04, 2.13877965e-01, 2.89994088e-03, 5.89553161e-04,
  2.02220999e-02,-1.62427007e-03, 2.64473111e-03,-3.24613765e-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,  0.30215016,  0.30689545,  0.30215016,  2.10210587,
       -1.64558841,  0.30689545, -1.64558841,  2.05081728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013707979510344304
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9905235 ,  0.13535172,  0.02330485,  0.13531427,  0.99079761,
       -0.00318365, -0.0235213 ,  0.        , -0.99972334])
  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([ 0.10516513, -0.07914903,  0.11421864])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.95914021, -1.53229078,  5.75877045, -1.53229078, 15.90985198,
        2.64768044,  5.75877045,  2.64768044,  6.66363371,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005431501627790325
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02202218e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.02202218e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08096041, -0.05973599,  0.06198684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92666974e-05,-1.10489072e-03,-2.12420891e-04,-8.33448307e-05,
  4.94169251e-02, 2.10455086e-01, 1.17241187e-01, 4.95310622e-02,
 -4.79381624e-06,-7.68475141e-04,-7.55924630e-05, 1.69076204e-05,
 -1.37060187e-04,-3.67011114e-05,-1.07936917e-04, 4.77748787e-06,
  2.60128035e-03, 1.02589396e-02,-7.84504065e+00, 1.30199282e-03,
  6.34984627e-03,-7.11495807e-05]


--- Step 866 ---
qpos:
[ 0.00235171, 0.48479862,-0.01161587,-0.02644926,-0.0294049 , 0.25041371,
 -0.08918015,-0.01659052, 0.02011908, 0.49424107,-0.0140004 , 0.02344248,
  1.1541494 ,-0.01004442, 0.83052321, 0.06220436, 0.09109292,-0.07024641,
  0.12165212, 0.99674199, 0.00284649,-0.01094599,-0.07985915]

qacc:
[-6.33098417e-01,-1.27384052e+01, 3.30173846e+01,-3.93201740e+01,
  1.05700091e+02, 2.65413829e+01,-1.60221929e+02, 2.39723332e+02,
 -3.21920626e-01,-2.76651705e+01, 6.48546214e+01,-4.01551130e+01,
 -5.90452076e-01, 7.11399800e-01,-1.44241728e+01, 4.77241451e+01,
  6.47262378e-01,-1.84390457e-01, 4.69419259e-01, 8.95659437e+00,
 -2.27407036e+01,-3.32675443e+01]

qfrc_actuator:
[ 7.54403572e-04, 1.91673131e-01, 2.44380359e-04, 5.23669706e-04,
  3.62496314e-02, 2.83950099e-01, 6.86649340e-02, 2.71384417e-02,
 -3.27828552e-04, 2.12615489e-01, 2.87673182e-03, 6.00708918e-04,
  2.01635093e-02,-1.62502221e-03, 2.62457359e-03,-3.02119587e-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,  0.32946094,  0.27737164,  0.32946094,  1.80219081,
       -1.62908307,  0.27737164, -1.62908307,  2.36569186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013816914197166488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99093405,  0.13242464,  0.02265882,  0.13239003,  0.99119308,
       -0.00302725, -0.02286014,  0.        , -0.99973867])
  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([ 0.10510489, -0.07919007,  0.11422707])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.98878329, -1.6110146 ,  5.76802889, -1.6110146 , 18.99321771,
        3.63214784,  5.76802889,  3.63214784,  7.00324478,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000546732655257065
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.01532533e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.01532533e-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([ 0.08091433, -0.05974564,  0.06198675])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.54560548e-05,-1.01587388e-03,-2.25523451e-04,-8.67178879e-05,
  4.75944542e-02, 2.15257387e-01, 1.19770360e-01, 4.99740953e-02,
 -2.60633783e-05,-1.83340744e-03,-2.31365714e-04,-3.17821534e-05,
 -1.52105758e-04,-3.58993810e-05,-7.01346538e-05, 2.11131248e-04,
  2.09002900e-03, 1.14579793e-02,-7.84413727e+00, 1.26496948e-03,
  6.15959913e-03,-7.27524393e-05]


--- Step 867 ---
qpos:
[ 0.00233836, 0.48830316,-0.01170794,-0.02645589,-0.02955993, 0.25157514,
 -0.09028007,-0.01705   , 0.0201419 , 0.49815734,-0.01403793, 0.02343537,
  1.15463418,-0.01004747, 0.83086755, 0.06220655, 0.09102269,-0.07022378,
  0.12166274, 0.99684211, 0.00290299,-0.01152192,-0.07851518]

qacc:
[ 8.42854263e-02,-1.83057189e+01, 4.38307710e+01,-3.46139800e+01,
  9.47978676e+01, 2.30112637e+01,-1.36689231e+02, 2.18217983e+02,
 -7.78661604e-02,-3.69957817e+01, 9.28331440e+01,-8.64330614e+01,
 -1.08002241e+00, 1.84261469e+00, 1.69474750e+00,-5.59280692e+00,
  4.33058896e-01,-2.70339996e-01, 3.70957094e-01, 6.27540165e+00,
 -1.70317650e+01,-3.95611841e+01]

qfrc_actuator:
[ 0.00078045, 0.19108765, 0.00030456, 0.00053049, 0.03648333, 0.28687437,
  0.06979759, 0.02758104,-0.00034042, 0.21123314, 0.00289473, 0.00055623,
  0.02011624,-0.00160641, 0.00263744,-0.00304957, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.35305937,  0.24663459,  0.35305937,  1.55461779,
       -1.60893539,  0.24663459, -1.60893539,  2.73387714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013903685685393895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91322276e-01,  1.29625746e-01,  2.18474643e-02,  1.29594278e-01,
        9.91562991e-01, -2.85609072e-03, -2.20333600e-02, -4.33680869e-19,
       -9.99757236e-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([ 0.10504922, -0.07922847,  0.11423275])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.00868821, -1.70428599,  5.76192184, -1.70428599, 23.36299475,
        5.13313131,  5.76192184,  5.13313131,  7.52698783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005491356121173074
  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([ 0.08087786, -0.05975302,  0.0619867 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35827864e-06,-1.31595010e-03,-2.16224289e-04,-5.31035927e-05,
  4.59395623e-02, 2.19738084e-01, 1.22104976e-01, 5.03688121e-02,
 -8.92746523e-06,-2.58235445e-03,-4.30820540e-04,-1.39351457e-04,
 -1.49431460e-04,-1.99350658e-05, 2.21542434e-06,-2.60598275e-05,
  1.66377664e-03, 1.20855941e-02,-7.84335601e+00, 1.26082973e-03,
  5.96595617e-03,-7.51648442e-05]


--- Step 868 ---
qpos:
[ 0.00232518, 0.49179348,-0.01179713,-0.02646214,-0.02968482, 0.25272166,
 -0.09139333,-0.01750687, 0.0201646 , 0.50205156,-0.01407369, 0.02342963,
  1.15511814,-0.01005037, 0.83121193, 0.06220673, 0.0909535 ,-0.07020253,
  0.12167451, 0.99693276, 0.00296671,-0.01212313,-0.07726125]

qacc:
[ 1.98401850e-01,-2.61212998e+01, 6.42517471e+01,-5.18706809e+01,
  8.36943596e+01, 2.23948671e+01,-1.19949167e+02, 1.98120225e+02,
 -7.43307024e-02,-3.12686749e+01, 6.34162352e+01,-2.63353533e+01,
 -8.03295054e-01, 1.27309899e+00, 6.17525930e+00,-2.14331087e+01,
  2.58974964e-01,-3.42819193e-01, 2.88750875e-01, 4.09178026e+00,
 -1.25032880e+01,-4.52616643e+01]

qfrc_actuator:
[ 0.00080138, 0.19024632, 0.00039424, 0.00053709, 0.03671843, 0.28984744,
  0.0709814 , 0.02806472,-0.00035702, 0.21012793, 0.00297187, 0.00062129,
  0.02009179,-0.00159422, 0.00262743,-0.00315593, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.37168648,  0.2175516 ,  0.37168648,  1.33105315,
       -1.53829707,  0.2175516 , -1.53829707,  3.05885081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013969068469251022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99168512,  0.12698009,  0.02089666,  0.12695191,  0.99190527,
       -0.00267511, -0.0210672 ,  0.        , -0.99977806])
  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([ 0.10499684, -0.07926408,  0.1142362 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.02043562, -1.81815293,  5.73933489, -1.81815293, 30.10928734,
        7.6310613 ,  5.73933489,  7.6310613 ,  8.43786495,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005505528357453576
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00828018e-13,  1.00828018e-13,  1.00000000e+00,  1.01662892e-26,
        1.00000000e+00, -1.00828018e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00828018e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08084896, -0.05975858,  0.06198666])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19937809e-05,-1.73569780e-03,-2.46240036e-04,-6.51670772e-05,
  4.44737096e-02, 2.23877292e-01, 1.24204637e-01, 5.07553670e-02,
 -8.67388050e-06,-2.76894008e-03,-5.54417070e-04,-7.08632036e-05,
 -1.21272469e-04,-2.31391404e-05,-1.88415957e-05,-1.09144024e-04,
  1.31078726e-03, 1.22259988e-02,-7.84271769e+00, 1.28399016e-03,
  5.77081291e-03,-7.81564330e-05]


--- Step 869 ---
qpos:
[ 0.00231165, 0.49527237,-0.01188558,-0.02646895,-0.02978356, 0.25385973,
 -0.09251513,-0.01796044, 0.02018663, 0.50592327,-0.01410827, 0.02342536,
  1.15560146,-0.01005347, 0.83155556, 0.06220344, 0.09088477,-0.0701829 ,
  0.12168717, 0.99701354, 0.00303487,-0.01274211,-0.07610804]

qacc:
[-3.18857726e-01,-1.82937012e+01, 4.56880013e+01,-4.81571017e+01,
  7.23260484e+01, 1.90108609e+01,-9.83630966e+01, 1.75928554e+02,
 -5.71513867e-01,-3.00117107e+01, 5.76567478e+01,-1.75730858e+01,
 -3.92635109e-01, 2.98185685e-01, 9.35898375e+00,-3.43590414e+01,
  1.16586351e-01,-4.05552096e-01, 2.19809324e-01, 2.29837389e+00,
 -8.89273736e+00,-5.05788873e+01]

qfrc_actuator:
[ 0.00078359, 0.18993392, 0.00051749, 0.00052557, 0.0368736 , 0.2925308 ,
  0.07212724, 0.02855386,-0.0004115 , 0.20907428, 0.00304916, 0.0006973 ,
  0.02006507,-0.00160358, 0.00255044,-0.00334288, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.38660854,  0.1897719 ,  0.38660854,  1.1366233 ,
       -1.43818068,  0.1897719 , -1.43818068,  3.36057468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014016568004800013
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92019966e-01,  1.24510646e-01,  1.98364767e-02,  1.24485761e-01,
        9.92218272e-01, -2.48922298e-03, -1.99920493e-02, -4.33680869e-19,
       -9.99800139e-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([ 0.10494654, -0.07929679,  0.11423803])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.02542847, -1.95871171,  5.69817836, -1.95871171, 41.70942956,
       12.26614305,  5.69817836, 12.26614305, 10.24183528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005511549738888705
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.00717863e-13, -2.01435726e-13,  1.00000000e+00, -2.02881759e-26,
        1.00000000e+00,  2.01435726e-13, -1.00000000e+00,  0.00000000e+00,
       -1.00717863e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08082601, -0.0597627 ,  0.06198665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47642902e-05,-1.44757803e-03,-3.03307837e-04,-1.02503063e-04,
  4.31209035e-02, 2.27278556e-01, 1.26017967e-01, 5.11148515e-02,
 -4.66217093e-05,-2.84337591e-03,-6.05385601e-04,-7.07907818e-05,
 -1.07015455e-04,-3.89902285e-05,-1.03884066e-04,-1.96873326e-04,
  1.02204663e-03, 1.19651406e-02,-7.84221995e+00, 1.32908777e-03,
  5.57533801e-03,-8.15525792e-05]


--- Step 870 ---
qpos:
[ 0.00229755, 0.4987438 ,-0.0119746 ,-0.02647641,-0.02986025, 0.2549923 ,
 -0.09364044,-0.01840982, 0.02020831, 0.50977346,-0.01414348, 0.02342084,
  1.15608417,-0.01005691, 0.83189787, 0.06219762, 0.09081604,-0.0701651 ,
  0.12170046, 0.9970841 , 0.00310516,-0.01337282,-0.07506544]

qacc:
[-5.22188209e-01,-9.60590056e+00, 2.26787587e+01,-2.74897424e+01,
  6.07612407e+01, 1.09006669e+01,-6.73578037e+01, 1.49899906e+02,
 -3.01889952e-01,-2.71737683e+01, 5.66400221e+01,-4.39544299e+01,
 -1.86909654e-01,-2.37795095e-01, 5.69179620e+00,-2.27197754e+01,
 -5.54764004e-05,-4.60485564e-01, 1.60948597e-01, 8.24931590e-01,
 -6.00319580e+00,-5.55314436e+01]

qfrc_actuator:
[ 0.00076079, 0.18994177, 0.00062638, 0.00052172, 0.0369905 , 0.29477359,
  0.07325083, 0.02900904,-0.00043486, 0.20813184, 0.00305539, 0.00069048,
  0.02002635,-0.0016256 , 0.00248126,-0.00346941, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.39744365,  0.16588576,  0.39744365,  0.97931245,
       -1.31447763,  0.16588576, -1.31447763,  3.58001408,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014048150322995168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92324758e-01,  1.22238801e-01,  1.86882282e-02,  1.22217130e-01,
        9.92500718e-01, -2.30168762e-03, -1.88294355e-02, -4.33680869e-19,
       -9.99822710e-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([ 0.10489732, -0.0793265 ,  0.11423867])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.02490787, -2.12593352,  5.63736831, -2.12593352, 34.33234295,
       10.67514518,  5.63736831, 10.67514518, 10.05066026,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005510921946671465
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.00729337e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.00729337e-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([ 0.08080777, -0.05976567,  0.06198665])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.93100503e-05,-9.79048915e-04,-2.66298718e-04,-8.51630446e-05,
  4.19295339e-02, 2.29918177e-01, 1.27569351e-01, 5.14059679e-02,
 -2.59481181e-05,-2.78336378e-03,-6.97785083e-04,-1.58522390e-04,
 -1.14294580e-04,-5.09505741e-05,-1.40754358e-04,-1.51300053e-04,
  7.88933055e-04, 1.13740165e-02,-7.84185093e+00, 1.39174423e-03,
  5.38034925e-03,-8.52270369e-05]


--- Step 871 ---
qpos:
[ 0.0022846 , 0.50220922,-0.012064  ,-0.02648351,-0.02991888, 0.25613029,
 -0.09476608,-0.01885511, 0.02022997, 0.51360959,-0.01418319, 0.02341509,
  1.15656593,-0.01006019, 0.83223909, 0.06219316, 0.09074694,-0.07014932,
  0.12171421, 0.9971443 , 0.00317586,-0.01401062,-0.07414087]

qacc:
[ 1.06338377e+00,-6.11626167e+00, 8.75027868e+00, 2.53644569e+00,
  4.95278030e+01, 1.61825434e+01,-6.48591616e+01, 1.32637109e+02,
 -9.19639375e-03,-8.56666272e+00, 8.79284530e+00,-1.26585455e+01,
 -7.51875083e-01, 1.13315210e+00,-5.65326718e+00, 1.75039797e+01,
 -9.22843063e-02,-5.02390983e-01, 1.13426706e-01,-3.06485669e-01,
 -3.76940388e+00,-5.92229104e+01]

qfrc_actuator:
[ 0.00085961, 0.18987607, 0.00069215, 0.00055829, 0.03709585, 0.29739153,
  0.07437722, 0.02945939,-0.00043957, 0.20800975, 0.00303809, 0.00067059,
  0.01996979,-0.00161947, 0.00248076,-0.00338171, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.40450277,  0.1478413 ,  0.40450277,  0.86779229,
       -1.19598395,  0.1478413 , -1.19598395,  3.70295806,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001406323009920588
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99259801,  0.1201843 ,  0.01746196,  0.12016571,  0.9927516 ,
       -0.00211398, -0.01758946,  0.        , -0.99984529])
  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([ 0.10484845, -0.07935311,  0.11423838])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.01999425, -2.3468263 ,  5.54371149, -2.3468263 , 41.78512266,
       15.14049642,  5.54371149, 15.14049642, 12.42943948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005504995998279333
  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([ 0.08079322, -0.05976775,  0.06198667])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.85339747e-05,-7.81759036e-04,-2.07333272e-04,-2.30342457e-05,
  4.09318923e-02, 2.32784458e-01, 1.28872268e-01, 5.16477411e-02,
 -1.80458958e-06,-1.95134072e-03,-7.23034405e-04,-1.73870800e-04,
 -1.39425854e-04,-2.63670549e-05,-8.17651707e-05, 6.12417526e-05,
  6.03480230e-04, 1.05132756e-02,-7.84159482e+00, 1.46829193e-03,
  5.18638035e-03,-8.90865222e-05]


--- Step 872 ---
qpos:
[ 0.00227454, 0.50567178,-0.01215433,-0.02649097,-0.02996332, 0.2572901 ,
 -0.09589074,-0.01929727, 0.02025135, 0.51743714,-0.0142265 , 0.02340925,
  1.15704669,-0.0100633 , 0.83258034, 0.06218888, 0.09067717,-0.07013567,
  0.12172827, 0.99719412, 0.00324565,-0.014652  ,-0.07333947]

qacc:
[ 2.64691124e+00,-1.96774212e+00, 3.06535398e+00,-5.78308046e+00,
  3.87200524e+01, 3.20910627e+01,-8.60951806e+01, 1.23063309e+02,
 -2.40139026e-01,-1.45806899e+00,-1.08456682e+01, 2.12998999e+01,
 -8.81081296e-01, 1.34850318e+00,-5.16231335e-01, 1.94611976e+00,
 -1.66045747e-01,-5.32074750e-01, 7.65613628e-02,-1.16605960e+00,
 -2.08980591e+00,-6.17786350e+01]

qfrc_actuator:
[ 0.00104766, 0.19006958, 0.00076762, 0.0005651 , 0.03715392, 0.30075843,
  0.0755035 , 0.02994076,-0.0004688 , 0.208168  , 0.0030818 , 0.00071495,
  0.01991324,-0.00161458, 0.00251617,-0.00336362, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.41241245,  0.12407863,  0.41241245,  0.749662  ,
       -1.06025419,  0.12407863, -1.06025419,  3.95474536,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014070499495481964
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99283835,  0.11836267,  0.01619546,  0.11834693,  0.99297043,
       -0.00193051, -0.01631011,  0.        , -0.99986698])
  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([ 0.10479887, -0.07937663,  0.11423785])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.01161667, -2.62583985,  5.40781842, -2.62583985, 50.67554679,
       21.68717925,  5.40781842, 21.68717925, 16.54212177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005494889694513949
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01023231e-13, -1.01023231e-13,  1.00000000e+00, -1.02056933e-26,
        1.00000000e+00,  1.01023231e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01023231e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08078159, -0.05976912,  0.0619867 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99362855e-04,-3.96969801e-04,-1.47362675e-04,-4.10730214e-05,
  4.00869466e-02, 2.35854340e-01, 1.30015378e-01, 5.19253193e-02,
 -1.95687589e-05,-1.21084406e-03,-4.93516918e-04,-7.50739234e-05,
 -1.48986089e-04,-2.91709716e-05, 2.67817414e-06, 1.05586973e-05,
  4.58702535e-04, 9.45585837e-03,-7.84143123e+00, 1.55465651e-03,
  4.99343613e-03,-9.30500789e-05]


--- Step 873 ---
qpos:
[ 0.00226705, 0.50913235,-0.01224426,-0.02649898,-0.02999753, 0.25847673,
 -0.09701196,-0.01973639, 0.02027218, 0.52125313,-0.0142689 , 0.02340493,
  1.15752637,-0.01006601, 0.83292154, 0.0621855 , 0.09060649,-0.07012426,
  0.1217425 , 0.99723349, 0.0033134 ,-0.01529416,-0.07266687]

qacc:
[ 2.32635780e+00,-4.87127951e+00, 1.58815309e+01,-2.45764997e+01,
  2.77693376e+01, 3.16558057e+01,-7.45951675e+01, 1.02580435e+02,
 -4.64609310e-01,-1.46585883e+01, 2.36537137e+01, 9.83784737e+00,
 -1.11894187e+00, 1.96881951e+00,-2.67270530e+00, 9.39383483e+00,
 -2.30331535e-01,-5.60078151e-01, 4.37029059e-02,-1.91475248e+00,
 -7.47413820e-01,-6.45876466e+01]

qfrc_actuator:
[ 0.00118053, 0.19018709, 0.00086733, 0.00055463, 0.03718027, 0.30391705,
  0.07662855, 0.03036907,-0.00051248, 0.2076247 , 0.00314526, 0.00079722,
  0.01986205,-0.00159275, 0.00252513,-0.00331567, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.42033217,  0.09381049,  0.42033217,  0.62365124,
       -0.86466682,  0.09381049, -0.86466682,  4.30494475,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014084800287151671
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93044727e-01,  1.16785433e-01,  1.49443226e-02,  1.16772211e-01,
        9.93157169e-01, -1.75730413e-03, -1.50472887e-02,  2.16840434e-19,
       -9.99886783e-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([ 0.10474727, -0.07939717,  0.11423811])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005481486521317219
  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([ 0.08077226, -0.05976993,  0.06198673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.77170390e-04,-2.45872826e-04,-3.67806346e-05,-4.01298793e-05,
  3.94032350e-02, 2.37895000e-01, 1.31092824e-01, 5.21986590e-02,
 -3.88946490e-05,-1.44610227e-03,-2.88899861e-04, 4.47037891e-06,
 -1.49640342e-04,-1.50782340e-05, 4.67654024e-06, 4.73525275e-05,
  3.48448111e-04, 8.26426546e-03,-7.84133988e+00, 1.64742184e-03,
  4.80142757e-03,-9.70559351e-05]


--- Step 874 ---
qpos:
[ 0.00226053, 0.5125892 ,-0.01233262,-0.02650705,-0.03002539, 0.25969168,
 -0.09812715,-0.02017233, 0.02029202, 0.52505359,-0.01430918, 0.02340089,
  1.15800499,-0.01006814, 0.83326169, 0.06218127, 0.09053467,-0.07011517,
  0.1217568 , 0.9972624 , 0.00337825,-0.015935  ,-0.07212743]

qacc:
[ 8.73167664e-01,-9.40413665e+00, 2.65899636e+01,-2.72532785e+01,
  1.71218212e+01, 2.68343820e+01,-5.50255816e+01, 8.01227945e+01,
 -8.40131542e-01,-2.59222449e+01, 6.14875506e+01,-4.87613989e+01,
 -1.29901557e+00, 2.45568897e+00, 1.04809621e+00,-5.79416110e+00,
 -2.83729441e-01,-5.80786843e-01, 1.69809775e-02,-2.49905053e+00,
  2.53328741e-01,-6.67568426e+01]

qfrc_actuator:
[ 0.00120845, 0.19001072, 0.00094514, 0.00055189, 0.03720362, 0.3068127 ,
  0.07775   , 0.03079988,-0.0005822 , 0.20668464, 0.003182  , 0.00079413,
  0.01981413,-0.00156106, 0.00242236,-0.00337483, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.4234925 ,  0.07831759,  0.4234925 ,  0.5672383 ,
       -0.73845778,  0.07831759, -0.73845778,  4.42379089,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014109115392801884
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99321684,  0.11546411,  0.01372393,  0.11545309,  0.99331165,
       -0.00159529, -0.01381634,  0.        , -0.99990455])
  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([ 0.10469305, -0.07941472,  0.11423949])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005465635618064763
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01563944e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.01563944e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08076473, -0.05977033,  0.06198677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.66843702e-05,-4.32128651e-04,-1.37479319e-05,-2.20780629e-05,
  3.89147483e-02, 2.39421895e-01, 1.32042236e-01, 5.24781404e-02,
 -7.05581476e-05,-1.92814960e-03,-3.36075617e-04,-8.23055875e-05,
 -1.43644002e-04,-2.95985239e-06,-1.02015839e-04,-5.74538063e-05,
  2.67032221e-04, 6.96110266e-03,-7.84130779e+00, 1.74520304e-03,
  4.61063541e-03,-1.01074121e-04]


--- Step 875 ---
qpos:
[ 0.00225363, 0.51603966,-0.01241894,-0.02651525,-0.03005058, 0.26093792,
 -0.09923453,-0.02060522, 0.02031103, 0.52883738,-0.0143487 , 0.02339625,
  1.15848275,-0.0100702 , 0.83360061, 0.0621731 , 0.09046154,-0.07010844,
  0.12177109, 0.99728095, 0.0034396 ,-0.01657312,-0.07172317]

qacc:
[-3.15191260e-01,-1.44475926e+01, 3.98507028e+01,-4.08005785e+01,
  7.14184296e+00, 2.55628055e+01,-4.41583174e+01, 6.17563649e+01,
 -6.94015797e-01,-2.53478529e+01, 6.09157470e+01,-6.00717976e+01,
 -7.99136025e-01, 1.19293668e+00, 1.01010001e+01,-3.79202958e+01,
 -3.26426865e-01,-5.90597913e-01,-2.23068902e-03,-2.89742277e+00,
  9.14649205e-01,-6.77543067e+01]

qfrc_actuator:
[ 0.00117397, 0.18960731, 0.00100848, 0.00053575, 0.03722497, 0.3096626 ,
  0.07886533, 0.03128408,-0.00063137, 0.20583468, 0.00320112, 0.00075823,
  0.01977353,-0.00155929, 0.00232721,-0.00358566, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.42518452,  0.06853952,  0.42518452,  0.53607797,
       -0.65387688,  0.06853952, -0.65387688,  4.48699477,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014143241952985777
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99335479,  0.11440744,  0.01253781,  0.11439833,  0.99343391,
       -0.0014439 , -0.01262068,  0.        , -0.99992036])
  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([ 0.10463584, -0.0794293 ,  0.11424208])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005448058051992777
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.01891629e-13,  1.01891629e-13,  1.00000000e+00,  1.03819042e-26,
        1.00000000e+00, -1.01891629e-13, -1.00000000e+00,  0.00000000e+00,
       -1.01891629e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08075863, -0.05977041,  0.06198682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.57242518e-05,-7.57511408e-04,-6.31350119e-05,-4.22842820e-05,
  3.86187875e-02, 2.40826604e-01, 1.32855953e-01, 5.28037621e-02,
 -5.93057741e-05,-2.12036745e-03,-4.61869134e-04,-1.39058892e-04,
 -1.30789057e-04,-2.90638157e-05,-1.50048631e-04,-2.27495511e-04,
  2.09419960e-04, 5.58304119e-03,-7.84132047e+00, 1.84601475e-03,
  4.42097855e-03,-1.05072748e-04]


--- Step 876 ---
qpos:
[ 0.00224498, 0.51948206,-0.01250348,-0.02652278,-0.03007662, 0.26221422,
 -0.10033196,-0.02103485, 0.02032968, 0.53260428,-0.01438787, 0.02339149,
  1.15895972,-0.01007247, 0.83393813, 0.06216305, 0.09038697,-0.07010409,
  0.12178531, 0.99728925, 0.00349708,-0.0172076 ,-0.07145503]

qacc:
[-1.54438088e+00,-1.42295166e+01, 3.24642122e+01,-1.77965159e+01,
 -2.35791893e+00, 1.84965751e+01,-2.20860726e+01, 4.04901162e+01,
 -2.86567423e-01,-2.35584069e+01, 5.21607106e+01,-4.25364968e+01,
 -4.13132471e-01, 2.28073268e-01, 3.62141591e+00,-1.56430350e+01,
 -3.61493033e-01,-5.95169013e-01,-1.84665573e-02,-3.17380603e+00,
  1.36086298e+00,-6.82155209e+01]

qfrc_actuator:
[ 0.0010675 , 0.18917833, 0.00107978, 0.00056493, 0.03728176, 0.31206245,
  0.07991954, 0.03171043,-0.00065022, 0.20508162, 0.00324571, 0.00075665,
  0.01972669,-0.0015752 , 0.00227928,-0.00367103, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.42690001,  0.05688513,  0.42690001,  0.50468006,
       -0.55539054,  0.05688513, -0.55539054,  4.59865599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014189000991517804
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99345897,  0.11361969,  0.01139471,  0.11361221,  0.99352432,
       -0.0013031 , -0.01146898,  0.        , -0.99993423])
  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([ 0.10457526, -0.07944096,  0.11424609])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005429287930699273
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.04487778e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.04487778e-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([ 0.08075366, -0.05977025,  0.06198687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23252683e-04,-9.75724715e-04,-1.29055248e-04,-1.29733298e-05,
  3.85418129e-02, 2.41631695e-01, 1.33519356e-01, 5.30784141e-02,
 -2.60305543e-05,-2.15859006e-03,-4.93335609e-04,-1.18384971e-04,
 -1.35270365e-04,-4.82278986e-05,-1.41969616e-04,-1.17250162e-04,
  1.71056089e-04, 4.17262510e-03,-7.84136291e+00, 1.94767214e-03,
  4.23216976e-03,-1.09022161e-04]


--- Step 877 ---
qpos:
[ 0.00223333, 0.52291629,-0.01258636,-0.02653001,-0.03010683, 0.2635201 ,
 -0.1014177 ,-0.02146117, 0.02034786, 0.53635357,-0.01442658, 0.02338703,
  1.1594361 ,-0.01007578, 0.8342736 , 0.06215799, 0.09031084,-0.07010211,
  0.1217994 , 0.99728749, 0.0035505 ,-0.01783794,-0.07132228]

qacc:
[-2.61345246e+00,-1.48131391e+01, 3.58757149e+01,-2.72970451e+01,
 -1.11719290e+01, 1.32539279e+01,-4.47384116e+00, 2.14852710e+01,
 -3.76971436e-01,-2.39076894e+01, 5.01908532e+01,-3.26499148e+01,
  7.73949276e-01,-2.63532807e+00,-1.81058069e+01, 5.88572945e+01,
 -3.89218356e-01,-5.92529736e-01,-3.04204115e-02,-3.31833357e+00,
  1.59589001e+00,-6.78458812e+01]

qfrc_actuator:
[ 0.00090163, 0.18886252, 0.00119082, 0.00058505, 0.03734452, 0.31426975,
  0.08096731, 0.03213614,-0.00068653, 0.20426933, 0.00328791, 0.00077544,
  0.01968679,-0.00163697, 0.00223313,-0.00339755, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.42746145,  0.0525    ,  0.42746145,  0.49432368,
       -0.51824872,  0.0525    , -0.51824872,  4.65031782,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014244235399783157
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99353003,  0.11310265,  0.01028945,  0.11309658,  0.99358331,
       -0.00117128, -0.0103559 ,  0.        , -0.99994638])
  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([ 0.10451122, -0.07944975,  0.11425146])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005409808578353825
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.05224087e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.05224087e-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([ 0.08074958, -0.05976992,  0.06198691])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.10023690e-04,-9.96523769e-04,-1.41366864e-04,-3.30657327e-05,
  3.86474825e-02, 2.42305229e-01, 1.34068899e-01, 5.33422737e-02,
 -3.40448858e-05,-2.24402223e-03,-5.06517225e-04,-1.00293699e-04,
 -1.35097905e-04,-9.84875364e-05,-1.24006337e-04, 2.48824818e-04,
  1.47710671e-04, 2.75233950e-03,-7.84142536e+00, 2.04903867e-03,
  4.04408289e-03,-1.12910080e-04]


--- Step 878 ---
qpos:
[ 0.00221836, 0.52634171,-0.01266699,-0.02653738,-0.0301443 , 0.26485552,
 -0.10249023,-0.02188419, 0.02036589, 0.54008475,-0.01446517, 0.02338278,
  1.15991171,-0.01007978, 0.83460856, 0.06215796, 0.09023307,-0.07010248,
  0.12181334, 0.99727586, 0.00359983,-0.01846398,-0.07132312]

qacc:
[-2.86615061e+00,-1.82260754e+01, 4.86585649e+01,-4.81488928e+01,
 -1.93607419e+01, 9.04821065e+00, 1.05437252e+01, 3.78225700e+00,
 -1.05337806e-01,-2.38412156e+01, 4.93753727e+01,-3.25888559e+01,
  2.76060939e-01,-1.47432830e+00,-1.60119037e+01, 5.48424617e+01,
 -4.11836383e-01,-5.84935209e-01,-3.93596340e-02,-3.36889782e+00,
  1.67294071e+00,-6.69355794e+01]

qfrc_actuator:
[ 0.00073755, 0.18849366, 0.0013251 , 0.00058209, 0.03739675, 0.31642098,
  0.08205876, 0.0325601 ,-0.00069755, 0.20342897, 0.0033107 , 0.00078831,
  0.01964573,-0.00167208, 0.00226803,-0.00312791, 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: -0.0014308101342700925
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93568695e-01,  1.12854930e-01,  9.22027795e-03,  1.12850071e-01,
        9.93611476e-01, -1.04724417e-03, -9.27956065e-03,  2.16840434e-19,
       -9.99956944e-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([ 0.1044436 , -0.07945578,  0.11425818])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005389997695759291
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.05978386e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.05978386e-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([ 0.0807462 , -0.05976947,  0.06198696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32954609e-04,-1.06415506e-03,-1.24493156e-04,-5.78379173e-05,
  3.89080258e-02, 2.42944367e-01, 1.34574032e-01, 5.36007906e-02,
 -1.12575838e-05,-2.32101627e-03,-5.44334883e-04,-1.09927332e-04,
 -1.46553266e-04,-8.07877848e-05, 7.17844038e-06, 2.67940344e-04,
  1.35852856e-04, 1.34670735e-03,-7.84149822e+00, 2.14893410e-03,
  3.85651598e-03,-1.16726193e-04]


--- Step 879 ---
qpos:
[ 0.00220003, 0.52975607,-0.01274517,-0.02654423,-0.0301919 , 0.26621961,
 -0.10354821,-0.02230388, 0.02038383, 0.54379732,-0.0145033 , 0.02337758,
  1.16038621,-0.01008306, 0.83494394, 0.06216203, 0.09015357,-0.07010513,
  0.12182709, 0.99725458, 0.00364516,-0.01908587,-0.0714545 ]

qacc:
[-2.88435965e+00,-2.03744351e+01, 4.93101268e+01,-3.62462410e+01,
 -2.68123026e+01, 4.25464526e+00, 2.59794881e+01,-1.30461506e+01,
 -5.83524753e-02,-2.78440035e+01, 6.76056315e+01,-7.10729264e+01,
 -1.31898409e+00, 2.59572244e+00,-1.16506596e+01, 4.18464725e+01,
 -4.29913458e-01,-5.71901373e-01,-4.54654789e-02,-3.32848484e+00,
  1.60473420e+00,-6.54041343e+01]

qfrc_actuator:
[ 0.00057606, 0.18788387, 0.00141882, 0.00060109, 0.03746519, 0.31838475,
  0.08315247, 0.0329817 ,-0.00071129, 0.20257932, 0.00335749, 0.00074435,
  0.01961466,-0.00162013, 0.00231955,-0.00291589, 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: -0.0014380537651947668
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93575685e-01,  1.12873052e-01,  8.18733499e-03,  1.12869220e-01,
        9.93609417e-01, -9.30073201e-04, -8.23999335e-03,  0.00000000e+00,
       -9.99966051e-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([ 0.1043723 , -0.07945917,  0.11426628])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005370161680334912
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.03369609e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.03369609e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08074337, -0.05976896,  0.06198701])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37336913e-04,-1.34002233e-03,-1.77673266e-04,-3.86373200e-05,
  3.93400067e-02, 2.43397643e-01, 1.35005676e-01, 5.38574247e-02,
 -7.40732619e-06,-2.38075749e-03,-5.40964328e-04,-1.71507699e-04,
 -1.38882566e-04, 6.39471542e-06, 7.93067947e-05, 2.26646825e-04,
  1.32618114e-04,-2.98260269e-05,-7.84157443e+00, 2.24671241e-03,
  3.66934126e-03,-1.20468705e-04]


--- Step 880 ---
qpos:
[ 0.0021776 , 0.53316633,-0.01282553,-0.02655116,-0.03025202, 0.26762337,
 -0.10459268,-0.02272158, 0.02040166, 0.54749866,-0.01454425, 0.02337276,
  1.16085964,-0.01008544, 0.83527947, 0.06216219, 0.09007231,-0.07010997,
  0.12184066, 0.99722403, 0.00368682,-0.01970418,-0.07171047]

qacc:
[-3.50301944e+00, 4.86538392e-01,-9.28758665e+00, 1.44349466e+01,
 -3.30557732e+01, 1.87643394e+01, 8.78332555e-01,-1.72263334e+01,
 -8.03849517e-02,-6.18377708e+00,-1.06437663e+00, 2.03017108e+01,
 -1.76459520e+00, 3.61916692e+00, 1.21214765e+01,-4.18885256e+01,
 -4.40503712e-01,-5.47874471e-01,-4.61029288e-02,-3.12906251e+00,
  1.33768412e+00,-6.24311580e+01]

qfrc_actuator:
[ 0.00036426, 0.18818268, 0.0014871 , 0.00063267, 0.03754912, 0.32120152,
  0.08424092, 0.03341829,-0.00072665, 0.20261947, 0.00343604, 0.00080939,
  0.01956835,-0.00157032, 0.00223717,-0.00314781, 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: -0.0014460927191719507
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93551799e-01,  1.13151009e-01,  7.18833009e-03,  1.13148047e-01,
        9.93577802e-01, -8.18624166e-04, -7.23479336e-03,  0.00000000e+00,
       -9.99973829e-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([ 0.1042973 , -0.07946005,  0.11427572])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005350538314856379
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.11246166e-13, -3.11246166e-13,  1.00000000e+00, -9.68741759e-26,
        1.00000000e+00,  3.11246166e-13, -1.00000000e+00,  0.00000000e+00,
       -3.11246166e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08074099, -0.05976841,  0.06198706])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89465473e-04,-5.95310843e-04,-2.65820270e-04,-3.93018974e-05,
  3.99304655e-02, 2.44746479e-01, 1.35364027e-01, 5.41282245e-02,
 -7.99239089e-06,-1.52548163e-03,-5.22996481e-04,-6.61024003e-05,
 -1.29915347e-04, 2.08554119e-05,-3.03166486e-05,-2.11322047e-04,
  1.35709111e-04,-1.36419285e-03,-7.84164759e+00, 2.34182926e-03,
  3.48241431e-03,-1.24138520e-04]


--- Step 881 ---
qpos:
[ 0.00215098, 0.53658155,-0.01291   ,-0.02655919,-0.03032683, 0.26907475,
 -0.10562498,-0.02313855, 0.02041937, 0.5511975 ,-0.01459007, 0.02336795,
  1.16133215,-0.01008743, 0.83561462, 0.06215273, 0.08998926,-0.0701169 ,
  0.12185405, 0.99718455, 0.00372517,-0.02031967,-0.07208474]

qacc:
[-3.57808546e+00, 1.57949711e+01,-4.21414800e+01, 2.60517177e+01,
 -3.85714102e+01, 3.01993505e+01,-1.95273333e+01,-2.19924780e+01,
 -1.06424851e-01, 1.03238766e+01,-4.16787824e+01, 5.16057147e+01,
 -1.36814872e+00, 2.48715362e+00, 2.85166717e+01,-1.00463274e+02,
 -4.50301000e-01,-5.21123044e-01,-4.55299143e-02,-2.90050047e+00,
  9.79601078e-01,-5.92747299e+01]

qfrc_actuator:
[ 1.59838598e-04, 1.89183901e-01, 1.56151844e-03, 6.36690816e-04,
  3.76488007e-02, 3.24418818e-01, 8.53036622e-02, 3.38283894e-02,
 -7.42938975e-04, 2.03229070e-01, 3.46573565e-03, 8.67865834e-04,
  1.95129228e-02,-1.55778338e-03, 2.14370117e-03,-3.65747894e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014561419897195526
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93497898e-01,  1.13678123e-01,  6.26192312e-03,  1.13675865e-01,
        9.93517632e-01, -7.16488207e-04, -6.30278007e-03,  0.00000000e+00,
       -9.99980137e-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([ 0.10421798, -0.07945871,  0.11428721])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005331203678827917
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04124987e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.04124987e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08073897, -0.05976786,  0.06198711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.97477237e-04, 5.05680517e-04,-1.16610302e-04,-3.80169630e-05,
  4.06569284e-02, 2.45943257e-01, 1.35748271e-01, 5.44392338e-02,
 -8.98930302e-06,-4.68895837e-04,-3.89086539e-04,-3.32897819e-05,
 -1.31559917e-04,-1.13449561e-05,-1.37030088e-04,-5.26755943e-04,
  1.43341498e-04,-2.62980216e-03,-7.84170903e+00, 2.43312770e-03,
  3.29544438e-03,-1.27731335e-04]


--- Step 882 ---
qpos:
[ 0.00212121, 0.53999853,-0.01299289,-0.02656758,-0.03041836, 0.27056965,
 -0.10664516,-0.02355496, 0.02043695, 0.55489397,-0.01463745, 0.02336141,
  1.16180381,-0.01008925, 0.83594868, 0.06214174, 0.08990435,-0.0701258 ,
  0.12186726, 0.9971364 , 0.00376051,-0.02093318,-0.07257173]

qacc:
[-2.64231251e+00,-2.82940597e+00, 1.49667372e+01,-2.50034159e+01,
 -4.36389852e+01, 2.47205907e+01,-7.07569557e+00,-3.42247235e+01,
 -1.07159181e-01,-2.32827256e+00, 1.10907119e+01,-3.68876857e+01,
 -8.10143931e-01, 1.30080787e+00, 3.05003608e+00,-1.29307054e+01,
 -4.62629128e-01,-4.95227464e-01,-4.48355838e-02,-2.70442776e+00,
  5.78367430e-01,-5.64919445e+01]

qfrc_actuator:
[ 3.26044040e-05, 1.89303192e-01, 1.66017309e-03, 6.25219910e-04,
  3.77295875e-02, 3.27142546e-01, 8.63469261e-02, 3.42585503e-02,
 -7.59721453e-04, 2.03323971e-01, 3.46929313e-03, 7.98348663e-04,
  1.94733592e-02,-1.54968581e-03, 2.15546236e-03,-3.70519469e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014690536437608488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93414984e-01,  1.14442714e-01,  5.43456668e-03,  1.14441001e-01,
        9.93429849e-01, -6.26059868e-04, -5.47050875e-03,  1.08420217e-19,
       -9.99985037e-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([ 0.1041339 , -0.07945542,  0.11430124])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005312218890151238
  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([ 0.08073723, -0.05976731,  0.06198716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.23015677e-04, 2.70389399e-04, 1.53517347e-04,-1.15846340e-06,
  4.14725624e-02, 2.46248615e-01, 1.36179287e-01, 5.48329604e-02,
 -9.62342338e-06,-3.63299263e-04,-1.79180027e-04,-1.10703812e-04,
 -1.24819904e-04,-2.12349887e-05,-1.11834586e-04,-9.51225697e-05,
  1.54150205e-04,-3.82776190e-03,-7.84175512e+00, 2.52082008e-03,
  3.10833714e-03,-1.31259925e-04]


--- Step 883 ---
qpos:
[ 0.00208928, 0.54340913,-0.01307047,-0.02657503,-0.03052832, 0.27210705,
 -0.10765396,-0.02397127, 0.02045464, 0.55858412,-0.0146828 , 0.0233549 ,
  1.16227459,-0.0100909 , 0.83628186, 0.06213569, 0.08981755,-0.07013656,
  0.12188031, 0.99707991, 0.00379322,-0.02154579,-0.07316444]

qacc:
[-1.79764402e+00,-2.13156624e+01, 5.98062260e+01,-4.73493556e+01,
 -4.77684230e+01, 2.44481452e+01,-6.03023259e+00,-4.16489692e+01,
  9.66993412e-02,-1.39485274e+01, 3.74895308e+01,-3.55566309e+01,
 -5.70348716e-01, 8.01938851e-01,-1.61908960e+01, 5.48088202e+01,
 -4.71657489e-01,-4.63573157e-01,-4.14713870e-02,-2.43028604e+00,
  7.16258369e-02,-5.29810907e+01]

qfrc_actuator:
[-4.77005679e-05, 1.88575010e-01, 1.76932876e-03, 6.39662407e-04,
  3.78247069e-02, 3.29839206e-01, 8.73381794e-02, 3.47006181e-02,
 -7.58990662e-04, 2.02933395e-01, 3.54457582e-03, 7.95801457e-04,
  1.94273609e-02,-1.54421424e-03, 2.19315807e-03,-3.42671519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014843824387619645
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93304135e-01,  1.15433519e-01,  4.69011339e-03,  1.15432232e-01,
        9.93315208e-01, -5.45039770e-04, -4.72167682e-03,  1.08420217e-19,
       -9.99988853e-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([ 0.10404535, -0.07945033,  0.11431752])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005293663532971865
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.04863392e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.04863392e-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([ 0.08073572, -0.0597668 ,  0.06198721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54944800e-04,-6.51142714e-04, 1.49992306e-04, 2.47483463e-05,
  4.24046357e-02, 2.46729137e-01, 1.36560309e-01, 5.52464177e-02,
  7.66295443e-06,-7.49345108e-04,-6.23433147e-05,-3.34259651e-05,
 -1.28556192e-04,-2.44406579e-05,-2.52945866e-05, 2.58602749e-04,
  1.66744886e-04,-4.97079459e-03,-7.84178441e+00, 2.60567504e-03,
  2.92102069e-03,-1.34742962e-04]


--- Step 884 ---
qpos:
[ 0.0020566 , 0.54680544,-0.01314275,-0.02658169,-0.03065824, 0.27368117,
 -0.10865132,-0.02438744, 0.02047338, 0.56226547,-0.01472617, 0.02334929,
  1.16274462,-0.01009301, 0.8366144 , 0.06213564, 0.08972883,-0.07014906,
  0.12189319, 0.99701535, 0.00382369,-0.02215855,-0.07385644]

qacc:
[-5.94121911e-01,-3.20856215e+01, 8.36499062e+01,-6.78815677e+01,
 -5.14126026e+01, 1.68567266e+01, 9.80916695e+00,-5.26310721e+01,
  8.51302062e-01,-1.53006720e+01, 3.38533309e+01,-1.48874573e+01,
  1.11254645e-01,-9.53886304e-01,-1.90530606e+01, 6.52782012e+01,
 -4.81557242e-01,-4.33685834e-01,-3.96236570e-02,-2.17133735e+00,
 -4.36437645e-01,-4.97697840e+01]

qfrc_actuator:
[-4.63033881e-05, 1.87345774e-01, 1.82717005e-03, 6.32992401e-04,
  3.79368138e-02, 3.32165935e-01, 8.83296240e-02, 3.50968242e-02,
 -6.94681670e-04, 2.02416208e-01, 3.60667139e-03, 8.32364967e-04,
  1.93775353e-02,-1.57587241e-03, 2.18785182e-03,-3.11815002e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015020272876202511
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93166502e-01,  1.16636673e-01,  4.02325341e-03,  1.16635716e-01,
        9.93174651e-01, -4.72483761e-04, -4.05090224e-03,  5.42101086e-20,
       -9.99991795e-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([ 0.10395246, -0.07944364,  0.11433598])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005275540310571147
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.05223632e-13,  1.05223632e-13,  1.00000000e+00,  1.10720127e-26,
        1.00000000e+00, -1.05223632e-13, -1.00000000e+00,  0.00000000e+00,
       -1.05223632e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08073441, -0.05976633,  0.06198725])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.37925913e-05,-1.66675919e-03,-9.11305780e-05,-3.54334533e-05,
  4.34387212e-02, 2.46889086e-01, 1.36977909e-01, 5.56379206e-02,
  7.64160371e-05,-1.06396262e-03,-1.38091348e-04,-5.29006435e-06,
 -1.34390468e-04,-6.34450546e-05, 8.11219513e-06, 3.18883385e-04,
  1.80068201e-04,-6.05062749e-03,-7.84179246e+00, 2.68744551e-03,
  2.73325909e-03,-1.38187868e-04]


--- Step 885 ---
qpos:
[ 0.00202378, 0.55018172,-0.01321123,-0.02658798,-0.03080951, 0.27528293,
 -0.10963642,-0.02480297, 0.02049299, 0.5659364 ,-0.01476858, 0.02334362,
  1.16321401,-0.01009605, 0.83694628, 0.06213579, 0.08963814,-0.07016318,
  0.12190592, 0.99694293, 0.00385226,-0.02277255,-0.0746416 ]

qacc:
[-9.37910063e-02,-3.63035396e+01, 8.95015584e+01,-7.45199572e+01,
 -5.45480789e+01, 3.82020837e+00, 3.69217599e+01,-6.59807068e+01,
  7.05781212e-01,-1.65816639e+01, 3.94213879e+01,-3.43602926e+01,
  4.22676633e-01,-1.89335491e+00,-1.62529566e+00, 4.19506940e+00,
 -4.91573968e-01,-4.04824664e-01,-3.86755949e-02,-1.91363463e+00,
 -9.48627071e-01,-4.67115388e+01]

qfrc_actuator:
[-3.19471791e-05, 1.85950634e-01, 1.85209343e-03, 6.13423071e-04,
  3.80680272e-02, 3.33939948e-01, 8.93343260e-02, 3.54654276e-02,
 -6.64224488e-04, 2.01845819e-01, 3.62458726e-03, 8.20498544e-04,
  1.93360856e-02,-1.62925801e-03, 2.09816983e-03,-3.13186788e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015213907245209878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93003088e-01,  1.18039072e-01,  3.41239775e-03,  1.18038375e-01,
        9.93008951e-01, -4.05632055e-04, -3.43642194e-03,  0.00000000e+00,
       -9.99994095e-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([ 0.10385562, -0.0794355 ,  0.11435626])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000525791120994476
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11152867e-13, -3.16729300e-13,  1.00000000e+00, -6.68782996e-26,
        1.00000000e+00,  3.16729300e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11152867e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08073324, -0.05976592,  0.0619873 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12115076e-05,-2.45233191e-03,-3.65450944e-04,-1.01314174e-04,
  4.45692745e-02, 2.46784586e-01, 1.37405272e-01, 5.59992453e-02,
  6.37982476e-05,-1.30701550e-03,-2.55473911e-04,-6.92514610e-05,
 -1.37843077e-04,-9.34080658e-05,-5.55420448e-05, 3.92052262e-06,
  1.93257384e-04,-7.07841070e-03,-7.84177926e+00, 2.76683614e-03,
  2.54490871e-03,-1.41614024e-04]


--- Step 886 ---
qpos:
[ 0.00199084, 0.55353623,-0.01327796,-0.02659351,-0.03098314, 0.27690806,
 -0.11060908,-0.02521776, 0.02051219, 0.56959349,-0.01480928, 0.02333778,
  1.16368246,-0.01009913, 0.83727702, 0.06213654, 0.08954546,-0.07017878,
  0.12191851, 0.99686298, 0.00387941,-0.02338903,-0.07551232]

qacc:
[-6.79162439e-02,-3.21174990e+01, 6.95616502e+01,-4.32298691e+01,
 -5.67647077e+01,-2.00858768e+00, 4.91921399e+01,-7.38764580e+01,
 -3.17754960e-01,-2.34512353e+01, 5.78163377e+01,-5.34551282e+01,
 -6.03592055e-01, 6.81332048e-01,-3.43934650e+00, 9.63115499e+00,
 -4.98004361e-01,-3.70792230e-01,-3.51644096e-02,-1.57712756e+00,
 -1.54031794e+00,-4.29095098e+01]

qfrc_actuator:
[-2.78690540e-05, 1.84769197e-01, 1.89216720e-03, 6.39483492e-04,
  3.82200689e-02, 3.35518746e-01, 9.03060765e-02, 3.58524157e-02,
 -7.25334923e-04, 2.01017849e-01, 3.65171971e-03, 7.97930069e-04,
  1.92943521e-02,-1.62400049e-03, 2.03244835e-03,-3.10477775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015415561514061126
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92814777e-01,  1.19627909e-01,  2.82539681e-03,  1.19627424e-01,
        9.92818797e-01, -3.40441089e-04, -2.84583332e-03,  5.42101086e-20,
       -9.99995951e-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([ 0.10375539, -0.07942603,  0.11437777])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005240871177003559
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.11839404e-13, -1.05919702e-13,  1.00000000e+00, -2.24379665e-26,
        1.00000000e+00,  1.05919702e-13, -1.00000000e+00,  0.00000000e+00,
       -2.11839404e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08073221, -0.05976556,  0.06198734])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.92880499e-06,-2.73657495e-03,-5.48397009e-04,-1.00057698e-04,
  4.57896017e-02, 2.46937686e-01, 1.37757891e-01, 5.63537042e-02,
 -3.16218523e-05,-1.72693049e-03,-3.12962161e-04,-9.56421180e-05,
 -1.47601253e-04,-4.03663100e-05,-9.40740677e-05, 1.94048902e-05,
  2.05671127e-04,-8.06181972e-03,-7.84174455e+00, 2.84437610e-03,
  2.35579539e-03,-1.45038360e-04]


--- Step 887 ---
qpos:
[ 0.0019587 , 0.55687179,-0.01334566,-0.02659829,-0.03117991, 0.27855327,
 -0.11156921,-0.02563177, 0.0205303 , 0.57323229,-0.01484787, 0.02333247,
  1.16414978,-0.01010178, 0.83760657, 0.06213923, 0.08945077,-0.07019572,
  0.12193098, 0.99677584, 0.00390562,-0.0240093 ,-0.07646059]

qacc:
[ 6.61037463e-01,-2.08037363e+01, 3.46956550e+01,-6.31634239e+00,
 -5.82571707e+01,-6.41572290e+00, 5.84881569e+01,-8.02203959e+01,
 -8.21772035e-01,-2.89293562e+01, 6.57807059e+01,-4.62871439e+01,
 -1.09741006e+00, 1.90228539e+00,-7.58303019e+00, 2.41139562e+01,
 -5.03381886e-01,-3.35267916e-01,-3.13057652e-02,-1.21445037e+00,
 -2.16378912e+00,-3.89029218e+01]

qfrc_actuator:
[ 4.10778511e-05, 1.84063045e-01, 1.92409737e-03, 6.92380905e-04,
  3.84119239e-02, 3.36973628e-01, 9.12884796e-02, 3.62323293e-02,
 -8.04929701e-04, 1.99883163e-01, 3.66549773e-03, 8.04587931e-04,
  1.92365211e-02,-1.60184879e-03, 1.99182229e-03,-3.00040959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001562152968630519
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92602606e-01,  1.21387872e-01,  2.24759716e-03,  1.21387561e-01,
        9.92605150e-01, -2.74863612e-04, -2.26434162e-03,  0.00000000e+00,
       -9.99997436e-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([ 0.10365209, -0.0794154 ,  0.11440028])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005224430174775446
  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([ 0.08073128, -0.05976528,  0.06198738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.66206356e-05,-2.45709402e-03,-6.37473658e-04,-9.16490796e-05,
  4.71011033e-02, 2.47179308e-01, 1.38111907e-01, 5.66962206e-02,
 -8.01394259e-05,-2.28083028e-03,-4.20852537e-04,-8.68734425e-05,
 -1.58371753e-04,-1.62344122e-05,-8.31166501e-05, 9.30360030e-05,
  2.17030333e-04,-8.99171660e-03,-7.84168461e+00, 2.91978139e-03,
  2.16566001e-03,-1.48468161e-04]


--- Step 888 ---
qpos:
[ 0.00192815, 0.56019237,-0.01341542,-0.02660401,-0.03140026, 0.28021358,
 -0.11251655,-0.02604474, 0.02054771, 0.57684925,-0.01488425, 0.02332761,
  1.164616  ,-0.01010411, 0.83793605, 0.06214   , 0.08935404,-0.07021385,
  0.12194333, 0.99668191, 0.00393141,-0.02463479,-0.07747794]

qacc:
[ 1.29395498e+00,-1.59414969e+01, 3.20633772e+01,-3.39137507e+01,
 -5.90029758e+01,-1.30794416e+01, 7.17022508e+01,-8.60008905e+01,
 -5.21868466e-01,-3.41352214e+01, 7.79503689e+01,-5.76763712e+01,
 -1.16929963e+00, 1.96750573e+00, 5.72992016e+00,-2.00868055e+01,
 -5.08360689e-01,-2.97723742e-01,-2.65472827e-02,-8.32032809e-01,
 -2.83034700e+00,-3.46774377e+01]

qfrc_actuator:
[ 1.48084622e-04, 1.83683453e-01, 1.95316143e-03, 6.72325965e-04,
  3.86551201e-02, 3.38117306e-01, 9.22722064e-02, 3.66431618e-02,
 -8.41532090e-04, 1.98627689e-01, 3.70569335e-03, 8.10379184e-04,
  1.91797342e-02,-1.58775012e-03, 1.99292710e-03,-3.09981034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015829307131148328
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92367677e-01,  1.23302924e-01,  1.66810929e-03,  1.23302750e-01,
        9.92369079e-01, -2.07264372e-04, -1.68093639e-03,  0.00000000e+00,
       -9.99998587e-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([ 0.10354597, -0.0794038 ,  0.11442357])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005208589446453332
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.13152339e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.13152339e-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([ 0.08073045, -0.05976506,  0.06198742])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14773750e-04,-1.99146907e-03,-5.93032622e-04,-1.55504978e-04,
  4.85016257e-02, 2.47272682e-01, 1.38462262e-01, 5.70672775e-02,
 -5.27895543e-05,-2.73249045e-03,-5.21603024e-04,-1.14994466e-04,
 -1.58540114e-04,-2.25250165e-05,-2.84977365e-05,-1.05295517e-04,
  2.27073839e-04,-9.86842401e-03,-7.84159763e+00, 2.99324025e-03,
  1.97424429e-03,-1.51916939e-04]


--- Step 889 ---
qpos:
[ 0.00189924, 0.56350284,-0.01348773,-0.02661065,-0.03164424, 0.2818959 ,
 -0.11345283,-0.02645768, 0.02056536, 0.58044655,-0.01492023, 0.02332189,
  1.16508113,-0.01010572, 0.83826562, 0.06213982, 0.08925528,-0.07023299,
  0.12195562, 0.99658174, 0.00395737,-0.0252671 ,-0.07855406]

qacc:
[ 1.32162399e+00,-8.15540388e+00, 1.35842902e+01,-1.80915465e+01,
 -5.87241511e+01,-1.44071248e+00, 4.74931368e+01,-8.10985822e+01,
  2.01005862e-01,-2.88470092e+01, 6.88100579e+01,-6.99236683e+01,
 -1.48146694e+00, 2.90191109e+00, 3.11796837e+00,-1.05530651e+01,
 -5.08964354e-01,-2.53890778e-01,-1.78557205e-02,-3.57221991e-01,
 -3.58557127e+00,-2.95158092e+01]

qfrc_actuator:
[ 2.41306567e-04, 1.83645424e-01, 1.99974484e-03, 6.63140113e-04,
  3.88500763e-02, 3.39923344e-01, 9.32159571e-02, 3.70897344e-02,
 -8.16777710e-04, 1.97860933e-01, 3.79628531e-03, 7.80022859e-04,
  1.91449156e-02,-1.54304523e-03, 2.01901324e-03,-3.14085870e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016034652099691453
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.92111251e-01,  1.25355979e-01,  1.07009442e-03,  1.25355906e-01,
        9.92111828e-01, -1.35209287e-04, -1.07860262e-03,  0.00000000e+00,
       -9.99999418e-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([ 0.10343738, -0.0793914 ,  0.11444735])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005193326282701693
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.06889397e-13,  2.13778793e-13,  1.00000000e+00,  2.28506862e-26,
        1.00000000e+00, -2.13778793e-13, -1.00000000e+00,  0.00000000e+00,
       -1.06889397e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072969, -0.05976492,  0.06198746])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19131153e-04,-1.38238880e-03,-4.75840746e-04,-1.24357864e-04,
  4.98774074e-02, 2.48277473e-01, 1.38759671e-01, 5.74615006e-02,
  1.69582505e-05,-2.51745468e-03,-5.77618923e-04,-1.74480981e-04,
 -1.37908744e-04, 6.85136168e-06,-4.32474587e-06,-5.18662739e-05,
  2.35361191e-04,-1.06915700e-02,-7.84148123e+00, 3.06490616e-03,
  1.78123683e-03,-1.55397432e-04]


--- Step 890 ---
qpos:
[ 0.00187163, 0.56681053,-0.01356317,-0.02661771,-0.03191163, 0.28360816,
 -0.11438038,-0.02687182, 0.02058308, 0.5840284 ,-0.01495788, 0.02331531,
  1.16554545,-0.01010714, 0.83859492, 0.06214144, 0.08915447,-0.07025298,
  0.12196787, 0.99647589, 0.00398409,-0.02590788,-0.07967879]

qacc:
[ 1.02594957e+00, 4.18884176e+00,-1.85074481e+01, 1.83365679e+01,
 -5.78001414e+01, 1.27235777e+01, 1.73076504e+01,-7.42861326e+01,
  6.18246910e-02,-1.75110025e+01, 3.64336638e+01,-3.72247253e+01,
 -6.86543834e-01, 1.08547143e+00,-5.83813250e+00, 1.99200861e+01,
 -5.10538528e-01,-2.10119938e-01,-9.31290789e-03, 1.06238098e-01,
 -4.35597550e+00,-2.44336861e+01]

qfrc_actuator:
[ 3.07815812e-04, 1.84168516e-01, 2.09365388e-03, 6.96346365e-04,
  3.90610687e-02, 3.42344642e-01, 9.41500789e-02, 3.75228300e-02,
 -8.26880784e-04, 1.97464975e-01, 3.84704568e-03, 7.64616210e-04,
  1.91126640e-02,-1.53375919e-03, 2.02812156e-03,-3.04056462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016245895419550599
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91834933e-01,  1.27527397e-01,  4.77739777e-04,  1.27527382e-01,
        9.91835048e-01, -6.14264541e-05, -4.81672611e-04,  0.00000000e+00,
       -9.99999884e-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([ 0.10332603, -0.07937852,  0.11447205])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000517848047974126
  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([ 0.08072901, -0.05976484,  0.0619875 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.41989163e-05,-4.54601352e-04,-2.87009341e-04,-5.11846882e-05,
  5.12712295e-02, 2.49551522e-01, 1.39133020e-01, 5.78920918e-02,
  4.40794158e-06,-2.03965887e-03,-5.81716624e-04,-1.53360078e-04,
 -1.15930788e-04,-1.90302756e-05,-5.22019472e-06, 9.53367272e-05,
  2.42051467e-04,-1.14463589e-02,-7.84133053e+00, 3.13423572e-03,
  1.58626757e-03,-1.58914751e-04]


--- Step 891 ---
qpos:
[ 0.00184449, 0.57012079,-0.01364066,-0.02662557,-0.03220205, 0.28534928,
 -0.11530063,-0.02728761, 0.02060053, 0.58759655,-0.01499603, 0.0233085 ,
  1.16600906,-0.01010871, 0.83892418, 0.0621416 , 0.0890516 ,-0.07027364,
  0.12198011, 0.99636485, 0.00401202,-0.02655871,-0.08084317]

qacc:
[ 3.72167616e-01, 7.52854755e+00,-1.85229284e+01, 6.07136636e+00,
 -5.64748383e+01, 1.43362787e+01, 1.11782085e+01,-7.23259585e+01,
 -1.91413527e-01,-1.71871789e+01, 3.59909336e+01,-2.91543760e+01,
 -4.42887157e-01, 3.81589525e-01, 4.38719874e+00,-1.53913965e+01,
 -5.16257542e-01,-1.69503905e-01,-2.88604905e-03, 5.00354686e-01,
 -5.10885632e+00,-1.99653678e+01]

qfrc_actuator:
[ 3.22485247e-04, 1.84847464e-01, 2.19979650e-03, 7.01590372e-04,
  3.93619209e-02, 3.44639020e-01, 9.50763319e-02, 3.79490751e-02,
 -8.57822292e-04, 1.97064364e-01, 3.92906876e-03, 7.76270194e-04,
  1.90713150e-02,-1.54548978e-03, 2.00576909e-03,-3.12414625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001647197686788246
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91540458e-01,  1.29797970e-01, -8.27100635e-05,  1.29797970e-01,
        9.91540462e-01,  1.08271914e-05,  8.34157220e-05, -1.69406589e-21,
       -9.99999997e-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([ 0.10321158, -0.07936546,  0.11449815])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000516390230470079
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.07498454e-13, -1.07498454e-13,  1.00000000e+00, -1.15559175e-26,
        1.00000000e+00,  1.07498454e-13, -1.00000000e+00,  0.00000000e+00,
       -1.07498454e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072838, -0.05976484,  0.06198753])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50879211e-05, 2.62503911e-04,-5.72330322e-05,-3.14347115e-05,
  5.27437922e-02, 2.50299963e-01, 1.39614872e-01, 5.83782820e-02,
 -2.04292718e-05,-1.77632868e-03,-4.51276918e-04,-1.05504573e-04,
 -1.16930707e-04,-3.98438314e-05,-1.96829688e-05,-8.02283010e-05,
  2.46610404e-04,-1.21354571e-02,-7.84114382e+00, 3.20154335e-03,
  1.38890855e-03,-1.62484333e-04]


--- Step 892 ---
qpos:
[ 0.00181765, 0.57343227,-0.01371729,-0.02663382,-0.03251505, 0.28711316,
 -0.11621423,-0.0277049 , 0.02061721, 0.59114917,-0.01503303, 0.02330256,
  1.16647204,-0.01011069, 0.83925264, 0.06213824, 0.08894663,-0.07029484,
  0.12199235, 0.99624906, 0.00404153,-0.0272211 ,-0.08203956]

qacc:
[ 2.31073530e-01,-1.64026108e+00, 9.79838455e+00,-1.87620472e+01,
 -5.49071950e+01, 8.50388068e+00, 1.97907656e+01,-7.31149367e+01,
 -5.67333992e-01,-2.19690256e+01, 4.48809280e+01,-2.02610345e+01,
 -1.91269852e-01,-2.82621267e-01, 9.42789481e+00,-3.47045497e+01,
 -5.25001486e-01,-1.33099552e-01, 1.89155561e-03, 8.34350478e-01,
 -5.82039291e+00,-1.61292937e+01]

qfrc_actuator:
[ 3.41853615e-04, 1.84994338e-01, 2.27796819e-03, 6.90609069e-04,
  3.96546698e-02, 3.46580086e-01, 9.59958072e-02, 3.83721203e-02,
 -9.18712301e-04, 1.96310345e-01, 3.99384534e-03, 8.21633391e-04,
  1.90351800e-02,-1.56956661e-03, 1.92192236e-03,-3.31550039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016711781457080376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91229536e-01,  1.32150013e-01, -6.18033341e-04,  1.32149987e-01,
        9.91229728e-01,  8.23957469e-05,  6.23501620e-04,  0.00000000e+00,
       -9.99999806e-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([ 0.10309419, -0.07935241,  0.11452554])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005149525982714176
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.1559713e-13,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        2.1559713e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072781, -0.0597649 ,  0.06198757])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.16325032e-05, 1.79858862e-04, 9.19559103e-05,-8.60368325e-06,
  5.41897401e-02, 2.50749469e-01, 1.40161338e-01, 5.88824421e-02,
 -5.84881859e-05,-1.95282398e-03,-3.96184425e-04,-5.50228771e-05,
 -1.17185622e-04,-5.59172970e-05,-1.07427906e-04,-1.99661766e-04,
  2.47810734e-04,-1.27705831e-02,-7.84092078e+00, 3.26756510e-03,
  1.18867547e-03,-1.66125276e-04]


--- Step 893 ---
qpos:
[ 0.00179181, 0.5767383 ,-0.01378985,-0.02664265,-0.03285007, 0.28888921,
 -0.11712082,-0.02812292, 0.02063319, 0.59468082,-0.01506774, 0.0232977 ,
  1.16693434,-0.01011271, 0.83957982, 0.06213426, 0.08883952,-0.07031644,
  0.12200462, 0.99612888, 0.00407288,-0.02789645,-0.08326139]

qacc:
[ 7.91761628e-01,-1.97500956e+01, 6.24282071e+01,-7.50142093e+01,
 -5.31367535e+01,-4.71950935e+00, 4.35489130e+01,-7.67912429e+01,
 -4.98943966e-01,-3.18307962e+01, 6.86876241e+01,-3.80306681e+01,
 -4.50004305e-01, 5.08281940e-01,-4.80938797e-03,-2.71498575e+00,
 -5.36105113e-01,-1.00728693e-01, 4.86665674e-03, 1.11801872e+00,
 -6.48847915e+00,-1.28572521e+01]

qfrc_actuator:
[ 0.00041729, 0.18439624, 0.00235499, 0.00063429, 0.03996906, 0.34789539,
  0.0969267 , 0.03879376,-0.00096145, 0.19497879, 0.00399356, 0.00085071,
  0.01901284,-0.00156522, 0.00187581,-0.0033381 , 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: -0.0016958805684239174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90903718e-01,  1.34567804e-01, -1.15267026e-03,  1.34567712e-01,
        9.90904388e-01,  1.56536096e-04,  1.16325073e-03,  2.71050543e-20,
       -9.99999323e-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([ 0.1029743 , -0.0793395 ,  0.11455379])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005135336767156939
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16192837e-13, -2.16192837e-13,  1.00000000e+00, -4.67393428e-26,
        1.00000000e+00,  2.16192837e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16192837e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072728, -0.05976503,  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:
[ 7.35240351e-05,-5.79389076e-04, 9.29470286e-05,-5.18621812e-05,
  5.56341397e-02, 2.50875977e-01, 1.40751259e-01, 5.93780633e-02,
 -5.29967870e-05,-2.61482458e-03,-4.88958608e-04,-7.59462946e-05,
 -1.07784944e-04,-3.00034071e-05,-1.19254708e-04,-4.78933044e-05,
  2.44841492e-04,-1.33623666e-02,-7.84066190e+00, 3.33295657e-03,
  9.85096727e-04,-1.69854818e-04]


--- Step 894 ---
qpos:
[ 0.0017674 , 0.58003075,-0.01385679,-0.02665125,-0.03320643, 0.29066796,
 -0.11801971,-0.02854083, 0.02064935, 0.59818646,-0.01510011, 0.02329273,
  1.16739581,-0.01011409, 0.83990592, 0.06213126, 0.08873022,-0.07033832,
  0.12201691, 0.99600469, 0.00410638,-0.0285861 ,-0.08450229]

qacc:
[ 1.12672067e+00,-3.31894036e+01, 9.13247558e+01,-8.63736105e+01,
 -5.10368514e+01,-1.71712561e+01, 6.64321213e+01,-7.96151073e+01,
  1.60758626e-01,-4.11691532e+01, 9.74125217e+01,-8.40475825e+01,
 -1.11486283e+00, 2.24751980e+00,-4.47914779e+00, 1.34970035e+01,
 -5.46372378e-01,-6.98629474e-02, 7.42605084e-03, 1.40571913e+00,
 -7.13498046e+00,-9.66559276e+00]

qfrc_actuator:
[ 0.0005078 , 0.18323306, 0.00244555, 0.00060439, 0.04028717, 0.3486237 ,
  0.09780816, 0.03919664,-0.00093981, 0.19338336, 0.00398815, 0.00081618,
  0.01898284,-0.00152628, 0.00185241,-0.00327868, 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: -0.001720189693300933
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90564378e-01,  1.37037337e-01, -1.72638241e-03,  1.37037129e-01,
        9.90565883e-01,  2.38832017e-04,  1.74282442e-03, -5.42101086e-20,
       -9.99998481e-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([ 0.10285259, -0.07932676,  0.1145822 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005121373616384928
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.16782275e-13, -1.08391138e-13,  1.00000000e+00, -2.34972774e-26,
        1.00000000e+00,  1.08391138e-13, -1.00000000e+00,  0.00000000e+00,
       -2.16782275e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072679, -0.05976521,  0.06198764])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04978599e-04,-1.57033640e-03,-5.16410802e-05,-5.87577865e-05,
  5.70550283e-02, 2.50945363e-01, 1.41273070e-01, 5.98167260e-02,
  1.28706189e-05,-3.26808722e-03,-6.42723152e-04,-1.71486856e-04,
 -1.03870923e-04, 1.11423522e-05,-8.37120689e-05, 4.13860930e-05,
  2.37096498e-04,-1.39195097e-02,-7.84036764e+00, 3.39825720e-03,
  7.77717072e-04,-1.73687719e-04]


--- Step 895 ---
qpos:
[ 0.00174371, 0.58330167,-0.01391781,-0.02665821,-0.03358335, 0.29244276,
 -0.11890996,-0.02895789, 0.02066579, 0.60166382,-0.01513104, 0.02328832,
  1.16785647,-0.01011521, 0.84023089, 0.06213226, 0.08861869,-0.07036037,
  0.12202924, 0.99587684, 0.00414231,-0.02929133,-0.08575647]

qacc:
[ 5.78539498e-01,-4.16146247e+01, 1.00156936e+02,-6.53293682e+01,
 -4.87409660e+01,-2.68069533e+01, 8.49859614e+01,-8.20049443e+01,
  2.22969639e-01,-4.02249787e+01, 8.68497706e+01,-5.86760827e+01,
 -6.30408340e-01, 1.03231004e+00,-1.37010519e+01, 4.55915888e+01,
 -5.56223114e-01,-4.23557564e-02, 8.55435351e-03, 1.68277762e+00,
 -7.73119323e+00,-6.76589228e+00]

qfrc_actuator:
[ 0.0005355 , 0.18165239, 0.00254104, 0.00064301, 0.04059788, 0.34902216,
  0.09869196, 0.03955221,-0.00093341, 0.19187383, 0.00401419, 0.00083303,
  0.01893229,-0.00152049, 0.00183202,-0.00306489, 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: -0.0017431481640398097
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90212885e-01,  1.39545000e-01, -2.37378529e-03,  1.39544599e-01,
        9.90215731e-01,  3.34522932e-04,  2.39724054e-03, -5.42101086e-20,
       -9.99997127e-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([ 0.10272963, -0.07931425,  0.11461016])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005107674013976604
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -2.1736372e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  2.1736372e-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([ 0.08072633, -0.05976545,  0.06198768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.22281846e-05,-2.57154580e-03,-2.69292191e-04,-3.77780465e-05,
  5.84338962e-02, 2.51157665e-01, 1.41762481e-01, 6.01660393e-02,
  1.92728902e-05,-3.58233185e-03,-7.68154249e-04,-1.55230731e-04,
 -1.12636637e-04,-1.41208232e-05,-5.59577655e-05, 2.04956288e-04,
  2.24726300e-04,-1.44403785e-02,-7.84003712e+00, 3.46348844e-03,
  5.66111236e-04,-1.77632206e-04]


--- Step 896 ---
qpos:
[ 0.00171952, 0.58654732,-0.01397525,-0.0266641 ,-0.03397982, 0.29421095,
 -0.1197909 ,-0.02937363, 0.02068216, 0.60511072,-0.01516045, 0.02328465,
  1.16831637,-0.01011595, 0.84055502, 0.06213646, 0.08850491,-0.07038248,
  0.12204161, 0.99574577, 0.00418097,-0.03001341,-0.08701771]

qacc:
[-3.51275203e-01,-4.11877035e+01, 9.39330726e+01,-6.27335857e+01,
 -4.60261596e+01,-3.11554740e+01, 9.35731551e+01,-8.20652072e+01,
 -1.83224861e-02,-4.29920525e+01, 9.17415897e+01,-5.89404087e+01,
 -7.51124939e-01, 1.36772699e+00,-1.08645589e+01, 3.62967175e+01,
 -5.64241916e-01,-1.42479515e-02, 1.01790273e-02, 1.98741093e+00,
 -8.33398339e+00,-3.66188406e+00]

qfrc_actuator:
[ 0.00049016, 0.18011864, 0.00260144, 0.00066797, 0.04096515, 0.34931706,
  0.09957316, 0.03989636,-0.00095405, 0.19028648, 0.00405908, 0.00086232,
  0.01890139,-0.00149898, 0.00179749,-0.00290391, 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: -0.0017641273875003353
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89850466e-01,  1.42078603e-01, -3.11849609e-03,  1.42077898e-01,
        9.89855379e-01,  4.47612428e-04,  3.15045628e-03,  0.00000000e+00,
       -9.99995037e-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([ 0.10260583, -0.07930202,  0.11463723])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005094303320053867
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.08967110e-13, -1.08967110e-13,  1.00000000e+00, -1.18738312e-26,
        1.00000000e+00,  1.08967110e-13, -1.00000000e+00,  0.00000000e+00,
       -1.08967110e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0807259 , -0.05976575,  0.06198771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77138535e-05,-3.12774661e-03,-5.37051716e-04,-1.01386918e-04,
  5.98297816e-02, 2.51599352e-01, 1.42202769e-01, 6.04662780e-02,
 -5.74716853e-06,-3.86000156e-03,-8.28772664e-04,-1.60214299e-04,
 -1.03536043e-04,-4.94512723e-06,-3.97007180e-05, 1.64687731e-04,
  2.08153131e-04,-1.49264974e-02,-7.83967076e+00, 3.52882460e-03,
  3.49883239e-04,-1.81698481e-04]


--- Step 897 ---
qpos:
[ 0.00169482, 0.58977364,-0.01403423,-0.02667052,-0.03439458, 0.29597552,
 -0.12066287,-0.02978823, 0.02069815, 0.60852807,-0.01519037, 0.02328057,
  1.16877564,-0.01011648, 0.84087861, 0.06213927, 0.08838885,-0.07040451,
  0.12205404, 0.99561201, 0.00422273,-0.03075375,-0.08827858]

qacc:
[-3.72654095e-01,-2.23522746e+01, 4.48415431e+01,-3.72765465e+01,
 -4.27144431e+01,-2.66974356e+01, 8.39995927e+01,-7.67371269e+01,
 -2.57185634e-01,-3.84385517e+01, 8.21234898e+01,-6.66185227e+01,
 -7.00349231e-01, 1.21564693e+00, 3.42258252e+00,-1.30553276e+01,
 -5.69574874e-01, 1.79717597e-02, 1.51720630e-02, 2.34811882e+00,
 -8.99831231e+00, 6.07961606e-02]

qfrc_actuator:
[ 0.00047293, 0.17954853, 0.00265851, 0.00066692, 0.04133808, 0.34985584,
  0.10043092, 0.04030386,-0.0009907 , 0.18891448, 0.00406136, 0.00084542,
  0.01887699,-0.00148599, 0.00173852,-0.00298845, 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: -0.0017829459179040876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89478492e-01,  1.44625578e-01, -3.96936594e-03,  1.44624414e-01,
        9.89486454e-01,  5.80171503e-04,  4.01154147e-03,  1.08420217e-19,
       -9.99991954e-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([ 0.10248133, -0.07929016,  0.11466326])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005081298532035872
  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([ 0.0807255 , -0.05976609,  0.06198774])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.86622858e-05,-2.53221196e-03,-6.90152888e-04,-1.61671416e-04,
  6.11818400e-02, 2.52417768e-01, 1.42586088e-01, 6.08073901e-02,
 -3.03094052e-05,-3.81152450e-03,-9.36026254e-04,-2.20438057e-04,
 -8.93449498e-05,-9.90934511e-06,-6.21865200e-05,-8.12368420e-05,
  1.87688380e-04,-1.53694646e-02,-7.83926615e+00, 3.59395257e-03,
  1.28609514e-04,-1.85890276e-04]


--- Step 898 ---
qpos:
[ 0.00167006, 0.5929972 ,-0.01410089,-0.0266791 ,-0.03482595, 0.29775679,
 -0.12152891,-0.03020376, 0.02071398, 0.61192644,-0.01522537, 0.02327479,
  1.1692344 ,-0.01011739, 0.84120199, 0.06214061, 0.08827051,-0.07042632,
  0.12206657, 0.99547632, 0.00426804,-0.03151398,-0.08952959]

qacc:
[-4.85202210e-02, 1.33711998e+01,-4.38631731e+01, 2.08392754e+01,
 -3.85930986e+01, 3.67973839e+00, 2.29673097e+01,-6.09599222e+01,
 -1.04176269e-01,-1.43716862e+01, 2.20060103e+01,-2.92381529e+01,
 -7.00283124e-02,-4.21935611e-01, 4.10778902e+00,-1.48376070e+01,
 -5.70014669e-01, 5.68686315e-02, 2.41425193e-02, 2.80380313e+00,
 -9.75263774e+00, 4.80829169e+00]

qfrc_actuator:
[ 0.00049053, 0.18060819, 0.00271726, 0.00065142, 0.04173872, 0.35212059,
  0.10132449, 0.04073127,-0.0010011 , 0.18874812, 0.00409276, 0.0008194 ,
  0.01884053,-0.00151363, 0.00174478,-0.00305721, 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: -0.0018000134856536352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89098766e-01,  1.47171549e-01, -4.91585733e-03,  1.47169731e-01,
        9.89110982e-01,  7.31438988e-04,  4.96997548e-03,  0.00000000e+00,
       -9.99987650e-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([ 0.10235599, -0.07927885,  0.11468844])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005068575020776706
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.09520232e-13,  1.09520232e-13,  1.00000000e+00, -1.19946812e-26,
        1.00000000e+00, -1.09520232e-13, -1.00000000e+00,  0.00000000e+00,
        1.09520232e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072513, -0.05976648,  0.06198778])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01474359e-06,-6.02809222e-04,-5.86134760e-04,-1.57038151e-04,
  6.24979257e-02, 2.54812748e-01, 1.43021593e-01, 6.11761684e-02,
 -1.25048364e-05,-2.60239049e-03,-9.11817243e-04,-2.32285456e-04,
 -9.41730091e-05,-4.80849660e-05,-3.46292763e-05,-8.20618999e-05,
  1.63355648e-04,-1.57516196e-02,-7.83881790e+00, 3.65810889e-03,
 -9.82215150e-05,-1.90205560e-04]


--- Step 899 ---
qpos:
[ 0.0016445 , 0.59623071,-0.01417506,-0.02668892,-0.03527224, 0.29956475,
 -0.12239161,-0.03062156, 0.0207304 , 0.61531271,-0.0152653 , 0.02326805,
  1.16969254,-0.01011831, 0.84152513, 0.06214205, 0.08814986,-0.07044776,
  0.12207922, 0.99533933, 0.00431719,-0.03229562,-0.0907633 ]

qacc:
[-6.27289202e-01, 3.16219315e+01,-8.84141275e+01, 7.16641152e+01,
 -3.44504743e+01, 2.09675370e+01,-1.41713341e+01,-4.96615277e+01,
  4.28116733e-01,-4.20340209e+00,-4.15785955e+00, 4.26161048e+00,
 -4.27943518e-01, 5.05076277e-01,-6.35436830e-01, 1.72553116e+00,
 -5.77329331e-01, 9.03857020e-02, 3.08638496e-02, 3.14214133e+00,
 -1.04669107e+01, 8.53811170e+00]

qfrc_actuator:
[ 0.00044001, 0.1822108 , 0.00276603, 0.00068235, 0.04217937, 0.35492274,
  0.10223899, 0.04117223,-0.00096033, 0.18879156, 0.00409314, 0.00082487,
  0.01881281,-0.00151187, 0.00175288,-0.00304488, 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: -0.0018175336286889898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.88713906e-01,  1.49700173e-01, -5.88815185e-03,  1.49697519e-01,
        9.88731439e-01,  8.91503311e-04,  5.95525905e-03, -1.08420217e-19,
       -9.99982267e-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([ 0.10222868, -0.07926845,  0.11471407])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005055909778364787
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.19589169e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.19589169e-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([ 0.08072477, -0.05976691,  0.06198781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.03992135e-05, 1.04110479e-03,-1.84463902e-04,-2.42648539e-05,
  6.37702571e-02, 2.56728676e-01, 1.43629872e-01, 6.16626859e-02,
  4.48540101e-05,-1.71107853e-03,-6.90174907e-04,-1.48312277e-04,
 -9.65763734e-05,-2.65558330e-05,-2.15344114e-05, 2.23092739e-06,
  1.35514281e-04,-1.60437253e-02,-7.83831850e+00, 3.71996953e-03,
 -3.31232173e-04,-1.94636033e-04]


--- Step 900 ---
qpos:
[ 0.00161759, 0.5994749 ,-0.01425112,-0.02669823,-0.03573194, 0.30138945,
 -0.12325122,-0.03104099, 0.02074737, 0.61868642,-0.01530609, 0.02326107,
  1.17014992,-0.01011888, 0.84184697, 0.06214707, 0.08802683,-0.07046875,
  0.122092  , 0.99520136, 0.0043702 ,-0.03309991,-0.09197577]

qacc:
[-1.01709706e+00, 2.04035578e+01,-5.44070811e+01, 5.82873145e+01,
 -3.07333191e+01, 1.00722691e+01, 3.05913048e+00,-4.83424806e+01,
  3.98320206e-01,-1.47004280e+01, 2.93755835e+01,-2.30132512e+01,
 -7.02403942e-01, 1.26105953e+00,-1.26772093e+01, 4.16666257e+01,
 -5.94443924e-01, 1.13220524e-01, 3.26278597e-02, 3.29944916e+00,
 -1.10689996e+01, 1.05146167e+01]

qfrc_actuator:
[ 0.00036715, 0.18308016, 0.00281172, 0.00074108, 0.04264898, 0.35680572,
  0.10314852, 0.04162305,-0.00094279, 0.18835801, 0.00413006, 0.00083142,
  0.0187744 ,-0.00149268, 0.00169286,-0.00286058, 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: -0.0018365089927817858
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98832625,  0.15219796, -0.00685602,  0.1521943 ,  0.98835003,
        0.00105577,  0.00693684,  0.        , -0.99997594])
  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([ 0.10209889, -0.07925918,  0.11474071])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005043162620085723
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20144205e-13, -3.30216307e-13,  1.00000000e+00, -7.26952064e-26,
        1.00000000e+00,  3.30216307e-13, -1.00000000e+00,  0.00000000e+00,
       -2.20144205e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072443, -0.05976737,  0.06198784])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01021027e-04, 1.31571057e-03, 2.06108197e-04, 9.04269658e-05,
  6.49868814e-02, 2.57225446e-01, 1.44363076e-01, 6.22260573e-02,
  4.14399524e-05,-1.63960423e-03,-4.39073856e-04,-9.96778602e-05,
 -1.03848819e-04,-5.96893128e-06,-7.46004853e-05, 1.80496231e-04,
  1.02394242e-04,-1.62606647e-02,-7.83776764e+00, 3.78036411e-03,
 -5.71086489e-04,-1.99197975e-04]


--- Step 901 ---
qpos:
[ 0.00159017, 0.60272367,-0.01432396,-0.02670785,-0.03620351, 0.30322427,
 -0.12410787,-0.03146155, 0.02076423, 0.62204816,-0.01534696, 0.02325361,
  1.17060658,-0.01011969, 0.84216776, 0.06215427, 0.08790136,-0.07048921,
  0.12210492, 0.99506276, 0.00442713,-0.03392805,-0.09316324]

qacc:
[-3.77944697e-01,-3.56818157e+00, 2.27515557e+01,-3.64113289e+01,
 -2.69507484e+01, 2.82583189e+00, 1.41268955e+01,-4.57961342e+01,
 -7.32023022e-02,-1.65659346e+01, 3.80932082e+01,-3.72636511e+01,
 -1.81422566e-01,-1.99878525e-01,-8.09707587e+00, 2.60898543e+01,
 -6.10687475e-01, 1.34395824e-01, 3.38665896e-02, 3.45693688e+00,
 -1.16440078e+01, 1.23968204e+01]

qfrc_actuator:
[ 0.00037052, 0.18307882, 0.00288844, 0.00070874, 0.04314043, 0.3583495 ,
  0.10400072, 0.04204454,-0.00097488, 0.18792761, 0.00418679, 0.00082054,
  0.01871895,-0.00151666, 0.00164001,-0.00275416, 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: -0.0018557862539654284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98793713,  0.1546559 , -0.00786041,  0.154651  ,  0.9879684 ,
        0.00123046,  0.00795613,  0.        , -0.99996835])
  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([ 0.10196722, -0.079251  ,  0.11476766])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005030358362059367
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.20704559e-13, -1.10352280e-13,  1.00000000e+00, -2.43552512e-26,
        1.00000000e+00,  1.10352280e-13, -1.00000000e+00,  0.00000000e+00,
       -2.20704559e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0807241 , -0.05976785,  0.06198787])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.83729574e-05, 6.84011345e-04, 3.45904129e-04, 2.68477581e-05,
  6.61504560e-02, 2.57878826e-01, 1.45051034e-01, 6.27278614e-02,
 -9.33094967e-06,-1.54193401e-03,-3.71675873e-04,-1.04374114e-04,
 -1.21000962e-04,-4.70370943e-05,-6.84178752e-05, 1.06563935e-04,
  6.21910553e-05,-1.64361039e-02,-7.83716933e+00, 3.84099476e-03,
 -8.18296914e-04,-2.03915832e-04]


--- Step 902 ---
qpos:
[ 0.00156265, 0.60596803,-0.01439063,-0.02671727,-0.03668539, 0.30506363,
 -0.12496143,-0.03188269, 0.02078059, 0.62539775,-0.01538727, 0.02324698,
  1.17106232,-0.01012039, 0.8424882 , 0.06215636, 0.08777338,-0.07050905,
  0.12211797, 0.99492381, 0.00448798,-0.03478116,-0.09432255]

qacc:
[-6.27100043e-02,-2.26332402e+01, 7.14292928e+01,-7.46951086e+01,
 -2.32129802e+01,-3.66143888e+00, 2.43927400e+01,-4.30172462e+01,
 -3.38580339e-01,-1.59365677e+01, 3.00498066e+01,-7.78774934e+00,
 -9.59330587e-01, 1.47167709e+00, 1.49066159e+01,-5.28201797e+01,
 -6.27476791e-01, 1.52838532e-01, 3.46075518e-02, 3.59228197e+00,
 -1.21830050e+01, 1.39819869e+01]

qfrc_actuator:
[ 0.00038381, 0.18234384, 0.00299718, 0.0006756 , 0.04361329, 0.35960093,
  0.10483518, 0.04246633,-0.00101857, 0.18743251, 0.00425497, 0.00087054,
  0.01866395,-0.00151282, 0.0015755 ,-0.00303178, 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: -0.001874595910187092
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98754779,  0.1570657 , -0.00892944,  0.15705928,  0.98758816,
        0.00142014,  0.00904166,  0.        , -0.99995912])
  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([ 0.10183408, -0.07924387,  0.11479442])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005017520804488779
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.10634621e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.10634621e-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([ 0.08072378, -0.05976835,  0.06198791])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.84454273e-06,-3.76665385e-04, 2.62450839e-04, 2.60350422e-06,
  6.72177116e-02, 2.58571522e-01, 1.45727322e-01, 6.32047282e-02,
 -3.85519904e-05,-1.53770873e-03,-3.31718009e-04,-3.70385235e-05,
 -1.40171390e-04,-3.02101704e-05,-8.61026943e-05,-2.80968732e-04,
  1.53553599e-05,-1.65660344e-02,-7.83652228e+00, 3.90168142e-03,
 -1.07330025e-03,-2.08790693e-04]


--- Step 903 ---
qpos:
[ 0.00153523, 0.60920198,-0.01445283,-0.02672518,-0.03717602, 0.3069021 ,
 -0.12581138,-0.03230375, 0.02079625, 0.62873305,-0.01542581, 0.02324176,
  1.17151709,-0.01012075, 0.84280765, 0.06215447, 0.08764282,-0.07052822,
  0.12213117, 0.99478475, 0.00455273,-0.03566028,-0.09545111]

qacc:
[ 9.43958738e-02,-2.31865915e+01, 5.63571667e+01,-2.98339798e+01,
 -1.95179908e+01,-1.07445268e+01, 3.65361592e+01,-4.07169518e+01,
 -4.84354998e-01,-2.08915851e+01, 4.11293708e+01,-8.95931028e+00,
 -1.15068690e+00, 2.01085115e+00, 1.06154760e+01,-3.91502376e+01,
 -6.44998445e-01, 1.68802695e-01, 3.45093730e-02, 3.70492597e+00,
 -1.26903531e+01, 1.52821042e+01]

qfrc_actuator:
[ 0.00040286, 0.18140662, 0.0030499 , 0.00071263, 0.0441137 , 0.36055421,
  0.10567542, 0.04288821,-0.00106878, 0.18669054, 0.00432942, 0.0009382 ,
  0.01861992,-0.00149255, 0.00151996,-0.00323165, 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: -0.0018923019235110403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.87159264e-01,  1.59420346e-01, -1.00867160e-02,  1.59412024e-01,
        9.87210795e-01,  1.62885957e-03,  1.02173883e-02, -2.16840434e-19,
       -9.99947801e-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([ 0.1016998 , -0.07923777,  0.1148206 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005004670380717863
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10918696e-13, -1.10918696e-13,  1.00000000e+00,  1.23029571e-26,
        1.00000000e+00,  1.10918696e-13, -1.00000000e+00,  0.00000000e+00,
        1.10918696e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072347, -0.05976886,  0.06198794])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.89548899e-06,-1.19001086e-03,-2.37230226e-05, 2.39981207e-05,
  6.82344782e-02, 2.59244162e-01, 1.46402474e-01, 6.36546409e-02,
 -5.53910721e-05,-1.77050229e-03,-3.17145866e-04,-1.64621787e-05,
 -1.37913276e-04,-1.47639121e-05,-1.29614733e-04,-2.27337216e-04,
 -3.79254148e-05,-1.66518229e-02,-7.83582591e+00, 3.96250327e-03,
 -1.33650324e-03,-2.13826356e-04]


--- Step 904 ---
qpos:
[ 0.00150921, 0.61242641,-0.01451434,-0.0267322 ,-0.03767377, 0.30873868,
 -0.12665749,-0.03272442, 0.0208113 , 0.63205102,-0.01546229, 0.02323662,
  1.17197102,-0.01012114, 0.84312586, 0.06215309, 0.08750962,-0.07054665,
  0.1221445 , 0.99464586, 0.0046214 ,-0.03656647,-0.09654608]

qacc:
[ 1.01740193e+00,-1.26586769e+01, 2.31156872e+01,-1.75614504e+00,
 -1.57324056e+01,-1.20675824e+01, 3.80429822e+01,-3.65813671e+01,
 -4.03609254e-01,-2.85070543e+01, 6.80921069e+01,-5.73244429e+01,
 -5.14270079e-01, 5.42765188e-01,-3.32613978e+00, 9.00698768e+00,
 -6.61042143e-01, 1.84826665e-01, 3.50045272e-02, 3.83586532e+00,
 -1.31953374e+01, 1.67088590e+01]

qfrc_actuator:
[ 0.00051395, 0.18097717, 0.00308596, 0.00075486, 0.04463321, 0.36150974,
  0.10649963, 0.04330971,-0.00110474, 0.18568318, 0.00437069, 0.00092677,
  0.01857718,-0.00149821, 0.00150181,-0.00318864, 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: -0.001908303816440488
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98677236,  0.16171392, -0.01135454,  0.16170322,  0.98683768,
        0.00186068,  0.01150599,  0.        , -0.9999338 ])
  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([ 0.10156466, -0.07923264,  0.11484581])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004991839520519653
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.66805697e-13,  2.22407595e-13,  1.00000000e+00,  3.70988539e-26,
        1.00000000e+00, -2.22407595e-13, -1.00000000e+00,  0.00000000e+00,
       -1.66805697e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072316, -0.05976938,  0.06198797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05122617e-04,-1.19475596e-03,-2.42753276e-04,-1.50924178e-05,
  6.91920284e-02, 2.60190720e-01, 1.47035959e-01, 6.40709943e-02,
 -4.72552496e-05,-2.16156217e-03,-3.95712067e-04,-1.04583475e-04,
 -1.32060430e-04,-3.73692786e-05,-1.03710277e-04, 1.35253573e-05,
 -9.75460937e-05,-1.66953718e-02,-7.83507953e+00, 4.02355786e-03,
 -1.60828211e-03,-2.19026277e-04]


--- Step 905 ---
qpos:
[ 0.001485  , 0.61564293,-0.01457564,-0.02673895,-0.03817701, 0.31057486,
 -0.12749954,-0.0331446 , 0.02082614, 0.63534939,-0.01549681, 0.02323089,
  1.17242414,-0.01012161, 0.84344317, 0.06215604, 0.0873737 ,-0.07056429,
  0.12215797, 0.99450734, 0.00469396,-0.03750067,-0.09760538]

qacc:
[ 1.32637795e+00,-1.04870953e+01, 2.10936404e+01,-1.09696446e+01,
 -1.20772052e+01,-1.05134475e+01, 3.48901250e+01,-3.29316556e+01,
 -1.38740646e-01,-3.25921240e+01, 8.11290681e+01,-8.01240990e+01,
 -3.34940467e-01, 1.95887216e-01,-1.44202934e+01, 4.85739576e+01,
 -6.77860808e-01, 1.97381424e-01, 3.41606289e-02, 3.93892564e+00,
 -1.36512296e+01, 1.77506888e+01]

qfrc_actuator:
[ 0.00062569, 0.18078464, 0.0031673 , 0.00078247, 0.04514827, 0.36262775,
  0.10734805, 0.04369515,-0.00111423, 0.18461409, 0.00442657, 0.00088643,
  0.01854057,-0.00150142, 0.00151682,-0.00294956, 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: -0.0019224877466191084
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86387959e-01,  1.63940577e-01, -1.27390039e-02,  1.63926907e-01,
        9.86470216e-01,  2.11708333e-03,  1.29137238e-02, -4.33680869e-19,
       -9.99916614e-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([ 0.10142871, -0.0792285 ,  0.11486995])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004979023087766793
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.57450229e-14,  2.22980092e-13,  1.00000000e+00,  1.24300303e-26,
        1.00000000e+00, -2.22980092e-13, -1.00000000e+00,  0.00000000e+00,
       -5.57450229e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072286, -0.05976991,  0.061988  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.38913073e-04,-1.00688707e-03,-2.26646975e-04,-3.82342227e-05,
  7.00631787e-02, 2.61350155e-01, 1.47681866e-01, 6.44359018e-02,
 -1.81361025e-05,-2.46124216e-03,-4.74406648e-04,-1.54659499e-04,
 -1.26812483e-04,-3.78548968e-05,-3.18328587e-05, 2.26364460e-04,
 -1.63084358e-04,-1.66880011e-02,-7.83428052e+00, 4.08441901e-03,
 -1.88903498e-03,-2.24387462e-04]


--- Step 906 ---
qpos:
[ 0.00146137, 0.61884871,-0.01463516,-0.02674552,-0.03868413, 0.31241006,
 -0.12833727,-0.033564  , 0.02084085, 0.63862818,-0.01553122, 0.02322438,
  1.17287662,-0.01012244, 0.84376051, 0.06216139, 0.087235  ,-0.07058109,
  0.12217158, 0.9943694 , 0.00477036,-0.03846384,-0.09862698]

qacc:
[ 4.24559715e-01,-1.87955158e+01, 4.56901490e+01,-3.76163350e+01,
 -8.41283336e+00,-1.13648017e+01, 3.56193499e+01,-2.87257501e+01,
 -6.78453905e-02,-2.77586784e+01, 6.46983494e+01,-6.38093631e+01,
 -3.94499164e-02,-5.40872385e-01,-7.18106380e+00, 2.51557677e+01,
 -6.95444078e-01, 2.10073503e-01, 3.46704382e-02, 4.03373780e+00,
 -1.41202476e+01, 1.87719423e+01]

qfrc_actuator:
[ 0.00063031, 0.18016837, 0.00322274, 0.00078382, 0.04566191, 0.36362948,
  0.10819148, 0.04414745,-0.00112572, 0.18367696, 0.00443722, 0.00084712,
  0.01851299,-0.00152087, 0.00153575,-0.00282765, 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: -0.0019350053146832105
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.86006752e-01,  1.66096326e-01, -1.42371080e-02,  1.66079014e-01,
        9.86109533e-01,  2.39804125e-03,  1.44376537e-02,  4.33680869e-19,
       -9.99895772e-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([ 0.10129181, -0.07922536,  0.11489309])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004966239807432937
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.58885126e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.58885126e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072256, -0.05977044,  0.06198804])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.36480180e-05,-1.32278614e-03,-2.12417769e-04,-5.63164273e-05,
  7.08524272e-02, 2.62318144e-01, 1.48311495e-01, 6.48621216e-02,
 -9.97074329e-06,-2.51447944e-03,-5.92714856e-04,-1.70115346e-04,
 -1.13908486e-04,-5.34041957e-05, 2.61762765e-05, 1.29662536e-04,
 -2.34300077e-04,-1.66346554e-02,-7.83342934e+00, 4.14532731e-03,
 -2.17907665e-03,-2.29915081e-04]


--- Step 907 ---
qpos:
[ 0.00143798, 0.62204304,-0.01469437,-0.02675195,-0.03919344, 0.31424553,
 -0.12917073,-0.03398252, 0.02085569, 0.64189244,-0.0155687 , 0.0232169 ,
  1.1733283 ,-0.01012345, 0.84407804, 0.06216357, 0.08709345,-0.07059699,
  0.12218533, 0.99423223, 0.00485057,-0.03945697,-0.09960873]

qacc:
[  0.18419657,-15.70487977, 33.38168547,-22.84943036, -4.73977492,
  -9.44855114, 30.72179821,-22.93596886,  0.09307334,-12.62191655,
  21.19981578,-22.30541724, -0.55218936,  0.52683509,  9.85987955,
 -34.02715714, -0.71288723,  0.22300933,  0.03645382,  4.13192943,
 -14.59820798, 19.84700208]

qfrc_actuator:
[ 0.00064219, 0.1795879 , 0.00322549, 0.00078716, 0.04613975, 0.36475746,
  0.10904779, 0.04465712,-0.00112068, 0.18334163, 0.0044218 , 0.0008266 ,
  0.0184642 ,-0.00153199, 0.0014984 ,-0.00300661, 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: -0.001945776037613571
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85629329e-01,  1.68176958e-01, -1.58536092e-02,  1.68155207e-01,
        9.85756821e-01,  2.70473579e-03,  1.60826776e-02,  4.33680869e-19,
       -9.99870665e-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([ 0.10115396, -0.0792232 ,  0.11491519])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004953450352376959
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.68098438e-13,  2.24131251e-13,  1.00000000e+00,  3.76761133e-26,
        1.00000000e+00, -2.24131251e-13, -1.00000000e+00,  0.00000000e+00,
       -1.68098438e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072227, -0.05977096,  0.06198807])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83725713e-05,-1.46098288e-03,-3.29077918e-04,-6.76878762e-05,
  7.15240563e-02, 2.63441458e-01, 1.48941571e-01, 6.53314600e-02,
  9.38146164e-06,-1.96673585e-03,-6.44629462e-04,-1.57951669e-04,
 -1.30278031e-04,-4.51194659e-05,-1.76015855e-05,-1.69946749e-04,
 -3.11553497e-04,-1.65319968e-02,-7.83252276e+00, 4.20610851e-03,
 -2.47878330e-03,-2.35607766e-04]


--- Step 908 ---
qpos:
[ 0.00141524, 0.62522843,-0.01475481,-0.02675793,-0.03970329, 0.31608592,
 -0.13000021,-0.03440041, 0.02087064, 0.64514918,-0.01561032, 0.02320897,
  1.1737791 ,-0.01012454, 0.84439496, 0.06216204, 0.08694898,-0.07061197,
  0.12219923, 0.99409601, 0.00493453,-0.04048098,-0.10054886]

qacc:
[ 4.67238142e-01,-7.44884139e+00, 7.56559277e+00, 8.64845211e+00,
 -1.14083015e+00,-3.13387172e+00, 1.80718929e+01,-1.72862526e+01,
  7.50286986e-02, 6.68643922e-01,-1.48458031e+01, 1.90242160e+01,
 -6.97544612e-01, 8.37431419e-01, 1.03194471e+01,-3.73565149e+01,
 -7.30249300e-01, 2.33940546e-01, 3.67719310e-02, 4.21968624e+00,
 -1.50442000e+01, 2.07386366e+01]

qfrc_actuator:
[ 0.00069403, 0.17938897, 0.00325063, 0.00082715, 0.04664926, 0.36620888,
  0.1098924 , 0.04511206,-0.00112367, 0.18358321, 0.00444714, 0.00085336,
  0.01841339,-0.00153815, 0.00143792,-0.00320172, 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: -0.0019549046688871557
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.85256333e-01,  1.70178292e-01, -1.75871051e-02,  1.70151186e-01,
        9.85413288e-01,  3.03724696e-03,  1.78474406e-02,  4.33680869e-19,
       -9.99840722e-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([ 0.10101505, -0.07922204,  0.11493627])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004940556561140869
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.12358093e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.12358093e-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([ 0.08072197, -0.05977147,  0.0619881 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.96925131e-05,-1.18074390e-03,-3.49811932e-04,-4.11809053e-05,
  7.21438731e-02, 2.64826144e-01, 1.49562131e-01, 6.57412174e-02,
  8.35092953e-06,-1.09303439e-03,-4.96459243e-04,-8.87081430e-05,
 -1.41229655e-04,-4.19956632e-05,-9.35663374e-05,-2.08266601e-04,
 -3.94922266e-04,-1.63739525e-02,-7.83155753e+00, 4.26644600e-03,
 -2.78854016e-03,-2.41462349e-04]


--- Step 909 ---
qpos:
[ 0.00139314, 0.62840801,-0.01481625,-0.02676427,-0.04021199, 0.31793777,
 -0.13082641,-0.03481818, 0.02088541, 0.64840252,-0.01565454, 0.02320203,
  1.17422923,-0.01012631, 0.8447109 , 0.06215718, 0.08680152,-0.07062596,
  0.12221328, 0.99396089, 0.00502217,-0.04153677,-0.10144566]

qacc:
[ 4.51077064e-01,-5.60047452e+00, 1.03669878e+01,-1.07495419e+01,
  2.42404245e+00, 6.12726952e+00,-4.27154425e-01,-1.11118083e+01,
 -1.24469268e-01, 4.86184350e+00,-2.80564714e+01, 5.19601240e+01,
  2.97079099e-02,-9.29257086e-01, 8.58525788e+00,-3.21859944e+01,
 -7.47616846e-01, 2.44418499e-01, 3.70644603e-02, 4.30410173e+00,
 -1.54858041e+01, 2.15972237e+01]

qfrc_actuator:
[ 0.00073384, 0.17943878, 0.00332614, 0.00083551, 0.04717697, 0.36804487,
  0.11071082, 0.0455518 ,-0.00114926, 0.18388569, 0.00449922, 0.00094388,
  0.01837737,-0.00157687, 0.00138493,-0.00336921, 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: -0.0019628514779926123
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98488842,  0.17209738, -0.01942422,  0.17206392,  0.98507994,
        0.00339349,  0.01971842,  0.        , -0.99980557])
  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([ 0.10087478, -0.07922192,  0.11495663])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004927493640959346
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.12655957e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.12655957e-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([ 0.08072168, -0.05977198,  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:
[ 4.87016262e-05,-7.77960579e-04,-2.43046522e-04,-6.09762203e-05,
  7.26986053e-02, 2.66362031e-01, 1.50170955e-01, 6.61480302e-02,
 -1.44987687e-05,-5.09509694e-04,-2.68407417e-04, 1.89992363e-05,
 -1.33050591e-04,-7.61386326e-05,-1.21537561e-04,-1.91664948e-04,
 -4.84210502e-04,-1.61608633e-02,-7.83053303e+00, 4.32633379e-03,
 -3.10866224e-03,-2.47479832e-04]


--- Step 910 ---
qpos:
[ 0.00137111, 0.63158412,-0.0148784 ,-0.0267709 ,-0.04071814, 0.31980124,
 -0.13164909,-0.03523572, 0.02090017, 0.65165269,-0.01569912, 0.02319557,
  1.17467845,-0.01012769, 0.84502574, 0.06215257, 0.08665098,-0.07063897,
  0.12222746, 0.99382677, 0.00511332,-0.04262498,-0.10230013]

qacc:
[ 5.36546787e-02,-3.25452001e+00, 6.17626922e+00,-7.61752156e+00,
  5.37177634e+00, 5.96470254e+00,-9.44370377e-03,-9.96510064e+00,
 -1.97694374e-03,-2.24055537e+00,-1.35805365e-01, 1.13548669e+01,
 -9.69090418e-01, 1.71008205e+00,-2.32674812e+00, 5.87555883e+00,
 -7.70775667e-01, 2.45285936e-01, 3.26277463e-02, 4.26640879e+00,
 -1.58005863e+01, 2.10975058e+01]

qfrc_actuator:
[ 0.00073069, 0.17954952, 0.00339663, 0.00084328, 0.04764314, 0.3697303 ,
  0.11153038, 0.04591167,-0.00115266, 0.18390404, 0.00454973, 0.00098261,
  0.01835025,-0.00154573, 0.00136845,-0.0033415 , 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: -0.001970249459809252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84526341e-01,  1.73931713e-01, -2.13458114e-02,  1.73890847e-01,
        9.84757716e-01,  3.77017968e-03,  2.16762062e-02, -4.33680869e-19,
       -9.99765043e-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([ 0.10073272, -0.07922288,  0.11497666])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004914184107420588
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.64805368e-14,  1.12961074e-13,  1.00000000e+00, -6.38010207e-27,
        1.00000000e+00, -1.12961074e-13, -1.00000000e+00,  0.00000000e+00,
        5.64805368e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072139, -0.05977246,  0.06198817])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59939414e-06,-4.70217341e-04,-1.52278729e-04,-4.09874650e-05,
  7.31078355e-02, 2.67420819e-01, 1.50815603e-01, 6.65008503e-02,
 -5.52932104e-07,-4.15260178e-04,-1.17495365e-04, 2.23541582e-06,
 -1.26774662e-04,-1.04338104e-05,-9.42885940e-05, 1.27718438e-06,
 -5.79536276e-04,-1.58893052e-02,-7.82944691e+00, 4.38557605e-03,
 -3.43949144e-03,-2.53658073e-04]


--- Step 911 ---
qpos:
[ 0.00134886, 0.63475412,-0.0149392 ,-0.02677697,-0.04122054, 0.32166894,
 -0.13246698,-0.03565207, 0.02091516, 0.65489782,-0.01574281, 0.02318829,
  1.17512672,-0.01012818, 0.84534004, 0.0621508 , 0.08649725,-0.07065102,
  0.12224175, 0.99369338, 0.00520775,-0.04374608,-0.10311462]

qacc:
[-1.46027966e-01,-1.06655329e+01, 2.39355019e+01,-1.18073145e+01,
  7.91799997e+00,-5.14227765e+00, 2.15818617e+01,-1.20619530e+01,
  1.55951880e-01,-1.08264683e+01, 3.24334353e+01,-4.44485182e+01,
 -1.37794195e+00, 2.89516166e+00,-9.27883153e+00, 3.14811673e+01,
 -7.97572205e-01, 2.41758242e-01, 2.62229824e-02, 4.16188030e+00,
 -1.60646121e+01, 1.99156158e+01]

qfrc_actuator:
[ 0.00071981, 0.17919973, 0.00344644, 0.00086853, 0.04814152, 0.37075256,
  0.11234908, 0.04627671,-0.00114285, 0.1836288 , 0.00458032, 0.00093714,
  0.01832317,-0.00149121, 0.00139521,-0.00318115, 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: -0.0019770363015735224
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.84169677e-01,  1.75683172e-01, -2.33553040e-02,  1.75633724e-01,
        9.84446760e-01,  4.16795915e-03,  2.37242936e-02,  8.67361738e-19,
       -9.99718539e-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([ 0.10058882, -0.07922488,  0.11499633])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004900681406409813
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13272312e-13,  2.26544624e-13,  1.00000000e+00,  2.56612332e-26,
        1.00000000e+00, -2.26544624e-13, -1.00000000e+00,  0.00000000e+00,
       -1.13272312e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072109, -0.05977292,  0.0619882 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.71129057e-05,-7.38741362e-04,-9.74078871e-05,-6.78265765e-06,
  7.34791772e-02, 2.67807021e-01, 1.51447589e-01, 6.68528325e-02,
  1.77244809e-05,-6.25384513e-04,-9.98329637e-05,-7.30219541e-05,
 -1.08005247e-04, 2.57371579e-05,-1.76747810e-05, 1.48030987e-04,
 -6.81644628e-04,-1.56003467e-02,-7.82830641e+00, 4.44615405e-03,
 -3.78098960e-03,-2.60021414e-04]


--- Step 912 ---
qpos:
[ 0.00132669, 0.63791187,-0.01499615,-0.02678218,-0.04171797, 0.32353609,
 -0.13327875,-0.03606642, 0.02092989, 0.65813578,-0.01578583, 0.02318139,
  1.17557441,-0.01012889, 0.84565444, 0.06214857, 0.08634022,-0.0706621 ,
  0.12225612, 0.9935605 , 0.00530526,-0.04490064,-0.10389089]

qacc:
[ 7.09003105e-02,-2.51435785e+01, 6.25254353e+01,-4.47613535e+01,
  1.03898655e+01,-1.32352315e+01, 3.79826471e+01,-1.32198857e+01,
 -1.70144044e-01,-1.05448807e+01, 2.22278411e+01,-1.13589257e+01,
 -2.49710464e-01, 1.84714088e-02, 1.55099647e+00,-5.18870530e+00,
 -8.22634659e-01, 2.39807508e-01, 2.11506688e-02, 4.08907792e+00,
 -1.63482269e+01, 1.90339536e+01]

qfrc_actuator:
[ 0.00074006, 0.17827585, 0.0035176 , 0.00088576, 0.04867476, 0.37150393,
  0.11318233, 0.04667932,-0.0011786 , 0.18319827, 0.00458011, 0.00094877,
  0.01828552,-0.0015121 , 0.00139466,-0.0032102 , 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: -0.001982361126770516
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98381697,  0.17735514, -0.025482  ,  0.17729568,  0.98414692,
        0.00459216,  0.02589247,  0.        , -0.99966473])
  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([ 0.10044344, -0.07922773,  0.11501511])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004887086876932956
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.67937021e-14,  1.13587404e-13,  1.00000000e+00,  6.45104919e-27,
        1.00000000e+00, -1.13587404e-13, -1.00000000e+00,  0.00000000e+00,
       -5.67937021e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0807208 , -0.05977336,  0.06198824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.97035291e-06,-1.44982435e-03,-1.23483591e-04,-2.37068297e-05,
  7.38243714e-02, 2.68292192e-01, 1.52029876e-01, 6.71946904e-02,
 -2.11727792e-05,-8.97371512e-04,-1.74351005e-04,-2.57533320e-05,
 -9.83782887e-05,-3.94973997e-05, 3.27256640e-06,-2.41079635e-05,
 -7.91504879e-04,-1.53182765e-02,-7.82711394e+00, 4.50921574e-03,
 -4.13314098e-03,-2.66582635e-04]


--- Step 913 ---
qpos:
[ 0.00130382, 0.64105303,-0.0150494 ,-0.02678667,-0.04220923, 0.32540528,
 -0.13408364,-0.03647862, 0.02094406, 0.66136407,-0.01582772, 0.02317487,
  1.17602142,-0.01012976, 0.84596841, 0.06214314, 0.08617982,-0.07067223,
  0.12227056, 0.99342797, 0.00540572,-0.0460892 ,-0.10462999]

qacc:
[-4.76669154e-01,-3.08331313e+01, 7.51167958e+01,-5.65164105e+01,
  1.27931287e+01,-1.16826962e+01, 3.68342062e+01,-1.28038527e+01,
 -3.62792233e-01,-1.51537523e+01, 3.38894811e+01,-2.20286697e+01,
 -4.53823750e-01, 3.97303552e-01, 9.02306554e+00,-3.24618626e+01,
 -8.44616976e-01, 2.39067180e-01, 1.72792925e-02, 4.06295533e+00,
 -1.66369838e+01, 1.85130673e+01]

qfrc_actuator:
[ 0.00069002, 0.17719364, 0.00359852, 0.00089767, 0.04917294, 0.37246866,
  0.11400332, 0.04706767,-0.00122353, 0.18262547, 0.0045968 , 0.00095828,
  0.01824151,-0.00152423, 0.00132975,-0.00338624, 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: -0.001985686329748107
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98346686,  0.17895019, -0.02774477,  0.17887902,  0.98385813,
        0.00504639,  0.02819997,  0.        , -0.9996023 ])
  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([ 0.1002968 , -0.0792313 ,  0.11503268])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00048734393183311187
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.13905494e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.13905494e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072051, -0.05977378,  0.06198827])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.62374616e-05,-2.01136960e-03,-2.64238213e-04,-6.06896162e-05,
  7.40741926e-02, 2.69229669e-01, 1.52533823e-01, 6.74814103e-02,
 -4.48056693e-05,-1.20469197e-03,-2.21056530e-04,-4.11659187e-05,
 -1.13178818e-04,-4.01458647e-05,-7.22867642e-05,-1.78397623e-04,
 -9.09356127e-04,-1.50348649e-02,-7.82586617e+00, 4.57431287e-03,
 -4.49612540e-03,-2.73335651e-04]


--- Step 914 ---
qpos:
[ 0.00127964, 0.64417438,-0.01509994,-0.02679095,-0.04269321, 0.32727623,
 -0.13488067,-0.0368883 , 0.02095794, 0.66457873,-0.01586722, 0.0231678 ,
  1.17646741,-0.01012984, 0.84628085, 0.06213382, 0.08601594,-0.07068141,
  0.12228505, 0.99329557, 0.00550897,-0.04731232,-0.1053333 ]

qacc:
[-8.74815976e-01,-3.32657037e+01, 7.97175220e+01,-6.57314396e+01,
  1.49969575e+01,-1.38923186e+01, 4.25759019e+01,-1.31900143e+01,
 -1.77428402e-01,-2.58219413e+01, 6.82871691e+01,-7.16597120e+01,
 -1.56684180e+00, 3.13213912e+00, 9.55358903e+00,-3.65417372e+01,
 -8.67822659e-01, 2.37178328e-01, 1.31723325e-02, 4.01882345e+00,
 -1.69158759e+01, 1.78096754e+01]

qfrc_actuator:
[ 0.00061632, 0.1760079 , 0.00364839, 0.00088843, 0.04966466, 0.37327499,
  0.11483149, 0.04748203,-0.00123808, 0.18175964, 0.00464064, 0.0009131 ,
  0.01819373,-0.00147779, 0.00121029,-0.00359429, 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: -0.001987269292168053
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98311859,  0.18047064, -0.03013614,  0.18038591,  0.98358037,
        0.00552948,  0.03063922,  0.        , -0.99953051])
  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([ 0.10014867, -0.07923555,  0.11504921])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00048597124717084106
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.71136169e-14,  2.28454467e-13,  1.00000000e+00,  1.30478609e-26,
        1.00000000e+00, -2.28454467e-13, -1.00000000e+00,  0.00000000e+00,
       -5.71136169e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08072023, -0.05977418,  0.0619883 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02195516e-04,-2.45889441e-03,-4.29704199e-04,-1.11436396e-04,
  7.42574245e-02, 2.69878791e-01, 1.53006505e-01, 6.77872751e-02,
 -2.33399166e-05,-1.67939355e-03,-2.63517610e-04,-1.10903040e-04,
 -1.26908942e-04, 1.53779851e-05,-1.75645814e-04,-2.27991894e-04,
 -1.03506849e-03,-1.47378768e-02,-7.82456045e+00, 4.64081065e-03,
 -4.87015739e-03,-2.80273619e-04]


--- Step 915 ---
qpos:
[ 0.00125583, 0.64727379,-0.01514889,-0.02679436,-0.04316879, 0.32914843,
 -0.13566882,-0.03729501, 0.02097231, 0.66777747,-0.01590522, 0.02316049,
  1.17691244,-0.01012931, 0.84659091, 0.06212737, 0.08584851,-0.07068965,
  0.12229957, 0.99316312, 0.00561488,-0.04857055,-0.10600186]

qacc:
[ 2.64657919e-01,-3.16774040e+01, 6.72577438e+01,-3.88096805e+01,
  1.71556068e+01,-1.64389646e+01, 4.89406152e+01,-1.36113949e+01,
  3.29452637e-01,-2.56995128e+01, 6.20670172e+01,-5.66979651e+01,
 -1.06605480e+00, 2.04816734e+00,-1.21312831e+01, 3.74653610e+01,
 -8.90076785e-01, 2.36291392e-01, 9.06462786e-03, 3.99407865e+00,
 -1.72074790e+01, 1.72888428e+01]

qfrc_actuator:
[ 0.00068906, 0.17480541, 0.00367916, 0.00091997, 0.05021992, 0.37389698,
  0.11562473, 0.04789299,-0.00119893, 0.18085008, 0.00466356, 0.00088916,
  0.01814373,-0.00145038, 0.00113809,-0.00342901, 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: -0.001987058318866988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98277101,  0.18191904, -0.03265875,  0.18181868,  0.98331351,
        0.00604207,  0.03321296,  0.        , -0.9994483 ])
  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([ 0.09999898, -0.07924042,  0.11506466])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00048458707368823073
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.72767561e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.72767561e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071994, -0.05977454,  0.06198834])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75935283e-05,-2.76147747e-03,-5.63144392e-04,-9.64870434e-05,
  7.44482453e-02, 2.70357243e-01, 1.53395145e-01, 6.80700094e-02,
  3.81644164e-05,-1.99973776e-03,-3.89971164e-04,-1.12808677e-04,
 -1.26132002e-04, 3.54535785e-06,-1.76506908e-04, 1.30444001e-04,
 -1.16951825e-03,-1.44351364e-02,-7.82319591e+00, 4.70906354e-03,
 -5.25533761e-03,-2.87400740e-04]


--- Step 916 ---
qpos:
[ 0.00123317, 0.65035995,-0.01520114,-0.02679792,-0.04363463, 0.33103644,
 -0.13644904,-0.03769998, 0.02098827, 0.67096356,-0.01594473, 0.02315299,
  1.1773568 ,-0.01012929, 0.84689971, 0.06212569, 0.08567746,-0.07069691,
  0.12231414, 0.9930307 , 0.00572345,-0.04986472,-0.10663386]

qacc:
[ 7.88319795e-01,-8.57583293e+00, 5.77385394e+00, 6.76564327e+00,
  1.96928694e+01, 2.40812431e+00, 1.44510092e+01,-8.69462601e+00,
  1.05305389e+00,-1.29202678e+01, 2.26472373e+01,-1.44185732e+01,
  1.85073975e-01,-1.07669962e+00,-1.62519293e+01, 5.41333533e+01,
 -9.04397215e-01, 2.43815871e-01, 9.83203227e-03, 4.11326443e+00,
 -1.75996498e+01, 1.81952053e+01]

qfrc_actuator:
[ 0.00077751, 0.17475685, 0.00373399, 0.0009575 , 0.05075602, 0.37561536,
  0.11637512, 0.04831823,-0.00109271, 0.18047237, 0.00467385, 0.00089561,
  0.01809776,-0.00148776, 0.00114233,-0.00316922, 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: -0.001984986404291699
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.82422988e-01,  1.83297217e-01, -3.53157656e-02,  1.83178900e-01,
        9.83057542e-01,  6.58484500e-03,  3.59244134e-02, -8.67361738e-19,
       -9.99354510e-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([ 0.0998477 , -0.07924585,  0.11507899])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004831866647577593
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.74427600e-14, -1.14885520e-13,  1.00000000e+00, -6.59934135e-27,
        1.00000000e+00,  1.14885520e-13, -1.00000000e+00,  0.00000000e+00,
       -5.74427600e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071966, -0.05977489,  0.06198838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.00591830e-05,-1.80282067e-03,-6.17241267e-04,-1.07740206e-04,
  7.45642411e-02, 2.71958102e-01, 1.53690415e-01, 6.83459401e-02,
  1.28194201e-04,-1.67255005e-03,-4.84202278e-04,-1.00524011e-04,
 -1.23789856e-04,-6.33910926e-05,-5.86324739e-05, 2.45275177e-04,
 -1.31326211e-03,-1.41207063e-02,-7.82176954e+00, 4.77875136e-03,
 -5.65186789e-03,-2.94713340e-04]


--- Step 917 ---
qpos:
[ 0.00121025, 0.65344347,-0.01525861,-0.02680375,-0.04408958, 0.33294703,
 -0.13722195,-0.03810386, 0.02100562, 0.67413696,-0.01598391, 0.02314642,
  1.1778004 ,-0.01012991, 0.84720778, 0.06212416, 0.08550271,-0.07070319,
  0.12232874, 0.99289819, 0.00583458,-0.05119548,-0.10722946]

qacc:
[-1.79339112e-01, 6.42327173e+00,-1.84058394e+01,-1.05675570e+01,
  2.18055071e+01, 1.15471921e+01,-2.63221007e+00,-6.33046527e+00,
  9.19879909e-01,-1.57911004e+01, 2.80436259e+01,-3.11547477e+00,
  5.86049354e-02,-9.99963386e-01,-1.52937565e+00, 3.74258019e+00,
 -9.24603645e-01, 2.45467073e-01, 7.87942466e-03, 4.13056303e+00,
 -1.79274122e+01, 1.81068952e+01]

qfrc_actuator:
[ 0.00073245, 0.17547174, 0.00378977, 0.00091051, 0.05118716, 0.37758594,
  0.11715042, 0.04875207,-0.00103632, 0.1799908 , 0.00475   , 0.00095586,
  0.01804357,-0.00152765, 0.00108056,-0.00317531, 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: -0.0019825616185330263
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98207581,  0.18460392, -0.03805901,  0.18446545,  0.982813  ,
        0.00714871,  0.03872457,  0.        , -0.99924992])
  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([ 0.09969391, -0.079252  ,  0.11509317])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00048174771560442753
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.72843013e-13,  1.15228676e-13,  1.00000000e+00,  1.99164715e-26,
        1.00000000e+00, -1.15228676e-13, -1.00000000e+00,  0.00000000e+00,
       -1.72843013e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071938, -0.0597752 ,  0.06198841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04647935e-05,-5.14315172e-04,-4.25120448e-04,-1.53255453e-04,
  7.45081721e-02, 2.73082126e-01, 1.54056923e-01, 6.86912266e-02,
  1.12445837e-04,-1.61174830e-03,-3.61742158e-04,-3.56827434e-05,
 -1.44337948e-04,-7.77458829e-05,-6.29833071e-05,-3.10135288e-07,
 -1.46551208e-03,-1.37364253e-02,-7.82026944e+00, 4.84699064e-03,
 -6.06042670e-03,-3.02177631e-04]


--- Step 918 ---
qpos:
[ 0.00118691, 0.65652447,-0.01531695,-0.02680985,-0.04453285, 0.33487161,
 -0.13798658,-0.03850573, 0.02102392, 0.67729363,-0.01602056, 0.02314019,
  1.17824315,-0.01013124, 0.84751507, 0.06212256, 0.08532414,-0.07070852,
  0.12234334, 0.99276516, 0.00594806,-0.05256321,-0.10779181]

qacc:
[-2.79936933e-01,-1.49124072e+00, 1.68746886e+00,-3.32270047e+00,
  2.32611566e+01,-3.47056703e-01, 1.97329795e+01,-8.83302169e+00,
  6.29425172e-01,-2.84384007e+01, 6.78750337e+01,-5.36421394e+01,
  4.83413239e-02,-1.07256569e+00,-9.82507033e-01, 1.73213126e+00,
 -9.53101678e-01, 2.38074841e-01, 6.28738869e-04, 3.99937104e+00,
 -1.81484525e+01, 1.65287932e+01]

qfrc_actuator:
[ 0.00071473, 0.175592  , 0.00384937, 0.00092152, 0.05158579, 0.37862961,
  0.11790263, 0.04917327,-0.00101026, 0.17899044, 0.00481116, 0.00095857,
  0.0179898 ,-0.0015687 , 0.0010431 ,-0.00317843, 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: -0.001980404821841292
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81729594e-01,  1.85840504e-01, -4.08694460e-02,  1.85679676e-01,
        9.82579924e-01,  7.72985305e-03,  4.15940169e-02, -8.67361738e-19,
       -9.99134594e-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([ 0.09953718, -0.07925892,  0.11510762])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00048025493870085256
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.88967102e-14, -2.88967102e-14,  1.00000000e+00, -8.35019863e-28,
        1.00000000e+00,  2.88967102e-14, -1.00000000e+00,  0.00000000e+00,
       -2.88967102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071911, -0.05977548,  0.06198845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.30375154e-05,-3.50391303e-04,-1.32941433e-04,-3.42955419e-05,
  7.43625850e-02, 2.72940017e-01, 1.54431734e-01, 6.90559025e-02,
  7.63286190e-05,-2.06788690e-03,-3.46664439e-04,-8.50787049e-05,
 -1.60038846e-04,-8.58355737e-05,-6.90990196e-05,-1.18455975e-05,
 -1.62813956e-03,-1.33201778e-02,-7.81869957e+00, 4.91561349e-03,
 -6.48096117e-03,-3.09815346e-04]


--- Step 919 ---
qpos:
[ 1.16376169e-03, 6.59599995e-01,-1.53739355e-02,-2.68149760e-02,
 -4.49637177e-02, 3.36805454e-01,-1.38741785e-01,-3.89049316e-02,
  2.10432090e-02, 6.80432442e-01,-1.60562855e-02, 2.31335053e-02,
  1.17868515e+00,-1.01334081e-02, 8.47822430e-01, 6.21210771e-02,
  8.51416625e-02,-7.07129198e-02, 1.22357912e-01, 9.92631160e-01,
  6.06370410e-03,-5.39683035e-02,-1.08323745e-01]

qacc:
[ 1.29752524e-01,-8.98351064e+00, 1.73815743e+01, 1.50026890e+00,
  2.45379594e+01,-8.12316181e+00, 3.57212244e+01,-1.17115898e+01,
  6.51694282e-01,-2.71062163e+01, 6.42946676e+01,-6.04189618e+01,
  2.08040615e-01,-1.43249771e+00,-2.67428435e-01, 1.01455934e+00,
 -9.79786392e-01, 2.30712482e-01,-7.20062090e-03, 3.89289518e+00,
 -1.83601384e+01, 1.50976295e+01]

qfrc_actuator:
[ 0.00074919, 0.17524988, 0.00389122, 0.00096624, 0.05199527, 0.37940072,
  0.11863708, 0.04956779,-0.00096701, 0.17804297, 0.00482549, 0.00092698,
  0.01795762,-0.00161013, 0.00108417,-0.00316188, 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: -0.001977508334402967
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81381642e-01,  1.87011496e-01, -4.37809591e-02,  1.86825679e-01,
        9.82357725e-01,  8.33458366e-03,  4.45672263e-02, -1.73472348e-18,
       -9.99006388e-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([ 0.09937797, -0.07926639,  0.11512173])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004787085057728069
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44950295e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -1.44950295e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071884, -0.05977572,  0.06198849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.45357362e-05,-6.55401218e-04,-7.66282422e-05, 1.88834565e-05,
  7.41876527e-02, 2.72954658e-01, 1.54739903e-01, 6.93489141e-02,
  7.98243512e-05,-2.26840259e-03,-4.87360909e-04,-1.39333515e-04,
 -1.49939254e-04,-9.10835773e-05, 5.53484470e-06, 6.45385665e-06,
 -1.80378965e-03,-1.29363952e-02,-7.81706882e+00, 4.98775537e-03,
 -6.91308399e-03,-3.17663629e-04]


--- Step 920 ---
qpos:
[ 1.14029045e-03, 6.62665657e-01,-1.54284691e-02,-2.68201734e-02,
 -4.53814584e-02, 3.38750558e-01,-1.39486794e-01,-3.93013669e-02,
  2.10629686e-02, 6.83553093e-01,-1.60913189e-02, 2.31281758e-02,
  1.17912598e+00,-1.01349214e-02, 8.48130053e-01, 6.21180992e-02,
  8.49551653e-02,-7.07164230e-02, 1.22372427e-01, 9.92495845e-01,
  6.18140226e-03,-5.54111704e-02,-1.08827338e-01]

qacc:
[-2.04961113e-01,-2.00365536e+01, 5.28417677e+01,-5.07982636e+01,
  2.57412327e+01,-7.49888948e+00, 3.69475144e+01,-1.41738078e+01,
  3.15646775e-01,-2.31541915e+01, 4.20368504e+01,-6.40343086e+00,
 -1.51244599e+00, 2.83323060e+00, 4.97482212e+00,-1.66650805e+01,
 -1.00377525e+00, 2.25111162e-01,-1.42362137e-02, 3.83267934e+00,
 -1.85883300e+01, 1.40555565e+01]

qfrc_actuator:
[ 0.00072576, 0.17452779, 0.00392057, 0.00094127, 0.0523881 , 0.38043349,
  0.1194097 , 0.04996257,-0.00096712, 0.17720608, 0.00488334, 0.00099973,
  0.01791712,-0.0015626 , 0.00109242,-0.00324018, 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: -0.0019733160476221386
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.81029515e-01,  1.88121485e-01, -4.68123636e-02,  1.87907677e-01,
        9.82145767e-01,  8.96650138e-03,  4.76633563e-02,  1.73472348e-18,
       -9.98863456e-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([ 0.09921651, -0.07927427,  0.11513514])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004771084462137226
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.72618453e-14,  1.45436409e-14,  1.00000000e+00,  1.26910494e-27,
        1.00000000e+00, -1.45436409e-14, -1.00000000e+00,  0.00000000e+00,
       -8.72618453e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071857, -0.05977593,  0.06198853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.58988927e-05,-1.19167282e-03,-1.43263555e-04,-6.08635734e-05,
  7.39595675e-02, 2.73465957e-01, 1.55028845e-01, 6.96080740e-02,
  3.78525028e-05,-2.30061437e-03,-5.04251027e-04,-4.94646242e-05,
 -1.52665798e-04,-1.11153796e-06, 5.32447031e-06,-7.86611815e-05,
 -1.99320510e-03,-1.25830328e-02,-7.81537630e+00, 5.06329509e-03,
 -7.35687686e-03,-3.25722384e-04]


--- Step 921 ---
qpos:
[ 1.11544187e-03, 6.65716823e-01,-1.54798299e-02,-2.68255244e-02,
 -4.57853092e-02, 3.40710368e-01,-1.40221257e-01,-3.96951813e-02,
  2.10824692e-02, 6.86654499e-01,-1.61252907e-02, 2.31227334e-02,
  1.17956545e+00,-1.01349737e-02, 8.48437645e-01, 6.21132318e-02,
  8.47645663e-02,-7.07190326e-02, 1.22386864e-01, 9.92358957e-01,
  6.30106591e-03,-5.68923656e-02,-1.09303506e-01]

qacc:
[-9.04275738e-01,-2.83385062e+01, 7.38907967e+01,-7.09674102e+01,
  2.70224117e+01,-4.27284319e+00, 3.26044488e+01,-1.52705924e+01,
 -1.53411428e-01,-2.86262858e+01, 6.56423674e+01,-5.51265750e+01,
 -2.39239757e+00, 5.05663702e+00, 5.78982170e+00,-2.00322700e+01,
 -1.02545630e+00, 2.23407361e-01,-1.95889163e-02, 3.82564067e+00,
 -1.88723024e+01, 1.35877524e+01]

qfrc_actuator:
[ 0.00063252, 0.17354878, 0.00397627, 0.00091066, 0.05281853, 0.38161756,
  0.12016515, 0.05039186,-0.00101088, 0.1762477 , 0.00493164, 0.00099145,
  0.01786103,-0.00148062, 0.00108095,-0.00333834, 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: -0.0019679937918544066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80671724e-01,  1.89174741e-01, -4.99588524e-02,  1.88929741e-01,
        9.81943439e-01,  9.62474273e-03,  5.08775256e-02,  1.73472348e-18,
       -9.98704900e-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([ 0.09905261, -0.07928252,  0.11514799])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00047545018711710185
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.83774628e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.83774628e-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([ 0.08071832, -0.05977611,  0.06198857])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10728846e-04,-1.76517270e-03,-2.38501378e-04,-9.33005244e-05,
  7.37334122e-02, 2.74028823e-01, 1.55261352e-01, 6.98974493e-02,
 -2.18752514e-05,-2.43904199e-03,-5.19189307e-04,-1.30675308e-04,
 -1.50235134e-04, 4.87833665e-05,-2.47417766e-05,-1.03440097e-04,
 -2.19700425e-03,-1.22463842e-02,-7.81361852e+00, 5.14154790e-03,
 -7.81254365e-03,-3.33985186e-04]


--- Step 922 ---
qpos:
[ 1.09008777e-03, 6.68752585e-01,-1.55296810e-02,-2.68310664e-02,
 -4.61746003e-02, 3.42683202e-01,-1.40944263e-01,-4.00860117e-02,
  2.11011187e-02, 6.89734989e-01,-1.61588218e-02, 2.31167011e-02,
  1.18000396e+00,-1.01343848e-02, 8.48744815e-01, 6.21075648e-02,
  8.45697679e-02,-7.07207637e-02, 1.22401190e-01, 9.92220143e-01,
  6.42257851e-03,-5.84123833e-02,-1.09753960e-01]

qacc:
[-3.23429761e-01,-2.49654726e+01, 6.02885715e+01,-5.46960246e+01,
  2.81115700e+01,-8.15722382e+00, 4.17891293e+01,-1.85596021e+01,
 -5.30801832e-01,-3.00787689e+01, 6.96338725e+01,-6.51530295e+01,
 -1.29393211e+00, 2.51116322e+00, 1.85619847e+00,-7.25321595e+00,
 -1.04985445e+00, 2.19626395e-01,-2.76193171e-02, 3.77665251e+00,
 -1.91356095e+01, 1.27232168e+01]

qfrc_actuator:
[ 0.0006406 , 0.17274376, 0.00402833, 0.00089453, 0.05333651, 0.38254715,
  0.12094138, 0.05080539,-0.00108028, 0.17513601, 0.00492031, 0.00095321,
  0.01782228,-0.00145003, 0.001063  ,-0.00337639, 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: -0.0019618567283474085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.80307403e-01,  1.90173550e-01, -5.32110565e-02,  1.89894012e-01,
        9.81750488e-01,  1.03074413e-02,  5.42001834e-02, -1.73472348e-18,
       -9.98530090e-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([ 0.09888599, -0.07929112,  0.11516049])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004737226867676664
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.75771035e-13,  7.32379312e-14,  1.00000000e+00,  1.28731069e-26,
        1.00000000e+00, -7.32379312e-14, -1.00000000e+00,  0.00000000e+00,
       -1.75771035e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071807, -0.05977625,  0.06198861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.11055481e-05,-1.93235944e-03,-3.73273307e-04,-1.07272890e-04,
  7.35564281e-02, 2.74164190e-01, 1.55497131e-01, 7.01781311e-02,
 -7.06356330e-05,-2.67558613e-03,-6.11825749e-04,-1.68605204e-04,
 -1.20648334e-04, 6.88950208e-06,-4.65250882e-05,-4.82793619e-05,
 -2.41593376e-03,-1.19024408e-02,-7.81178801e+00, 5.22132098e-03,
 -8.28044131e-03,-3.42438250e-04]


--- Step 923 ---
qpos:
[ 1.06684408e-03, 6.71778808e-01,-1.55816733e-02,-2.68359879e-02,
 -4.65487545e-02, 3.44665459e-01,-1.41654588e-01,-4.04732590e-02,
  2.11189405e-02, 6.92794336e-01,-1.61931032e-02, 2.31113063e-02,
  1.18044173e+00,-1.01334653e-02, 8.49051174e-01, 6.21031497e-02,
  8.43706704e-02,-7.07216357e-02, 1.22415371e-01, 9.92079014e-01,
  6.54583005e-03,-5.99716857e-02,-1.10180663e-01]

qacc:
[ 1.39646021e+00,-5.34588372e+00,-1.83969662e+00, 2.29855952e+01,
  2.90099271e+01,-1.48831595e+01, 5.64976700e+01,-2.25093077e+01,
 -5.14641065e-01,-2.45274376e+01, 4.42197812e+01,-1.64243918e+01,
 -7.68589831e-01, 1.36514622e+00,-4.93583543e+00, 1.56181166e+01,
 -1.07478306e+00, 2.14784517e-01,-3.65118927e-02, 3.71967613e+00,
 -1.93854890e+01, 1.17318831e+01]

qfrc_actuator:
[ 0.00083341, 0.17270668, 0.0040786 , 0.00095819, 0.05382978, 0.38312457,
  0.1217072 , 0.0512258 ,-0.00112888, 0.17411923, 0.00489116, 0.0009863 ,
  0.01779395,-0.0014323 , 0.00103586,-0.00330772, 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: -0.0019546834252776825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97993463,  0.1911208 , -0.05657695,  0.19080306,  0.98156652,
        0.0110161 ,  0.05763945,  0.        , -0.99833747])
  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([ 0.09871671, -0.07929999,  0.11517254])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00047192277822913353
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.82207118e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -8.82207118e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071783, -0.05977636,  0.06198866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.69518495e-04,-1.28569112e-03,-4.26485198e-04,-3.95362861e-05,
  7.33211435e-02, 2.74030930e-01, 1.55676698e-01, 7.04474710e-02,
 -6.89066443e-05,-2.73292039e-03,-6.90982603e-04,-1.11317898e-04,
 -1.01315794e-04,-6.86619886e-06,-5.78030660e-05, 5.91229096e-05,
 -2.65195670e-03,-1.15717085e-02,-7.80988539e+00, 5.30361155e-03,
 -8.76054655e-03,-3.51094126e-04]


--- Step 924 ---
qpos:
[ 1.04538788e-03, 6.74803695e-01,-1.56376032e-02,-2.68411644e-02,
 -4.69072793e-02, 3.46656119e-01,-1.42350978e-01,-4.08565162e-02,
  2.11360970e-02, 6.95834735e-01,-1.62285113e-02, 2.31063338e-02,
  1.18087901e+00,-1.01331824e-02, 8.49356489e-01, 6.21015932e-02,
  8.41671803e-02,-7.07216722e-02, 1.22429366e-01, 9.91935177e-01,
  6.67075471e-03,-6.15706866e-02,-1.10585519e-01]

qacc:
[ 1.17060160e+00, 8.71284040e+00,-3.25453601e+01, 3.54007180e+01,
  2.97235418e+01,-1.87466577e+01, 6.67004990e+01,-2.71092421e+01,
 -4.11496661e-01,-2.10181852e+01, 3.68256343e+01,-1.37691301e+01,
  3.60340913e-01,-1.43073300e+00,-1.01978695e+01, 3.33788524e+01,
 -1.09812627e+00, 2.08877776e-01,-4.62186926e-02, 3.68089594e+00,
 -1.96096150e+01, 1.07672729e+01]

qfrc_actuator:
[ 0.00092163, 0.17330819, 0.00413085, 0.00099798, 0.05424858, 0.38348909,
  0.12240771, 0.05159529,-0.00116466, 0.17341652, 0.00492334, 0.00102568,
  0.01775591,-0.00147549, 0.00099795,-0.00315898, 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: -0.0019460650339590325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.79550948e-01,  1.92019505e-01, -6.00703756e-02,  1.91659458e-01,
        9.81391110e-01,  1.17534015e-02,  6.12094149e-02,  1.73472348e-18,
       -9.98124946e-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([ 0.09854491, -0.07930903,  0.11518385])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00047004798967548167
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.62383064e-13,  1.03334677e-13,  1.00000000e+00,  1.67798016e-26,
        1.00000000e+00, -1.03334677e-13, -1.00000000e+00,  0.00000000e+00,
       -1.62383064e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071761, -0.05977644,  0.0619887 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44206578e-04,-2.93059955e-04,-2.94994625e-04,-3.62120275e-05,
  7.29824134e-02, 2.73864287e-01, 1.55729362e-01, 7.06358723e-02,
 -5.56286721e-05,-2.46398675e-03,-6.48999159e-04,-1.09055519e-04,
 -1.02101608e-04,-6.59982239e-05,-6.04984391e-05, 1.44013902e-04,
 -2.90663417e-03,-1.12630677e-02,-7.80791028e+00, 5.38885319e-03,
 -9.25290726e-03,-3.59959968e-04]


--- Step 925 ---
qpos:
[ 1.02481872e-03, 6.77830996e-01,-1.56953940e-02,-2.68479591e-02,
 -4.72496232e-02, 3.48661918e-01,-1.43032907e-01,-4.12361808e-02,
  2.11523145e-02, 6.98862777e-01,-1.62662800e-02, 2.31003040e-02,
  1.18131558e+00,-1.01330695e-02, 8.49661595e-01, 6.21003944e-02,
  8.39592222e-02,-7.07208838e-02, 1.22443143e-01, 9.91788367e-01,
  6.79735613e-03,-6.32098886e-02,-1.10969099e-01]

qacc:
[ 5.76383648e-01, 5.05415484e+00,-6.57836655e+00,-2.01925398e+01,
  3.05074578e+01,-1.22896748e+01, 5.81623549e+01,-3.10082386e+01,
 -5.87516845e-01,-1.19079240e+01, 2.32274858e+01,-2.86604068e+01,
 -3.44593683e-01, 1.74442610e-01,-1.37716383e+00, 4.39496947e+00,
 -1.11700433e+00, 2.06197191e-01,-5.45086229e-02, 3.71936514e+00,
 -1.98662956e+01, 1.04705371e+01]

qfrc_actuator:
[ 0.00094657, 0.1738624 , 0.00420468, 0.00095307, 0.05463388, 0.38429121,
  0.12308046, 0.05193239,-0.0012281 , 0.17335233, 0.00501074, 0.00101554,
  0.01771737,-0.00148338, 0.00099622,-0.00314185, 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: -0.0019358795653307004
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97915415,  0.19287304, -0.06369563,  0.19246624,  0.98122372,
        0.01252025,  0.06491449,  0.        , -0.99789083])
  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([ 0.09837059, -0.07931815,  0.11519439])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004680957802703639
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.89419755e-14, -1.48236626e-14,  1.00000000e+00, -1.31844583e-27,
        1.00000000e+00,  1.48236626e-14, -1.00000000e+00,  0.00000000e+00,
       -8.89419755e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071739, -0.05977648,  0.06198875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.18701427e-05, 2.42272050e-04,-5.19624531e-05,-7.37776757e-05,
  7.25855023e-02, 2.74185922e-01, 1.55691371e-01, 7.07714726e-02,
 -7.82189338e-05,-1.66555292e-03,-5.32720554e-04,-1.45508425e-04,
 -1.16007028e-04,-4.14537965e-05,-1.53031094e-05, 1.69679551e-05,
 -3.18107080e-03,-1.09779116e-02,-7.80586328e+00, 5.47712622e-03,
 -9.75760651e-03,-3.69041000e-04]


--- Step 926 ---
qpos:
[ 1.00630394e-03, 6.80858808e-01,-1.57526948e-02,-2.68549276e-02,
 -4.75751922e-02, 3.50689221e-01,-1.43700339e-01,-4.16127818e-02,
  2.11677206e-02, 7.01883332e-01,-1.63070602e-02, 2.30931524e-02,
  1.18175141e+00,-1.01328006e-02, 8.49965903e-01, 6.20982042e-02,
  8.37467251e-02,-7.07192704e-02, 1.22456674e-01, 9.91638390e-01,
  6.92564814e-03,-6.48898931e-02,-1.11331217e-01]

qacc:
[  1.3377487 , -1.05353411,  5.46412932, -9.62182036, 31.35258793,
  -5.25978669, 47.39108221,-33.84678454, -0.50847692, -3.78665917,
   3.88268543,-12.97495309, -0.69614026,  1.08737289,  1.84584915,
  -8.10136784, -1.13476084,  0.20627414, -0.06162225,  3.79131091,
 -20.16705604, 10.55202147]

qfrc_actuator:
[ 0.00109349, 0.17390569, 0.00423771, 0.00094757, 0.05501005, 0.38539903,
  0.1237482 , 0.05230211,-0.00127209, 0.17342372, 0.00502645, 0.00099474,
  0.01768921,-0.00147031, 0.00092562,-0.00320231, 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: -0.0019248171019894547
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.78743924e-01,  1.93683717e-01, -6.74310737e-02,  1.93225679e-01,
        9.81064023e-01,  1.33123840e-02,  6.87325924e-02,  1.73472348e-18,
       -9.97635119e-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([ 0.09819327, -0.07932741,  0.11520461])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00046605714265081366
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.33996541e-13,  7.44425229e-14,  1.00000000e+00,  9.97504059e-27,
        1.00000000e+00, -7.44425229e-14, -1.00000000e+00,  0.00000000e+00,
       -1.33996541e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071718, -0.05977649,  0.0619888 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66770364e-04, 7.94238920e-05, 4.64953463e-05,-3.75694492e-06,
  7.21519024e-02, 2.74475682e-01, 1.55621745e-01, 7.09595131e-02,
 -6.76765739e-05,-1.06047167e-03,-4.26219197e-04,-1.18586181e-04,
 -1.08606324e-04,-1.92731494e-05,-8.07270294e-05,-6.26377193e-05,
 -3.47558065e-03,-1.06837873e-02,-7.80373828e+00, 5.56684964e-03,
 -1.02750551e-02,-3.78322377e-04]


--- Step 927 ---
qpos:
[ 9.88547522e-04, 6.83885501e-01,-1.58091919e-02,-2.68614785e-02,
 -4.78835996e-02, 3.52739683e-01,-1.44352939e-01,-4.19864584e-02,
  2.11827232e-02, 7.04894855e-01,-1.63481138e-02, 2.30860509e-02,
  1.18218673e+00,-1.01332439e-02, 8.50268609e-01, 6.20957542e-02,
  8.35296033e-02,-7.07168516e-02, 1.22469920e-01, 9.91484882e-01,
  7.05561891e-03,-6.66111477e-02,-1.11673191e-01]

qacc:
[  0.49315203, -2.86314384,  6.3045488 ,  0.45247798, 31.81112185,
  -4.31095913, 47.7583847 ,-38.35014023, -0.24742998,-11.06561449,
  21.92650269,-13.97695065,  0.31228566, -1.40686974, -1.60666627,
   2.12222311, -1.15618599,  0.20133569, -0.07136046,  3.79440362,
 -20.4040165 ,  9.8799542 ]

qfrc_actuator:
[ 0.00109905, 0.1738209 , 0.0042624 , 0.00096491, 0.05523164, 0.38642933,
  0.12440712, 0.05265499,-0.00128641, 0.17302618, 0.00503624, 0.00100356,
  0.01765135,-0.00151592, 0.00082975,-0.00321936, 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: -0.001913500273010886
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97832032,  0.19445231, -0.07125768,  0.19393855,  0.98091197,
        0.01412586,  0.07264432,  0.        , -0.99735791])
  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([ 0.09801251, -0.07933688,  0.11521495])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004639180520828873
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.98286173e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.98286173e-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([ 0.08071699, -0.05977647,  0.06198885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.16924269e-05,-1.16206613e-04, 1.91200588e-05, 1.68947868e-05,
  7.15340483e-02, 2.74368899e-01, 1.55541184e-01, 7.11570965e-02,
 -3.39128634e-05,-1.16742948e-03,-2.92931326e-04,-5.88106917e-05,
 -1.09422231e-04,-7.21074326e-05,-1.41946666e-04,-3.13770213e-05,
 -3.79133969e-03,-1.03608710e-02,-7.80152821e+00, 5.65705331e-03,
 -1.08056134e-02,-3.87794165e-04]


--- Step 928 ---
qpos:
[ 9.68501848e-04, 6.86911033e-01,-1.58645183e-02,-2.68675487e-02,
 -4.81746579e-02, 3.54810940e-01,-1.44990039e-01,-4.23569644e-02,
  2.11974828e-02, 7.07893837e-01,-1.63870993e-02, 2.30793014e-02,
  1.18262131e+00,-1.01341366e-02, 8.50570231e-01, 6.20929933e-02,
  8.33077620e-02,-7.07136615e-02, 1.22482834e-01, 9.91327362e-01,
  7.18725358e-03,-6.83739911e-02,-1.11997332e-01]

qacc:
[-1.47524017e+00,-3.81498529e+00, 9.35112442e+00,-2.05961257e+00,
  3.19043325e+01,-8.64100289e+00, 5.77280309e+01,-4.35785536e+01,
 -1.42164687e-01,-2.16218453e+01, 5.15608397e+01,-3.95402833e+01,
 -1.11252595e-01,-5.04484383e-01,-6.67062473e-01,-5.20184732e-03,
 -1.17986362e+00, 1.92826312e-01,-8.26477662e-02, 3.75510896e+00,
 -2.05951701e+01, 8.70735855e+00]

qfrc_actuator:
[ 0.00089601, 0.17385596, 0.00435259, 0.00099543, 0.05528239, 0.38713657,
  0.12503686, 0.05301444,-0.00130076, 0.17228082, 0.00509421, 0.00101165,
  0.01760233,-0.00154268, 0.00079869,-0.00322846, 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: -0.0019020310566725284
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97788199,  0.19518157, -0.07517294,  0.19460741,  0.98076712,
        0.0149601 ,  0.07664709,  0.        , -0.99705829])
  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([ 0.09782817, -0.07934652,  0.11522551])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00046166992728539913
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.01199558e-14,  3.00599779e-14,  1.00000000e+00,  1.80720454e-27,
        1.00000000e+00, -3.00599779e-14, -1.00000000e+00,  0.00000000e+00,
       -6.01199558e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071681, -0.05977642,  0.06198891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86884011e-04,-1.10308709e-04, 4.16218911e-05, 2.11726287e-05,
  7.07259531e-02, 2.73855337e-01, 1.55414214e-01, 7.13681278e-02,
 -2.07155215e-05,-1.54450749e-03,-2.48216581e-04,-5.83054489e-05,
 -1.33079922e-04,-6.26730755e-05,-9.82030998e-05,-2.87240589e-05,
 -4.13111897e-03,-1.00500775e-02,-7.79923885e+00, 5.74976832e-03,
 -1.13490565e-02,-3.97484407e-04]


--- Step 929 ---
qpos:
[ 9.46548515e-04, 6.89932790e-01,-1.59173453e-02,-2.68727203e-02,
 -4.84481677e-02, 3.56896883e-01,-1.45610434e-01,-4.27236103e-02,
  2.12118497e-02, 7.10877903e-01,-1.64244666e-02, 2.30736373e-02,
  1.18305515e+00,-1.01356103e-02, 8.50870910e-01, 6.20881201e-02,
  8.30811050e-02,-7.07097269e-02, 1.22495367e-01, 9.91165368e-01,
  7.32053278e-03,-7.01788304e-02,-1.12305631e-01]

qacc:
[ -1.220577  ,-10.11953723, 25.05896064,-10.74773385, 32.02625972,
 -18.33694761, 77.90573922,-49.6953617 , -0.23357046,-21.9964428 ,
  45.24354707,-18.06538718, -0.0787688 , -0.67933876,  4.97404018,
 -19.45015351, -1.20391964,  0.18614471, -0.09553831,  3.72455726,
 -20.81977461,  7.69712093]

qfrc_actuator:
[ 0.00081908, 0.17359062, 0.00444588, 0.00103364, 0.05552536, 0.38735903,
  0.125678  , 0.0533764 ,-0.00133288, 0.17142265, 0.00512559, 0.00105451,
  0.01755732,-0.00157587, 0.00074263,-0.00333914, 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: -0.0018900839927099443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97742629,  0.19587539, -0.07918768,  0.1952357 ,  0.98062879,
        0.01581732,  0.08075194,  0.        , -0.99673423])
  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([ 0.09764035, -0.07935623,  0.1152361 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00045930594512434697
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.02146923e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -3.02146923e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071665, -0.05977633,  0.06198896])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56252737e-04,-4.02391278e-04, 4.89345829e-05, 2.99848590e-05,
  7.01006217e-02, 2.72974332e-01, 1.55264883e-01, 7.15692709e-02,
 -3.33884805e-05,-1.85838567e-03,-3.47011781e-04,-3.81241907e-05,
 -1.41238267e-04,-7.27927967e-05,-1.05250906e-04,-1.25094281e-04,
 -4.49751113e-03,-9.78208407e-03,-7.79687431e+00, 5.84654156e-03,
 -1.19051988e-02,-4.07416467e-04]


--- Step 930 ---
qpos:
[ 9.25493503e-04, 6.92946113e-01,-1.59671748e-02,-2.68776158e-02,
 -4.87038116e-02, 3.58994331e-01,-1.46212937e-01,-4.30859076e-02,
  2.12266963e-02, 7.13846027e-01,-1.64611045e-02, 2.30679415e-02,
  1.18348787e+00,-1.01365679e-02, 8.51170383e-01, 6.20835801e-02,
  8.28495498e-02,-7.07050565e-02, 1.22507468e-01, 9.90998579e-01,
  7.45547238e-03,-7.20262146e-02,-1.12598650e-01]

qacc:
[  0.58298606,-18.95163273, 50.23619989,-44.05778703, 32.34697065,
 -24.62998606, 92.34307031,-55.54325534,  0.30599394,-23.16457132,
  52.16133008,-42.14076378, -1.23204214,  2.20779467, -2.72328556,
   7.0791716 , -1.22454047,  0.18392601, -0.10790607,  3.7655755 ,
 -21.10366409,  7.40023442]

qfrc_actuator:
[ 0.00096037, 0.17289957, 0.00448598, 0.00102259, 0.05591204, 0.38739492,
  0.12631857, 0.05373793,-0.00128665, 0.17059295, 0.00514064, 0.00104633,
  0.0175094 ,-0.00154158, 0.00070355,-0.00331357, 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: -0.0018769787894769969
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97694967,  0.19653619, -0.08332387,  0.19582523,  0.98049657,
        0.0167019 ,  0.0849813 ,  0.        , -0.99638255])
  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([ 0.09744938, -0.07936588,  0.11524631])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004568246117638286
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.03788094e-14, -6.07576188e-14,  1.00000000e+00, -1.84574412e-27,
        1.00000000e+00,  6.07576188e-14, -1.00000000e+00,  0.00000000e+00,
       -3.03788094e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071651, -0.05977621,  0.06198902])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.34584677e-05,-9.89238531e-04,-6.33055646e-05,-3.13440442e-05,
  6.96088957e-02, 2.72211484e-01, 1.55054319e-01, 7.17354001e-02,
  3.97527433e-05,-2.02437627e-03,-4.39466685e-04,-1.05599601e-04,
 -1.51536148e-04,-8.85861660e-06,-1.02353612e-04, 4.86074682e-06,
 -4.89256958e-03,-9.55195226e-03,-7.79442937e+00, 5.94716683e-03,
 -1.24741953e-02,-4.17590305e-04]


--- Step 931 ---
qpos:
[ 9.04745883e-04, 6.95946272e-01,-1.60144043e-02,-2.68824045e-02,
 -4.89410783e-02, 3.61109928e-01,-1.46797532e-01,-4.34444100e-02,
  2.12429200e-02, 7.16794563e-01,-1.64950651e-02, 2.30620895e-02,
  1.18391945e+00,-1.01368140e-02, 8.51469180e-01, 6.20815394e-02,
  8.26130446e-02,-7.06996318e-02, 1.22519106e-01, 9.90826939e-01,
  7.59216256e-03,-7.39169047e-02,-1.12874388e-01]

qacc:
[  0.20641039,-24.44025947, 61.45051114,-54.09131547, 32.97344162,
 -17.24024977, 80.91955244,-58.30701304,  0.86092947,-33.68183866,
  83.19322406,-75.75535245, -1.35542779,  2.58678956, -8.4707442 ,
  28.34792345, -1.23752122,  0.18858541, -0.11592533,  3.94597682,
 -21.46981811,  8.38849232]

qfrc_actuator:
[ 0.00096427, 0.17194153, 0.00449267, 0.001     , 0.05618233, 0.38795528,
  0.12691542, 0.05413266,-0.00119413, 0.16946778, 0.00521714, 0.00102596,
  0.01745981,-0.00150318, 0.00071731,-0.00317235, 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: -0.001862379628340196
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97644959,  0.19716422, -0.08759262,  0.19637569,  0.98037048,
        0.01761592,  0.08934645,  0.        , -0.99600061])
  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([ 0.0972554 , -0.0793754 ,  0.11525589])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004542225144686385
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.29146300e-13,  2.90251980e-13,  1.00000000e+00,  6.65101673e-26,
        1.00000000e+00, -2.90251980e-13, -1.00000000e+00,  0.00000000e+00,
       -2.29146300e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071638, -0.05977606,  0.06198909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48630251e-05,-1.60975409e-03,-2.33767137e-04,-7.30736577e-05,
  6.89848145e-02, 2.72131594e-01, 1.54740219e-01, 7.19102325e-02,
  1.15311130e-04,-2.43400592e-03,-4.25822639e-04,-1.29371903e-04,
 -1.45274886e-04, 4.30797353e-06,-3.34896481e-05, 1.28202298e-04,
 -5.31711104e-03,-9.32063162e-03,-7.79189433e+00, 6.04974968e-03,
 -1.30565445e-02,-4.27986655e-04]


--- Step 932 ---
qpos:
[ 8.82435898e-04, 6.98930408e-01,-1.60597497e-02,-2.68877903e-02,
 -4.91593858e-02, 3.63250344e-01,-1.47364681e-01,-4.37998338e-02,
  2.12601445e-02, 7.19717477e-01,-1.65251273e-02, 2.30569909e-02,
  1.18435030e+00,-1.01374947e-02, 8.51768269e-01, 6.20810295e-02,
  8.23715403e-02,-7.06934276e-02, 1.22530247e-01, 9.90650429e-01,
  7.73068647e-03,-7.58517220e-02,-1.13130372e-01]

qacc:
[-9.79587120e-01,-2.76663461e+01, 7.04407043e+01,-7.20121904e+01,
  3.37080112e+01,-8.86150539e+00, 6.66714581e+01,-6.02501764e+01,
  6.31443192e-01,-4.31912270e+01, 1.01691756e+02,-7.60213600e+01,
 -8.82084924e-02,-5.30786470e-01,-4.19243190e+00, 1.52886485e+01,
 -1.24976935e+00, 1.94875272e-01,-1.23877170e-01, 4.14740098e+00,
 -2.18627813e+01, 9.61069773e+00]

qfrc_actuator:
[ 0.0008327 , 0.1709734 , 0.00451402, 0.00095279, 0.05641063, 0.38890784,
  0.12751438, 0.05454612,-0.00116368, 0.16783805, 0.00527503, 0.00103393,
  0.01741991,-0.00153373, 0.00076278,-0.00308829, 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: -0.0018469689705752413
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.75926807e-01,  1.97756830e-01, -9.19733812e-02,  1.96884441e-01,
        9.80251109e-01,  1.85548011e-02,  9.38263475e-02, -3.46944695e-18,
       -9.95588578e-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([ 0.09705797, -0.0793849 ,  0.11526533])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004514803859481248
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.68460172e-14,  1.53692034e-13,  1.00000000e+00,  1.18106207e-26,
        1.00000000e+00, -1.53692034e-13, -1.00000000e+00,  0.00000000e+00,
       -7.68460172e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08071627, -0.05977588,  0.06198915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.29477090e-04,-2.00325698e-03,-3.69551215e-04,-1.30940026e-04,
  6.82931630e-02, 2.72110930e-01, 1.54427127e-01, 7.21314240e-02,
  8.36657604e-05,-3.16509860e-03,-5.27990870e-04,-1.18545033e-04,
 -1.28209767e-04,-6.12270592e-05, 4.06133438e-05, 8.60570967e-05,
 -5.77041764e-03,-9.00967100e-03,-7.78925473e+00, 6.15043196e-03,
 -1.36531677e-02,-4.38563859e-04]


--- Step 933 ---
qpos:
[ 8.61596680e-04, 7.01898461e-01,-1.61040329e-02,-2.68940772e-02,
 -4.93033817e-02, 3.65403660e-01,-1.47925325e-01,-4.41533285e-02,
  2.12775662e-02, 7.22609435e-01,-1.65517809e-02, 2.30526699e-02,
  1.18478038e+00,-1.01385187e-02, 8.52067955e-01, 6.20827815e-02,
  8.21240352e-02,-7.06764631e-02, 1.22541982e-01, 9.90503203e-01,
  7.82924205e-03,-7.77865000e-02,-1.13098930e-01]

qacc:
[ 9.39421287e-01,-2.60780998e+01, 6.59383835e+01,-7.14020513e+01,
  1.30921715e+02, 2.75540458e+00, 6.51340966e+00, 7.29584126e+00,
  1.40518391e-01,-4.88220454e+01, 1.11437558e+02,-8.06422723e+01,
 -1.87038518e-01,-2.94080461e-01,-5.94652798e+00, 2.20907851e+01,
 -1.50020410e+00, 2.69007484e+00, 1.48263003e-01,-9.01184519e+00,
 -1.96115742e-02, 1.45542049e+02]

qfrc_actuator:
[ 0.00101216, 0.17022038, 0.00457934, 0.00090923, 0.05665907, 0.38958471,
  0.12809015, 0.05491677,-0.00118841, 0.1659372 , 0.00530169, 0.0010403 ,
  0.01738049,-0.00155153, 0.00081656,-0.00296757, 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: -0.0018313998377007558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97538246,  0.19831044, -0.09644702,  0.197348  ,  0.98013926,
        0.01951401,  0.09840135,  0.        , -0.99514681])
  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([ 0.09685667, -0.07939449,  0.11527509])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.33181068, -1.17277393, -5.20123124, -1.17277393, 23.85776597,
       -4.17723349, -5.20123124, -4.17723349,  6.27369353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000463090732694571
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  5.24435644e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -5.24435644e-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([ 0.07548825, -0.0878747 ,  0.06198888])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21168314e-04,-2.03808505e-03,-4.25377834e-04,-1.49929328e-04,
  6.75925066e-02, 2.71480033e-01, 1.54113580e-01, 7.23455284e-02,
  1.56740835e-05,-3.86481623e-03,-7.22184976e-04,-1.54752989e-04,
 -1.31211030e-04,-5.66701247e-05, 7.45482998e-05, 1.29013296e-04,
 -6.25410591e-03,-8.59950482e-03,-7.78650395e+00, 6.24823031e-03,
 -1.42645099e-02,-4.49311414e-04]


--- Step 934 ---
qpos:
[ 8.43701488e-04, 7.04857307e-01,-1.61505853e-02,-2.69015998e-02,
 -4.93662469e-02, 3.67572260e-01,-1.48477810e-01,-4.45049467e-02,
  2.12948918e-02, 7.25469141e-01,-1.65762200e-02, 2.30486270e-02,
  1.18520966e+00,-1.01397624e-02, 8.52367383e-01, 6.20874613e-02,
  8.18704878e-02,-7.06491566e-02, 1.22553843e-01, 9.90382371e-01,
  7.88740373e-03,-7.97228555e-02,-1.12804319e-01]

qacc:
[ 1.85477170e+00,-8.37252311e+00, 1.74074989e+01,-2.83886136e+01,
  1.41712780e+02, 1.25712450e+00, 1.66845118e+01,-8.24945699e+00,
 -3.90905895e-02,-4.82263135e+01, 1.08935123e+02,-8.39173802e+01,
 -2.66318559e-01,-5.82015853e-02,-9.21150088e+00, 3.16931039e+01,
 -1.51056381e+00, 2.58550079e+00, 3.14514528e-02,-9.78378884e+00,
 -1.00884953e+00, 1.33404337e+02]

qfrc_actuator:
[ 0.00121605, 0.1702775 , 0.00465336, 0.00088615, 0.05685664, 0.39063074,
  0.12862046, 0.05526165,-0.00121034, 0.16426207, 0.00537956, 0.00104538,
  0.01734141,-0.00156159, 0.00078475,-0.00282618, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.40460064, -0.14757325, -0.40460064,  0.83205382,
       -1.10046227, -0.14757325, -1.10046227,  3.44780379,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018135039715789238
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.74282110e-01,  2.01694563e-01, -1.00467274e-01,  2.00630671e-01,
        9.79448469e-01,  2.06888913e-02,  1.02575354e-01, -3.46944695e-18,
       -9.94725237e-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([ 0.09665822, -0.07937019,  0.11529056])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.40428482,  1.61091067,  5.15861039,  1.61091067, 36.50127008,
       -9.71084491,  5.15861039, -9.71084491,  8.43674948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004734662584189864
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.32775967e-15,  7.32775967e-15,  1.00000000e+00,  5.36960617e-29,
        1.00000000e+00, -7.32775967e-15, -1.00000000e+00,  0.00000000e+00,
       -7.32775967e-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([ 0.07547642, -0.08787056,  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:
[ 2.43961792e-04,-1.25908749e-03,-4.31209552e-04,-1.33206524e-04,
  6.40685416e-02, 2.71813518e-01, 1.54301063e-01, 7.25912172e-02,
 -9.22918537e-06,-4.07103711e-03,-8.40381047e-04,-1.93390989e-04,
 -1.31437243e-04,-4.89307684e-05, 7.72460657e-06, 1.56052999e-04,
 -6.02469888e-03, 6.01818575e-04,-7.78680015e+00, 5.89506611e-03,
 -1.49598719e-02,-4.46316774e-04]


--- Step 935 ---
qpos:
[ 8.25638057e-04, 7.07812741e-01,-1.62001080e-02,-2.69098125e-02,
 -4.93425761e-02, 3.69758393e-01,-1.49020851e-01,-4.48548498e-02,
  2.13122316e-02, 7.28297403e-01,-1.66003471e-02, 2.30446143e-02,
  1.18563830e+00,-1.01412390e-02, 8.52666297e-01, 6.20860538e-02,
  8.16109366e-02,-7.06119791e-02, 1.22565410e-01, 9.90284477e-01,
  7.90448918e-03,-8.16635453e-02,-1.12273053e-01]

qacc:
[-1.06562770e-01, 2.37047474e+00,-1.20818224e+01, 7.39902023e+00,
  1.49854876e+02, 3.70564356e-01, 2.48554615e+01,-2.29474489e+01,
  2.55956329e-02,-4.23522799e+01, 9.05909392e+01,-6.74240438e+01,
 -4.74049018e-01, 4.04928274e-01, 1.76314689e+01,-6.27630456e+01,
 -1.50095351e+00, 2.46773799e+00,-7.34211015e-02,-1.07531470e+01,
 -2.61546867e+00, 1.20138225e+02]

qfrc_actuator:
[ 0.00111299, 0.17062498, 0.0047    , 0.0008938 , 0.05696941, 0.39169544,
  0.12917249, 0.05559034,-0.00121261, 0.16277156, 0.00541698, 0.00104988,
  0.01732384,-0.001567  , 0.00065904,-0.00317103, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.38670984, -0.1895654 , -0.38670984,  1.12390582,
       -1.4141811 , -0.1895654 , -1.4141811 ,  3.31557603,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017938963579750102
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97389959,  0.20119414, -0.10507378,  0.20003329,  0.97955139,
        0.02158154,  0.10726724,  0.        , -0.99423022])
  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([ 0.09644878, -0.07938629,  0.11530039])
  solimp: array([9.0e-01, 9.5e-01, 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([  5.45635661,   1.45437654,   5.25895582,   1.45437654,
        45.70634522, -11.13122858,   5.25895582, -11.13122858,
         8.53472393,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004806297221478517
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.21854432e-15,  7.21854432e-15,  1.00000000e+00,  5.21073821e-29,
        1.00000000e+00, -7.21854432e-15, -1.00000000e+00,  0.00000000e+00,
       -7.21854432e-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([ 0.07546698, -0.08786751,  0.06198846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41326442e-05,-5.33118247e-04,-2.97667711e-04,-6.89608773e-05,
  6.01180719e-02, 2.72046002e-01, 1.54427379e-01, 7.28233329e-02,
  1.60469530e-07,-4.02675508e-03,-9.39000782e-04,-2.07591059e-04,
 -1.08761425e-04,-4.27266076e-05,-1.10291782e-04,-3.36448483e-04,
 -5.55245338e-03, 8.96512030e-03,-7.78691606e+00, 5.56051707e-03,
 -1.56398760e-02,-4.42727618e-04]


--- Step 936 ---
qpos:
[ 8.06556586e-04, 7.10763666e-01,-1.62491918e-02,-2.69177342e-02,
 -4.92281316e-02, 3.71958472e-01,-1.49552823e-01,-4.52026615e-02,
  2.13293505e-02, 7.31095064e-01,-1.66252429e-02, 2.30405605e-02,
  1.18606637e+00,-1.01428406e-02, 8.52964623e-01, 6.20765013e-02,
  8.13454657e-02,-7.05654291e-02, 1.22576302e-01, 9.90205777e-01,
  7.87972642e-03,-8.36120309e-02,-1.11532319e-01]

qacc:
[-6.32199876e-01,-6.58508954e+00, 1.36098519e+01,-5.97432136e+00,
  1.55852247e+02,-7.84962171e+00, 4.58894380e+01,-3.78100534e+01,
 -1.18080971e-01,-3.83698473e+01, 7.83035327e+01,-5.52623342e+01,
 -6.15735603e-01, 7.80697529e-01, 2.37397690e+01,-8.42806109e+01,
 -1.47992796e+00, 2.34312626e+00,-1.68644587e-01,-1.18061100e+01,
 -4.59773592e+00, 1.06533328e+02]

qfrc_actuator:
[ 0.00104073, 0.17050547, 0.00476733, 0.00091984, 0.05695793, 0.39226591,
  0.12971527, 0.05589099,-0.00123867, 0.16135065, 0.00541339, 0.00105417,
  0.01730324,-0.00156951, 0.00061015,-0.00358677, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.3632203 , -0.23140992, -0.3632203 ,  1.51062756,
       -1.69509285, -0.23140992, -1.69509285,  3.09128597,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001772612516134352
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.73584585e-01,  2.00218822e-01, -1.09751900e-01,  1.98958631e-01,
        9.79751205e-01,  2.24285472e-02,  1.12020174e-01, -3.46944695e-18,
       -9.93705933e-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([ 0.09623504, -0.07940481,  0.11531035])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00048501721606940273
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.15324495e-15,  7.15324495e-15,  1.00000000e+00,  5.11689133e-29,
        1.00000000e+00, -7.15324495e-15, -1.00000000e+00,  0.00000000e+00,
       -7.15324495e-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([ 0.07545944, -0.08786524,  0.06198835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.50813723e-05,-5.63548055e-04,-1.08239336e-04,-1.35850544e-05,
  5.57724106e-02, 2.71671423e-01, 1.54480155e-01, 7.30354280e-02,
 -1.98717255e-05,-3.95231734e-03,-9.83162903e-04,-2.09531153e-04,
 -9.79059187e-05,-3.30208547e-05,-1.38709466e-04,-4.49053451e-04,
 -4.89458315e-03, 1.64643456e-02,-7.78677940e+00, 5.24627807e-03,
 -1.63054760e-02,-4.38540896e-04]


--- Step 937 ---
qpos:
[ 7.87204654e-04, 7.13705399e-01,-1.62951660e-02,-2.69253099e-02,
 -4.90200443e-02, 3.74174784e-01,-1.50072765e-01,-4.55485916e-02,
  2.13457796e-02, 7.33863151e-01,-1.66513633e-02, 2.30370855e-02,
  1.18649370e+00,-1.01441522e-02, 8.53261280e-01, 6.20685937e-02,
  8.10742139e-02,-7.05100382e-02, 1.22586200e-01, 9.90142219e-01,
  7.81227500e-03,-8.55724163e-02,-1.10610654e-01]

qacc:
[ -0.15975283,-20.12234574, 52.66246345,-44.89894738,159.38255355,
  -7.90896967, 51.38142078,-50.15897774, -0.40085716,-34.45932243,
  63.71660745,-29.97222662, -0.67961715,  1.16443022, -7.3945964 ,
  22.36733141, -1.44521134,  2.21024734, -0.24878792,-12.96735176,
  -6.92637501, 92.25531886]

qfrc_actuator:
[ 0.00105888, 0.16984193, 0.00484485, 0.00092071, 0.05686855, 0.39299798,
  0.13022933, 0.05624475,-0.00129653, 0.16001874, 0.0054039 , 0.0010939 ,
  0.01727017,-0.00155255, 0.00059674,-0.00347244, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.33882676, -0.26584951, -0.33882676,  1.95549189,
       -1.94339015, -0.26584951, -1.94339015,  2.90753547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017493881616918484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97332251,  0.19882059, -0.11451495,  0.19745864,  0.9800359 ,
        0.02323173,  0.11684771,  0.        , -0.99314984])
  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([ 0.09601732, -0.07942494,  0.11532018])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00048702955667109804
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.12368871e-15,  7.12368871e-15,  1.00000000e+00,  5.07469408e-29,
        1.00000000e+00, -7.12368871e-15, -1.00000000e+00,  0.00000000e+00,
       -7.12368871e-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([ 0.07545345, -0.08786353,  0.06198831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.29157588e-05,-1.08279207e-03,-7.89862952e-05,-3.24104822e-05,
  5.11363670e-02, 2.71637636e-01, 1.54422639e-01, 7.32817860e-02,
 -5.99822511e-05,-3.82986773e-03,-9.78851171e-04,-1.72405599e-04,
 -1.01882724e-04,-9.24993680e-06,-1.27849174e-04, 7.13183925e-05,
 -4.09895948e-03, 2.31301782e-02,-7.78634369e+00, 4.95137582e-03,
 -1.69583609e-02,-4.33718891e-04]


--- Step 938 ---
qpos:
[ 7.66617204e-04, 7.16631295e-01,-1.63370448e-02,-2.69317715e-02,
 -4.87166329e-02, 3.76409115e-01,-1.50579977e-01,-4.58928654e-02,
  2.13613174e-02, 7.36601445e-01,-1.66773989e-02, 2.30343032e-02,
  1.18692015e+00,-1.01448886e-02, 8.53556617e-01, 6.20666039e-02,
  8.07973518e-02,-7.04463525e-02, 1.22594824e-01, 9.90089610e-01,
  7.70129233e-03,-8.75492529e-02,-1.09537126e-01]

qacc:
[ -0.75184081,-30.07254984, 72.16912452,-47.82899845,160.83033316,
  -7.94617805, 55.89676304,-61.01310691, -0.51909152,-38.17527136,
  76.06223511,-42.27917312, -0.88889462,  1.71571398,-19.76040933,
  66.42155066, -1.40259868,  2.073668  , -0.31810201,-14.18633821,
  -9.49039849, 77.71563561]

qfrc_actuator:
[ 0.00097115, 0.16864544, 0.00489014, 0.00094181, 0.056711  , 0.39378365,
  0.13075627, 0.05662976,-0.00135516, 0.15862718, 0.00544489, 0.00113653,
  0.01722433,-0.00152427, 0.00059409,-0.00315314, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.30021643, -0.30878736, -0.30021643,  2.53300633,
       -2.04397901, -0.30878736, -2.04397901,  2.41791811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017245868267514797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97309954,  0.19705566, -0.11935806,  0.19558984,  0.9803923 ,
        0.02399058,  0.1217452 ,  0.        , -0.99256139])
  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([ 0.09579561, -0.07944597,  0.11533003])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000487011445072405
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.12395363e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.12395363e-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([ 0.0754487 , -0.0878622 ,  0.06198831])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04136146e-04,-1.90043574e-03,-2.15402329e-04,-3.37483798e-05,
  4.62881930e-02, 2.71542796e-01, 1.54329888e-01, 7.35698569e-02,
 -7.74076047e-05,-3.81757832e-03,-9.00927197e-04,-1.63317969e-04,
 -1.11142089e-04, 5.11019251e-06,-5.21997268e-05, 3.07172782e-04,
 -3.21448143e-03, 2.89717461e-02,-7.78556396e+00, 4.67603889e-03,
 -1.76004065e-02,-4.28239652e-04]


--- Step 939 ---
qpos:
[ 7.43035275e-04, 7.19534675e-01,-1.63746411e-02,-2.69364730e-02,
 -4.83172969e-02, 3.78660363e-01,-1.51073637e-01,-4.62354431e-02,
  2.13762933e-02, 7.39309734e-01,-1.67028158e-02, 2.30312622e-02,
  1.18734577e+00,-1.01454796e-02, 8.53851592e-01, 6.20693309e-02,
  8.05150717e-02,-7.03749240e-02, 1.22601931e-01, 9.90043718e-01,
  7.54598246e-03,-8.95473934e-02,-1.08340941e-01]

qacc:
[ -1.8296925 ,-38.09087955, 85.23358372,-45.1275068 ,160.43345898,
 -11.46887707, 66.27378691,-71.38060862, -0.31990704,-41.90261971,
  92.96573863,-76.3472746 , -0.54360111,  0.74266124,-14.74704794,
  50.88145107, -1.35448978,  1.93572674, -0.37959473,-15.43377267,
 -12.2078774 , 63.11110304]

qfrc_actuator:
[ 0.00076772, 0.16708623, 0.0049316 , 0.00099188, 0.05642017, 0.39430914,
  0.13124993, 0.05697972,-0.00137826, 0.15719412, 0.00549761, 0.00112729,
  0.01717087,-0.00152511, 0.00060324,-0.00291105, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.25386021, -0.34790018, -0.25386021,  3.1115165 ,
       -1.95619158, -0.34790018, -1.95619158,  1.858092  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016985284768020169
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72901405e-01,  1.94981242e-01, -1.24278607e-01,  1.93409641e-01,
        9.80806971e-01,  2.47061836e-02,  1.26710566e-01,  3.46944695e-18,
       -9.91939732e-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([ 0.09556997, -0.07946719,  0.11534004])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00048526588529435033
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.14957935e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.14957935e-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([ 0.07544497, -0.08786111,  0.06198835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.52554305e-04,-2.74800043e-03,-4.04778201e-04,-4.44884083e-05,
  4.12222035e-02, 2.71098196e-01, 1.54168628e-01, 7.38341183e-02,
 -4.92790104e-05,-3.83473767e-03,-8.76439705e-04,-2.11718257e-04,
 -1.20471072e-04,-2.38889538e-05, 1.77577439e-05, 2.52149951e-04,
 -2.28860777e-03, 3.40162799e-02,-7.78440547e+00, 4.41974731e-03,
 -1.82340792e-02,-4.22074359e-04]


--- Step 940 ---
qpos:
[ 7.17486374e-04, 7.22411512e-01,-1.64091623e-02,-2.69400169e-02,
 -4.78225515e-02, 3.80930932e-01,-1.51553259e-01,-4.65766198e-02,
  2.13906778e-02, 7.41987949e-01,-1.67281080e-02, 2.30287801e-02,
  1.18777067e+00,-1.01463314e-02, 8.54146643e-01, 6.20739458e-02,
  8.02275904e-02,-7.02963082e-02, 1.22607313e-01, 9.90000300e-01,
  7.34561905e-03,-9.15719228e-02,-1.07051538e-01]

qacc:
[-1.19064922e+00,-4.12783871e+01, 9.14184262e+01,-5.68436612e+01,
  1.58165621e+02,-1.02776512e+01, 6.78652294e+01,-8.05855172e+01,
 -3.36912581e-01,-3.89311080e+01, 7.87858273e+01,-4.71752789e+01,
 -2.23028361e-01,-1.34871825e-01,-5.58193401e+00, 1.97044384e+01,
 -1.30028726e+00, 1.79682820e+00,-4.31214086e-01,-1.67086315e+01,
 -1.50412338e+01, 4.83957117e+01]

qfrc_actuator:
[ 0.00071014, 0.16548219, 0.00496895, 0.00102276, 0.05602838, 0.39497423,
  0.13171771, 0.05732571,-0.00141553, 0.15574829, 0.00552128, 0.00115863,
  0.01712884,-0.00154321, 0.00059812,-0.00282298, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.20336376, -0.37963498, -0.20336376,  3.64470709,
       -1.72170115, -0.37963498, -1.72170115,  1.35295828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001671249936465109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72712833e-01,  1.92654144e-01, -1.29283119e-01,  1.90974742e-01,
        9.81266722e-01,  2.53824247e-02,  1.31751252e-01, -3.46944695e-18,
       -9.91282809e-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([ 0.09534067, -0.07948792,  0.1153501 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00048206490637148214
  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([ 0.07544209, -0.08786016,  0.06198843])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66721472e-04,-3.30558636e-03,-6.07419250e-04,-1.06703307e-04,
  3.60249040e-02, 2.70847954e-01, 1.53940296e-01, 7.40923831e-02,
 -5.19470114e-05,-3.85313199e-03,-9.07370044e-04,-1.71919579e-04,
 -1.20744234e-04,-4.86528068e-05, 2.56304503e-05, 1.03139707e-04,
 -1.36993987e-03, 3.82909574e-02,-7.78284049e+00, 4.18212158e-03,
 -1.88623017e-02,-4.15201472e-04]


--- Step 941 ---
qpos:
[ 6.92468903e-04, 7.25261183e-01,-1.64427499e-02,-2.69440576e-02,
 -4.72339328e-02, 3.83224930e-01,-1.52018680e-01,-4.69169021e-02,
  2.14049789e-02, 7.44635904e-01,-1.67537721e-02, 2.30259746e-02,
  1.18819468e+00,-1.01468168e-02, 8.54441441e-01, 6.20790183e-02,
  7.99351402e-02,-7.02110561e-02, 1.22610796e-01, 9.89955183e-01,
  7.09957967e-03,-9.36280680e-02,-1.05698233e-01]

qacc:
[ 3.40775283e-01,-3.95282672e+01, 9.09509695e+01,-8.10952995e+01,
  1.54233892e+02,-6.45283969e+00, 6.41658055e+01,-8.87651011e+01,
 -3.46446265e-02,-3.96071600e+01, 8.45629783e+01,-6.72931377e+01,
 -9.47422485e-01, 1.65638623e+00,-1.70732169e+00, 5.53700718e+00,
 -1.24223961e+00, 1.65904229e+00,-4.74514194e-01,-1.79853240e+01,
 -1.79378310e+01, 3.37479335e+01]

qfrc_actuator:
[ 0.00082902, 0.16407731, 0.00498557, 0.00098874, 0.05553816, 0.39582041,
  0.1321463 , 0.05765119,-0.00140778, 0.15427137, 0.00551002, 0.00114259,
  0.0170937 ,-0.00151807, 0.00056313,-0.00280862, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.14747082, -0.40463798, -0.14747082,  3.92866952,
       -1.27484913, -0.40463798, -1.27484913,  0.89529373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016431277569138821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97251979,  0.19013257, -0.13436838,  0.18834336,  0.98175843,
        0.0260225 ,  0.13686501,  0.        , -0.99058971])
  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([ 0.09510775, -0.07950751,  0.11536037])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004776414654551614
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.26370553e-15,  7.26370553e-15,  1.00000000e+00,  5.27614180e-29,
        1.00000000e+00, -7.26370553e-15, -1.00000000e+00,  0.00000000e+00,
       -7.26370553e-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([ 0.07543991, -0.08785927,  0.06198853])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40200254e-05,-3.46181073e-03,-7.70152502e-04,-2.03635342e-04,
  3.07546198e-02, 2.70658348e-01, 1.53648209e-01, 7.43448547e-02,
 -8.20462237e-06,-3.89821571e-03,-9.48216537e-04,-2.20327367e-04,
 -1.19616767e-04,-9.86503204e-06,-1.83081625e-05, 2.18681497e-05,
 -5.11426919e-04, 4.18056021e-02,-7.78084316e+00, 3.96378085e-03,
 -1.94883325e-02,-4.07618470e-04]


--- Step 942 ---
qpos:
[ 6.69588676e-04, 7.28084902e-01,-1.64767214e-02,-2.69489792e-02,
 -4.65538518e-02, 3.85540596e-01,-1.52469547e-01,-4.72562689e-02,
  2.14199209e-02, 7.47251867e-01,-1.67784188e-02, 2.30223510e-02,
  1.18861779e+00,-1.01467117e-02, 8.54735913e-01, 6.20763937e-02,
  7.96379527e-02,-7.01197058e-02, 1.22612230e-01, 9.89904330e-01,
  6.80737897e-03,-9.57211606e-02,-1.04309807e-01]

qacc:
[   1.31651248, -35.03508498,  78.87535838, -74.44568732, 148.94030527,
   -9.59203249,  71.98700067, -95.65443022,   0.39621818, -46.79316354,
  108.9537725 ,-101.18894351,  -1.48847841,   2.83939274,  22.82796868,
  -80.40931014,  -1.18432999,   1.5245667 ,  -0.51232029, -19.23163581,
  -20.87162498,  19.3737001 ]

qfrc_actuator:
[ 0.0009988 , 0.16290968, 0.00500841, 0.0009525 , 0.05491675, 0.39640836,
  0.1325811 , 0.05798205,-0.00135555, 0.15264599, 0.00554925, 0.00109877,
  0.01705206,-0.00148526, 0.0004623 ,-0.00322837, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.09346561, -0.42040899, -0.09346561,  3.92469875,
       -0.77679408, -0.42040899, -0.77679408,  0.60337074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016146759329713914
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.72309219e-01,  1.87474879e-01, -1.39527607e-01,  1.85573890e-01,
        9.82269398e-01,  2.66300887e-02,  1.42046171e-01, -3.46944695e-18,
       -9.89860033e-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([ 0.09487115, -0.07952538,  0.11537109])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00047219485389315974
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.34748997e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.34748997e-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([ 0.07543831, -0.08785839,  0.06198866])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80268720e-04,-3.34870674e-03,-8.19297052e-04,-2.20022976e-04,
  2.54296701e-02, 2.70004585e-01, 1.53353942e-01, 7.46279989e-02,
  5.44352205e-05,-4.08140370e-03,-9.13414332e-04,-2.52324964e-04,
 -1.17242332e-04, 5.21643714e-06,-1.11642930e-04,-4.22009862e-04,
  2.30887739e-04, 4.45646235e-02,-7.77839125e+00, 3.76574336e-03,
 -2.01158509e-02,-3.99336193e-04]


--- Step 943 ---
qpos:
[ 6.49206037e-04, 7.30885183e-01,-1.65122727e-02,-2.69536022e-02,
 -4.58374635e-02, 3.87862305e-01,-1.52920802e-01,-4.75924180e-02,
  2.14350813e-02, 7.49834270e-01,-1.68011321e-02, 2.30182877e-02,
  1.18904016e+00,-1.01464896e-02, 8.55029885e-01, 6.20663483e-02,
  7.93385625e-02,-7.00320020e-02, 1.22615684e-01, 9.89812221e-01,
  6.51027153e-03,-9.79222162e-02,-1.03153399e-01]

qacc:
[   1.52812108, -25.94157245,  46.30660381, -21.42356358,  58.57638499,
   15.11607151, -56.28792577, 108.85373189,   0.14722981, -50.6452194 ,
  118.08556962,-104.08521542,  -0.92751647,   1.48169868,  21.70121284,
  -76.91873992,  -0.550646  ,  -0.911603  ,   0.50489671,  -7.76193194,
  -56.45678694,-116.38773959]

qfrc_actuator:
[ 0.00114404, 0.16198281, 0.00501819, 0.00098651, 0.05421699, 0.39694028,
  0.1330491 , 0.05833351,-0.00136607, 0.15094536, 0.0056353 , 0.00107442,
  0.0170119 ,-0.00148373, 0.00043915,-0.00359882, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.02894196, -0.42969978, -0.02894196,  1.61488724,
       -0.07976142, -0.42969978, -0.07976142,  0.4360456 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001585786461369052
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97206642,  0.18473685, -0.1447728 ,  0.18272149,  0.98278802,
        0.02721327,  0.14730827,  0.        , -0.98909063])
  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([ 0.09463116, -0.0795409 ,  0.1153821 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.38068286, -0.89389517, -5.30591174, -0.89389517,  8.34573684,
       -0.49952724, -5.30591174, -0.49952724,  5.46483898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004701406927604401
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.18073488e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.18073488e-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([ 0.08019002, -0.05967774,  0.06198871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11426348e-04,-3.05462388e-03,-8.15336426e-04,-1.46890988e-04,
  2.01468483e-02, 2.69382269e-01, 1.53075043e-01, 7.49306377e-02,
  1.78627642e-05,-4.25223858e-03,-9.00939164e-04,-2.40065730e-04,
 -1.12154679e-04,-2.22533913e-05,-1.23657034e-04,-4.08822799e-04,
  7.98215465e-04, 4.65693940e-02,-7.77546300e+00, 3.58929160e-03,
 -2.07489302e-02,-3.90378532e-04]


--- Step 944 ---
qpos:
[ 6.30447638e-04, 7.33663677e-01,-1.65487474e-02,-2.69577974e-02,
 -4.50927092e-02, 3.90193811e-01,-1.53363262e-01,-4.79237071e-02,
  2.14500556e-02, 7.52381499e-01,-1.68226245e-02, 2.30137970e-02,
  1.18946188e+00,-1.01467612e-02, 8.55322454e-01, 6.20617319e-02,
  7.90357940e-02,-6.99478044e-02, 1.22620529e-01, 9.89680716e-01,
  6.21002245e-03,-1.00213057e-01,-1.02229444e-01]

qacc:
[ 9.93736192e-01,-2.53273912e+01, 4.67387568e+01,-2.18860615e+01,
  4.53826090e+01,-1.34579993e+00, 3.29298027e+00, 5.92227461e+01,
 -9.10724664e-02,-5.07599412e+01, 1.15349709e+02,-9.88084200e+01,
  2.28726682e-01,-1.13288146e+00,-1.84766247e+01, 6.15975634e+01,
 -8.44601695e-01,-8.76567763e-01, 3.47737027e-01,-8.17695956e+00,
 -4.72826974e+01,-1.16628598e+02]

qfrc_actuator:
[ 0.00120233, 0.16111951, 0.00505697, 0.00102633, 0.05350655, 0.39753431,
  0.13349288, 0.05864142,-0.00139633, 0.14910744, 0.00565935, 0.00104395,
  0.01696731,-0.00151847, 0.00047861,-0.00328004, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.42974275, -0.02829678,  0.42974275,  0.43930915,
        0.13115167, -0.02829678,  0.13115167,  2.42247193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015562489893687654
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97166893,  0.18245157, -0.15023617,  0.18030904,  0.98321484,
        0.02787878,  0.15280096,  0.        , -0.98825698])
  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([ 0.0943919 , -0.07954981,  0.11539116])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.42944677,  0.71397553,  5.38229794,  0.71397553, 11.50149957,
       -0.80547327,  5.38229794, -0.80547327,  5.53629485,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004769570305234311
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.81930317e-14,  1.16386063e-13,  1.00000000e+00,  6.77285789e-27,
        1.00000000e+00, -1.16386063e-13, -1.00000000e+00,  0.00000000e+00,
       -5.81930317e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08013008, -0.05966629,  0.06198854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37627124e-04,-2.82182796e-03,-7.22288259e-04,-1.26865640e-04,
  1.76169236e-02, 2.69601848e-01, 1.53518110e-01, 7.50744110e-02,
 -1.73253629e-05,-4.48092419e-03,-9.95937334e-04,-2.52776794e-04,
 -1.19580123e-04,-6.23236683e-05,-6.42287249e-05, 2.79813122e-04,
 -1.93090679e-03, 4.09947002e-02,-7.76784023e+00, 3.81550720e-03,
 -2.14442336e-02,-3.93002414e-04]


--- Step 945 ---
qpos:
[ 6.12762297e-04, 7.36422314e-01,-1.65857756e-02,-2.69628947e-02,
 -4.43280618e-02, 3.92535774e-01,-1.53795368e-01,-4.82491087e-02,
  2.14653560e-02, 7.54890698e-01,-1.68433757e-02, 2.30099938e-02,
  1.18988288e+00,-1.01476644e-02, 8.55614373e-01, 6.20647943e-02,
  7.87286891e-02,-6.98670043e-02, 1.22626179e-01, 9.89511162e-01,
  5.90829764e-03,-1.02579472e-01,-1.01539172e-01]

qacc:
[   0.65701254, -26.55052684,  60.39805828, -60.53588831,  31.55268409,
   -2.59674058,   4.81018248,  72.32520068,   0.21047367, -50.90228097,
  105.66722781, -66.95685346,   0.36535905,  -1.5336579 , -24.16637466,
   83.10165176,  -1.08409332,  -0.84938047,   0.20118898,  -8.4581249 ,
  -40.10483172,-117.27148131]

qfrc_actuator:
[ 0.00124384, 0.16035534, 0.00511314, 0.00099839, 0.05274762, 0.39791088,
  0.13394861, 0.05897351,-0.00136711, 0.14704241, 0.00562839, 0.00106323,
  0.01692009,-0.00155666, 0.00050248,-0.00287715, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.01166355, -0.43051539,  0.01166355,  2.6477063 ,
        0.06006398, -0.43051539,  0.06006398,  0.43230061,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015251695571347821
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.97111825,  0.18061736, -0.15590614,  0.17833379,  0.98355344,
        0.02863022,  0.15851313,  0.        , -0.98735687])
  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([ 0.09415184, -0.07955233,  0.11539859])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.45771687,  0.7457782 ,  5.40652276,  0.7457782 , 13.05671207,
       -1.04820884,  5.40652276, -1.04820884,  5.60230727,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004808137437695703
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.15452505e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.15452505e-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([ 0.08008293, -0.05965657,  0.06198845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.09718268e-05,-2.57169157e-03,-6.44410883e-04,-1.81004671e-04,
  1.54360207e-02, 2.69415517e-01, 1.53513754e-01, 7.51601990e-02,
  2.71842479e-05,-4.85500252e-03,-1.10998327e-03,-2.16297494e-04,
 -1.34374322e-04,-7.52350939e-05, 2.46538953e-05, 4.10049544e-04,
 -4.79962097e-03, 3.42884017e-02,-7.76121643e+00, 4.10798861e-03,
 -2.21703775e-02,-3.97250238e-04]


--- Step 946 ---
qpos:
[ 5.95807693e-04, 7.39160928e-01,-1.66230264e-02,-2.69687322e-02,
 -4.35522788e-02, 3.94885091e-01,-1.54217291e-01,-4.85673904e-02,
  2.14809906e-02, 7.57359362e-01,-1.68633260e-02, 2.30077338e-02,
  1.19030307e+00,-1.01487621e-02, 8.55906250e-01, 6.20700557e-02,
  7.84164490e-02,-6.97895268e-02, 1.22632078e-01, 9.89304372e-01,
  5.60670634e-03,-1.05010317e-01,-1.01085403e-01]

qacc:
[ 4.49332333e-01,-2.73603549e+01, 6.22854074e+01,-6.00321176e+01,
  1.75206182e+01,-3.62990361e+00,-2.56048776e+00, 1.03434141e+02,
  2.15849119e-01,-5.26166346e+01, 1.03366230e+02,-4.81006883e+01,
 -3.29760601e-01, 7.79358139e-02,-6.68925911e+00, 2.33396080e+01,
 -1.28379238e+00,-8.30641632e-01, 6.25288943e-02,-8.68313350e+00,
 -3.44788079e+01,-1.18719044e+02]

qfrc_actuator:
[ 0.00127517, 0.15942663, 0.00512648, 0.00096646, 0.05199221, 0.39806365,
  0.13444193, 0.05931715,-0.0013559 , 0.14489354, 0.00561767, 0.00112916,
  0.01688729,-0.00156108, 0.00046905,-0.00278327, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336,  0.00491169, -0.43064535,  0.00491169,  1.63817383,
        0.01377204, -0.43064535,  0.01377204,  0.43083043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014911645059940272
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.70404674e-01,  1.79237326e-01, -1.61829386e-01,  1.76795793e-01,
        9.83805866e-01,  2.94833232e-02,  1.64493211e-01,  3.46944695e-18,
       -9.86378215e-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([ 0.09391021, -0.07954858,  0.1154038 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.46721303,  0.79119049,  5.40966135,  0.79119049, 15.00579595,
       -1.39506627,  5.40966135, -1.39506627,  5.67124857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004820941158202169
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.75729400e-14, -1.15145880e-13,  1.00000000e+00, -6.62928685e-27,
        1.00000000e+00,  1.15145880e-13, -1.00000000e+00,  0.00000000e+00,
       -5.75729400e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.08004588, -0.05964828,  0.06198842])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.18915069e-05,-2.58186315e-03,-6.27617153e-04,-1.72602146e-04,
  1.36830296e-02, 2.68971730e-01, 1.53468746e-01, 7.52060953e-02,
  2.78829519e-05,-5.16884634e-03,-1.17942733e-03,-1.88839092e-04,
 -1.31103631e-04,-4.74550891e-05, 1.86503125e-05, 1.18767556e-04,
 -7.78797045e-03, 2.66695011e-02,-7.75544720e+00, 4.45615505e-03,
 -2.29234635e-02,-4.02963817e-04]


--- Step 947 ---
qpos:
[ 5.78959374e-04, 7.41876574e-01,-1.66590370e-02,-2.69736844e-02,
 -4.27736587e-02, 3.97243366e-01,-1.54627080e-01,-4.88774837e-02,
  2.14962284e-02, 7.59785308e-01,-1.68820507e-02, 2.30061158e-02,
  1.19072237e+00,-1.01496441e-02, 8.56197309e-01, 6.20716960e-02,
  7.80984366e-02,-6.97152964e-02, 1.22637721e-01, 9.89060960e-01,
  5.30686521e-03,-1.07497054e-01,-1.00869409e-01]

qacc:
[ 7.66477989e-02,-3.19897546e+01, 6.63014118e+01,-3.61286361e+01,
  4.44940330e+00,-4.63439038e+00,-2.76553059e-01, 1.15157943e+02,
 -2.09750242e-01,-5.85402467e+01, 1.24108644e+02,-8.35130553e+01,
 -9.68838051e-01, 1.56364357e+00, 9.76699738e+00,-3.58328808e+01,
 -1.44309817e+00,-8.11774916e-01,-6.42220392e-02,-8.69099933e+00,
 -3.01484411e+01,-1.19401562e+02]

qfrc_actuator:
[ 1.26481162e-03, 1.58176533e-01, 5.14951775e-03, 1.00333331e-03,
  5.12042212e-02, 3.98187561e-01, 1.34900588e-01, 5.96108678e-02,
 -1.40887738e-03, 1.42658820e-01, 5.63648384e-03, 1.15094082e-03,
  1.68471980e-02,-1.54542885e-03, 3.42624517e-04,-2.99665797e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.30673355e-01,  3.93913983e-04, -4.30673175e-01,  3.93913983e-04,
        1.22860930e+00,  7.29829819e-04, -4.30673175e-01,  7.29829819e-04,
        4.30674023e-01,  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: -0.0014525875371962371
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.69535867e-01,  1.78303033e-01, -1.67953062e-01,  1.75686451e-01,
        9.83975624e-01,  3.04342298e-02,  1.70688234e-01,  3.46944695e-18,
       -9.85325087e-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([ 0.09366643, -0.07953873,  0.11540708])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.46034976,  0.85544001,  5.39292517,  0.85544001, 17.48952785,
       -1.90809994,  5.39292517, -1.90809994,  5.7630176 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004811694909223757
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.76835733e-14,  1.15367147e-13,  1.00000000e+00, -6.65478927e-27,
        1.00000000e+00, -1.15367147e-13, -1.00000000e+00,  0.00000000e+00,
        5.76835733e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0800168 , -0.0596412 ,  0.06198844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.36999487e-06,-2.90439643e-03,-6.17422980e-04,-1.03433654e-04,
  1.23362829e-02, 2.68653621e-01, 1.53397193e-01, 7.51403487e-02,
 -3.61297402e-05,-5.44213855e-03,-1.22192881e-03,-2.48232485e-04,
 -1.30638447e-04,-2.14667426e-05,-1.10793821e-04,-2.05803895e-04,
 -1.08965793e-02, 1.82561160e-02,-7.75039622e+00, 4.85474877e-03,
 -2.37003241e-02,-4.10078005e-04]


--- Step 948 ---
qpos:
[ 5.63531462e-04, 7.44566612e-01,-1.66931749e-02,-2.69779460e-02,
 -4.20003602e-02, 3.99615483e-01,-1.55026227e-01,-4.91789897e-02,
  2.15109327e-02, 7.62166910e-01,-1.68994272e-02, 2.30038652e-02,
  1.19114055e+00,-1.01492099e-02, 8.56486745e-01, 6.20705288e-02,
  7.77741361e-02,-6.96442263e-02, 1.22642647e-01, 9.88781369e-01,
  5.01036068e-03,-1.10033309e-01,-1.00890885e-01]

qacc:
[   0.86276053, -37.64708425,  82.22800416, -54.48911085,  -8.19644508,
    6.41884271, -32.23174898, 153.2881733 ,  -0.28770625, -63.65546762,
  144.60914625,-125.07225243,  -2.06090898,   4.38886465,   6.19354298,
  -24.90068662,  -1.57201785,  -0.7900908 ,  -0.17918465,  -8.52027726,
  -26.89434536,-119.30939109]

qfrc_actuator:
[ 1.38953854e-03, 1.56780061e-01, 5.19475279e-03, 1.02690811e-03,
  5.04537820e-02, 3.98697929e-01, 1.35332416e-01, 5.99417281e-02,
 -1.44652344e-03, 1.40373242e-01, 5.67228221e-03, 1.11101545e-03,
  1.68134239e-02,-1.46480214e-03, 2.45682240e-04,-3.14092541e-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, -0.00164172, -0.43067023, -0.00164172,  0.91189842,
       -0.00183443, -0.43067023, -0.00183443,  0.43068035,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001408667319364795
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96850131,  0.1778189 , -0.17431479,  0.17500688,  0.98406323,
        0.03149845,  0.17713779,  0.        , -0.98418606])
  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([ 0.09341991, -0.07952297,  0.11540801])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.43984047,  0.94591036,  5.3569691 ,  0.94591036, 20.59873906,
       -2.67669254,  5.3569691 , -2.67669254,  5.91247923,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00047838289789675636
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.80195817e-14, -1.16039163e-13,  1.00000000e+00,  6.73254372e-27,
        1.00000000e+00,  1.16039163e-13, -1.00000000e+00,  0.00000000e+00,
        5.80195817e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07999401, -0.05963519,  0.0619885 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.21357066e-04,-3.22528810e-03,-6.57945409e-04,-1.28795723e-04,
  1.14427294e-02, 2.68640969e-01, 1.53200960e-01, 7.50582502e-02,
 -4.82162569e-05,-5.65589386e-03,-1.26828702e-03,-3.24203666e-04,
 -1.19573006e-04, 4.89240803e-05,-1.71886615e-04,-1.70231904e-04,
 -1.41124297e-02, 9.23945552e-03,-7.74592472e+00, 5.29490177e-03,
 -2.44985481e-02,-4.18498908e-04]


--- Step 949 ---
qpos:
[ 5.51609243e-04, 7.47228844e-01,-1.67258314e-02,-2.69823560e-02,
 -4.12395911e-02, 4.02005913e-01,-1.55412219e-01,-4.94711341e-02,
  2.15255562e-02, 7.64503247e-01,-1.69160478e-02, 2.30026233e-02,
  1.19155800e+00,-1.01476836e-02, 8.56775133e-01, 6.20710408e-02,
  7.74431363e-02,-6.95762179e-02, 1.22646439e-01, 9.88465909e-01,
  4.71878009e-03,-1.12614417e-01,-1.01147782e-01]

qacc:
[ 2.10131872e+00,-4.11876233e+01, 9.41712391e+01,-7.86988020e+01,
 -1.91456056e+01, 6.98707827e+00,-2.88557629e+01, 1.55903309e+02,
 -2.47412054e-02,-5.98390415e+01, 1.22306046e+02,-7.27373091e+01,
 -1.41511951e+00, 3.18191453e+00,-6.53363148e+00, 2.07941768e+01,
 -1.67480490e+00,-7.65409505e-01,-2.83496287e-01,-8.16518850e+00,
 -2.44897869e+01,-1.18357545e+02]

qfrc_actuator:
[ 1.64721993e-03, 1.55272085e-01, 5.21667275e-03, 1.00683792e-03,
  4.97328974e-02, 3.99183167e-01, 1.35744786e-01, 6.02379416e-02,
 -1.43916758e-03, 1.38093615e-01, 5.69990284e-03, 1.15935053e-03,
  1.68101200e-02,-1.39963687e-03, 2.67723166e-04,-3.03005567e-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, -0.00147028, -0.43067085, -0.00147028,  0.76687498,
       -0.00114777, -0.43067085, -0.00114777,  0.43067727,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013589568351891103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.96729797,  0.17778221, -0.18090919,  0.17475219,  0.98406986,
        0.03268308,  0.18383775,  0.        , -0.9829566 ])
  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([ 0.09317   , -0.07950155,  0.11540668])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.40843268,  1.0702122 ,  5.3014894 ,  1.0702122 , 24.44576358,
       -3.8430679 ,  5.3014894 , -3.8430679 ,  6.18423318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004740455373793001
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00, -3.5130265e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  3.5130265e-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([ 0.07997618, -0.05963013,  0.06198861])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01392178e-04,-3.52482245e-03,-7.53145817e-04,-1.88027965e-04,
  1.09873537e-02, 2.68358249e-01, 1.53059499e-01, 7.49214709e-02,
 -8.57208177e-06,-5.78100548e-03,-1.32854058e-03,-2.48106150e-04,
 -6.71322599e-05, 4.87797419e-05,-7.38135971e-05, 7.98004699e-05,
 -1.74267753e-02,-2.20363166e-04,-7.74190215e+00, 5.76935133e-03,
 -2.53160097e-02,-4.28154611e-04]


--- Step 950 ---
qpos:
[ 5.43101971e-04, 7.49860109e-01,-1.67568978e-02,-2.69869996e-02,
 -4.04977925e-02, 4.04415662e-01,-1.55780466e-01,-4.97527288e-02,
  2.15401908e-02, 7.66794128e-01,-1.69329151e-02, 2.30023380e-02,
  1.19197513e+00,-1.01460170e-02, 8.57063091e-01, 6.20743762e-02,
  7.71051104e-02,-6.95111648e-02, 1.22648718e-01, 9.88114748e-01,
  4.43373009e-03,-1.15237038e-01,-1.01636668e-01]

qacc:
[ 2.04227210e+00,-4.58431523e+01, 1.05068804e+02,-8.89201608e+01,
 -2.87202126e+01,-1.60185197e+00,-9.71271184e-01, 1.39923277e+02,
  2.76541553e-02,-5.73995332e+01, 1.13458891e+02,-6.30481231e+01,
 -2.32936763e-01, 3.98470471e-01,-9.14544577e+00, 3.11045149e+01,
 -1.75653671e+00,-7.38833915e-01,-3.78294624e-01,-7.65133154e+00,
 -2.27446900e+01,-1.16732261e+02]

qfrc_actuator:
[ 1.82224687e-03, 1.53549874e-01, 5.22424585e-03, 9.78896307e-04,
  4.89680714e-02, 3.99110739e-01, 1.36085454e-01, 6.04736527e-02,
 -1.44055491e-03, 1.35836215e-01, 5.68716469e-03, 1.20599576e-03,
  1.67984745e-02,-1.39730874e-03, 2.86599724e-04,-2.87598292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.30673355e-01,  2.80193299e-04, -4.30673264e-01,  2.80193299e-04,
        6.78775126e-01,  1.61413441e-04, -4.30673264e-01,  1.61413441e-04,
        4.30673460e-01,  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: -0.001303404212405257
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9659241 ,  0.17818763, -0.18772265,  0.17491497,  0.98399653,
        0.03399387,  0.19077572,  0.        , -0.98163365])
  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([ 0.092916  , -0.07947477,  0.11540338])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.36873025,  1.23674274,  5.22434033,  1.23674274, 29.12340738,
       -5.62337493,  5.22434033, -5.62337493,  6.69993528,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046843718426199665
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.92514355e-14, -1.18502871e-13,  1.00000000e+00,  7.02146522e-27,
        1.00000000e+00,  1.18502871e-13, -1.00000000e+00,  0.00000000e+00,
        5.92514355e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07996226, -0.05962596,  0.06198874])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94163933e-04,-3.92781978e-03,-8.42852544e-04,-2.13119726e-04,
  1.08489874e-02, 2.67293236e-01, 1.52720278e-01, 7.46853934e-02,
 -4.90753577e-07,-5.83659418e-03,-1.39910591e-03,-2.55682880e-04,
 -4.23620767e-05,-2.97216979e-06,-7.58280675e-06, 1.48708131e-04,
 -2.08308306e-02,-9.98141586e-03,-7.73821670e+00, 6.27177083e-03,
 -2.61507785e-02,-4.38995641e-04]


--- Step 951 ---
qpos:
[ 5.37385712e-04, 7.52456684e-01,-1.67854150e-02,-2.69916081e-02,
 -3.97810437e-02, 4.06843096e-01,-1.56129528e-01,-5.00227212e-02,
  2.15546131e-02, 7.69039374e-01,-1.69494521e-02, 2.30018343e-02,
  1.19239196e+00,-1.01447920e-02, 8.57350839e-01, 6.20778830e-02,
  7.67597909e-02,-6.94489487e-02, 1.22649141e-01, 9.87727915e-01,
  4.15679729e-03,-1.17898943e-01,-1.02352948e-01]

qacc:
[ 1.66953780e+00,-5.28895518e+01, 1.21922256e+02,-9.99306327e+01,
 -3.75825556e+01,-5.42747941e+00, 5.27090169e+00, 1.50499671e+02,
 -1.00765916e-01,-6.16627613e+01, 1.33282712e+02,-1.04001095e+02,
  1.89621183e-01,-8.51216024e-01,-8.43990989e-01, 2.46493740e+00,
 -1.82339186e+00,-7.09233602e-01,-4.64030506e-01,-7.01644317e+00,
 -2.15550720e+01,-1.14539738e+02]

qfrc_actuator:
[ 1.94636961e-03, 1.51624642e-01, 5.27576743e-03, 9.64128864e-04,
  4.82060860e-02, 3.98713134e-01, 1.36408755e-01, 6.07568927e-02,
 -1.46500042e-03, 1.33610449e-01, 5.72192202e-03, 1.19801779e-03,
  1.67605102e-02,-1.43216790e-03, 2.60953504e-04,-2.87533063e-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,  0.00368684, -0.43065757,  0.00368684,  0.58378842,
        0.00131081, -0.43065757,  0.00131081,  0.43068458,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012418910938629306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.64377306e-01,  1.79026717e-01, -1.94745595e-01,  1.75484392e-01,
        9.83844212e-01,  3.54371801e-02,  1.97943528e-01,  6.93889390e-18,
       -9.80213426e-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([ 0.09265745, -0.07944294,  0.11539825])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.32307516,  1.45455376,  5.1204885 ,  1.45455376, 34.62616576,
       -8.32399497,  5.1204885 , -8.32399497,  7.68763435,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004618065753826256
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.20204333e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.20204333e-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([ 0.07995141, -0.05962263,  0.0619889 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40684571e-04,-4.37481041e-03,-8.93745343e-04,-2.20731578e-04,
  1.10361417e-02, 2.65851703e-01, 1.52133748e-01, 7.44373201e-02,
 -2.01999467e-05,-5.84961253e-03,-1.37161273e-03,-3.15196568e-04,
 -6.43873329e-05,-4.42904488e-05,-1.67540489e-05, 6.97244005e-06,
 -2.43183936e-02,-1.99357488e-02,-7.73477645e+00, 6.79756101e-03,
 -2.70010380e-02,-4.51002542e-04]


--- Step 952 ---
qpos:
[ 5.34044594e-04, 7.55017808e-01,-1.68122212e-02,-2.69952458e-02,
 -3.90950246e-02, 4.09294827e-01,-1.56462761e-01,-5.02812391e-02,
  2.15689736e-02, 7.71239418e-01,-1.69667868e-02, 2.30005000e-02,
  1.19280840e+00,-1.01441768e-02, 8.57639016e-01, 6.20769883e-02,
  7.64069569e-02,-6.93894399e-02, 1.22647397e-01, 9.87305292e-01,
  3.88953231e-03,-1.20598756e-01,-1.03291202e-01]

qacc:
[ 1.41880820e+00,-4.96238557e+01, 1.04884135e+02,-6.48264860e+01,
 -4.57227941e+01, 1.17600361e+01,-4.32229236e+01, 1.98138005e+02,
 -1.53160362e-02,-5.92022555e+01, 1.27920003e+02,-1.07748951e+02,
  6.63876129e-02,-8.02548973e-01, 1.39048868e+01,-4.77658834e+01,
 -1.87863092e+00,-6.76837750e-01,-5.41690660e-01,-6.29618674e+00,
 -2.07983904e+01,-1.11947410e+02]

qfrc_actuator:
[ 2.05696041e-03, 1.49842246e-01, 5.35206306e-03, 1.01034865e-03,
  4.74594725e-02, 3.99143981e-01, 1.36748601e-01, 6.10811301e-02,
 -1.46755670e-03, 1.31404272e-01, 5.69593509e-03, 1.15805825e-03,
  1.67227419e-02,-1.47106116e-03, 2.61847127e-04,-3.10722903e-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,  0.0091058 , -0.43057708,  0.0091058 ,  0.48470349,
        0.00114262, -0.43057708,  0.00114262,  0.43069752,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001174072086725324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.62923881e-01,  1.79023214e-01, -2.01812508e-01,  1.75216375e-01,
        9.83844850e-01,  3.67223794e-02,  2.05126355e-01, -6.93889390e-18,
       -9.78735500e-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([ 0.09239112, -0.07942071,  0.11539303])
  solimp: array([9.0e-01, 9.5e-01, 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([  5.27347564,   1.73157328,   4.98108415,   1.73157328,
        40.72251048, -12.32314082,   4.98108415, -12.32314082,
         9.5573666 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00045437088116602464
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.10857270e-14, -3.66514362e-13,  1.00000000e+00,  2.23887963e-26,
        1.00000000e+00,  3.66514362e-13, -1.00000000e+00,  0.00000000e+00,
        6.10857270e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07994298, -0.05962011,  0.06198907])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.05101558e-04,-4.49170408e-03,-9.67490022e-04,-1.80725205e-04,
  1.15433884e-02, 2.65319281e-01, 1.51491105e-01, 7.41774861e-02,
 -6.93084633e-06,-5.83285621e-03,-1.43328809e-03,-3.47860809e-04,
 -8.70594001e-05,-6.05530854e-05,-1.04264863e-05,-2.34711049e-04,
 -2.78857868e-02,-2.99991814e-02,-7.73149881e+00, 7.34330920e-03,
 -2.78651007e-02,-4.64167925e-04]


--- Step 953 ---
qpos:
[ 5.31172559e-04, 7.57543036e-01,-1.68381939e-02,-2.69979215e-02,
 -3.84443265e-02, 4.11778936e-01,-1.56780629e-01,-5.05283209e-02,
  2.15832826e-02, 7.73394568e-01,-1.69854328e-02, 2.29986233e-02,
  1.19322414e+00,-1.01438978e-02, 8.57926793e-01, 6.20730529e-02,
  7.60464300e-02,-6.93324939e-02, 1.22643205e-01, 9.86846700e-01,
  3.63347021e-03,-1.23335867e-01,-1.04444500e-01]

qacc:
[ 2.93934662e-01,-4.77764776e+01, 9.74839004e+01,-5.58499720e+01,
 -5.20965873e+01, 2.32634318e+01,-6.88335280e+01, 2.18416075e+02,
 -9.91629140e-03,-5.67647938e+01, 1.18606585e+02,-9.28536027e+01,
 -3.11143216e-01,-1.33908213e-02, 8.59343305e+00,-3.09150383e+01,
 -1.92324250e+00,-6.40689828e-01,-6.12037592e-01,-5.44044841e+00,
 -2.04209742e+01,-1.08617686e+02]

qfrc_actuator:
[ 2.01671046e-03, 1.48053671e-01, 5.38978368e-03, 1.05670584e-03,
  4.67555345e-02, 4.00111471e-01, 1.37111810e-01, 6.14077003e-02,
 -1.47479751e-03, 1.29227670e-01, 5.65225027e-03, 1.13511463e-03,
  1.66691335e-02,-1.49427725e-03, 2.30682558e-04,-3.26112192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.30673355e-01,  1.56672896e-02, -4.30388284e-01,  1.56672896e-02,
        4.24458948e-01, -2.26221115e-04, -4.30388284e-01, -2.26221115e-04,
        4.30665120e-01,  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: -0.001099917279714194
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61162324e-01,  1.80328572e-01, -2.08922457e-01,  1.76213803e-01,
        9.83606429e-01,  3.83026047e-02,  2.12404525e-01,  6.93889390e-18,
       -9.77181824e-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([ 0.09212112, -0.07938383,  0.11538785])
  solimp: array([9.0e-01, 9.5e-01, 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([  5.22159021,   2.07190191,   4.79293509,   2.07190191,
        46.80031096, -17.9737529 ,   4.79293509, -17.9737529 ,
        12.99132885,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0004463172639521673
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24375989e-13, -3.73127968e-13,  1.00000000e+00,  4.64081601e-26,
        1.00000000e+00,  3.73127968e-13, -1.00000000e+00,  0.00000000e+00,
        1.24375989e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07993644, -0.05961839,  0.06198926])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.96622707e-05,-4.57568305e-03,-1.03756271e-03,-1.87298694e-04,
  1.23778423e-02, 2.64991781e-01, 1.51039283e-01, 7.39262754e-02,
 -6.00439559e-06,-5.80672967e-03,-1.45581652e-03,-3.32813190e-04,
 -1.20637917e-04,-5.27229052e-05,-6.81125608e-05,-1.69727780e-04,
 -3.15319535e-02,-4.01128378e-02,-7.72831650e+00, 7.90687036e-03,
 -2.87414292e-02,-4.78500362e-04]


--- Step 954 ---
qpos:
[ 5.26740628e-04, 7.60030149e-01,-1.68629890e-02,-2.70005307e-02,
 -3.78322757e-02, 4.14296560e-01,-1.57077264e-01,-5.07628862e-02,
  2.15969120e-02, 7.75505078e-01,-1.70045674e-02, 2.29973632e-02,
  1.19363917e+00,-1.01441349e-02, 8.58213376e-01, 6.20676990e-02,
  7.56780613e-02,-6.92779703e-02, 1.22636302e-01, 9.86351767e-01,
  3.39014468e-03,-1.26110037e-01,-1.05806220e-01]

qacc:
[-8.94223781e-01,-5.35152773e+01, 1.17461807e+02,-9.02298239e+01,
 -5.64587138e+01, 1.12108403e+01,-2.77991381e+01, 1.85099864e+02,
 -3.68902816e-01,-5.63455009e+01, 1.12701660e+02,-6.83922583e+01,
 -8.25646688e-02,-5.98859845e-01, 2.51269241e+00,-1.13711656e+01,
 -1.96043341e+00,-6.05626671e-01,-6.77626606e-01,-4.56716444e+00,
 -2.02408579e+01,-1.05456991e+02]

qfrc_actuator:
[ 1.86915943e-03, 1.46045230e-01, 5.40455238e-03, 1.04950789e-03,
  4.60585798e-02, 4.00424506e-01, 1.37465416e-01, 6.16778609e-02,
 -1.53809265e-03, 1.27104337e-01, 5.66978977e-03, 1.17568241e-03,
  1.66220388e-02,-1.52586941e-03, 1.64364943e-04,-3.33230645e-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,  0.02400956, -0.43000358,  0.02400956,  0.39676883,
       -0.00189308, -0.43000358, -0.00189308,  0.43056765,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010202891602677754
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95929428,  0.17951765, -0.21800894,  0.17505405,  0.98375475,
        0.03978273,  0.22160903,  0.        , -0.9751356 ])
  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([ 0.09184516, -0.07937179,  0.11536099])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00043780515174066115
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26794194e-13, -2.53588387e-13,  1.00000000e+00,  3.21535351e-26,
        1.00000000e+00,  2.53588387e-13, -1.00000000e+00,  0.00000000e+00,
        1.26794194e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07993137, -0.05961744,  0.06198946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.37296128e-04,-4.85618026e-03,-1.08635970e-03,-2.46930921e-04,
  1.34492386e-02, 2.63604486e-01, 1.50600534e-01, 7.36204683e-02,
 -6.17713900e-05,-5.74155381e-03,-1.39101512e-03,-2.68585827e-04,
 -1.33287440e-04,-6.69645980e-05,-1.19425928e-04,-9.00629951e-05,
 -3.52485459e-02,-5.01970454e-02,-7.72516588e+00, 8.48497231e-03,
 -2.96284689e-02,-4.93999579e-04]


--- Step 955 ---
qpos:
[ 5.20194723e-04, 7.62477240e-01,-1.68866547e-02,-2.70033796e-02,
 -3.72616969e-02, 4.16849699e-01,-1.57350650e-01,-5.09843576e-02,
  2.16100162e-02, 7.77571711e-01,-1.70243861e-02, 2.29957539e-02,
  1.19405338e+00,-1.01444792e-02, 8.58499114e-01, 6.20630451e-02,
  7.53017374e-02,-6.92257102e-02, 1.22626453e-01, 9.85820182e-01,
  3.16107944e-03,-1.28921634e-01,-1.07367537e-01]

qacc:
[  -1.21444367, -56.53010003, 125.84766712,-102.43574553, -60.02018755,
    9.54182887, -20.34077122, 182.77309953,  -0.28043072, -56.77515989,
  119.77805652, -92.43178612,  -0.44674568,   0.36375135,  -3.34414274,
    9.92369624,  -1.98878738,  -0.56585232,  -0.73678734,  -3.51063233,
  -20.35283956,-101.21094917]

qfrc_actuator:
[ 1.74783226e-03, 1.43956952e-01, 5.42262511e-03, 1.02844024e-03,
  4.54010225e-02, 4.00597067e-01, 1.37765742e-01, 6.19085207e-02,
 -1.56336104e-03, 1.25012918e-01, 5.67050781e-03, 1.16465200e-03,
  1.65895314e-02,-1.52666763e-03, 1.62253928e-04,-3.28326132e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.42688655,  0.03210885, -0.42567728,  0.03210885,  0.360346  ,
       -0.00501916, -0.42567728, -0.00501916,  0.42650795,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009351020623098493
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.57039456e-01,  1.81902121e-01, -2.25803230e-01,  1.77041148e-01,
        9.83316642e-01,  4.17709664e-02,  2.29634301e-01,  6.93889390e-18,
       -9.73276984e-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([ 0.09156511, -0.07932373,  0.11534973])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004289718701163542
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29405108e-13, -2.58810216e-13,  1.00000000e+00,  3.34913640e-26,
        1.00000000e+00,  2.58810216e-13, -1.00000000e+00,  0.00000000e+00,
        1.29405108e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07992746, -0.05961727,  0.06198967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86090452e-04,-5.10436074e-03,-1.14868638e-03,-2.75583439e-04,
  1.47267887e-02, 2.62018380e-01, 1.49814473e-01, 7.32210015e-02,
 -4.81105720e-05,-5.65578538e-03,-1.38374772e-03,-3.13818989e-04,
 -1.29852338e-04,-4.14177787e-05,-6.68499254e-05, 2.87351962e-05,
 -3.90414365e-02,-6.02536160e-02,-7.72201470e+00, 9.07852352e-03,
 -3.05249864e-02,-5.10722284e-04]


--- Step 956 ---
qpos:
[ 5.11900065e-04, 7.64882048e-01,-1.69093477e-02,-2.70055420e-02,
 -3.67343044e-02, 4.19438874e-01,-1.57598946e-01,-5.11919293e-02,
  2.16237156e-02, 7.79594197e-01,-1.70443339e-02, 2.29932646e-02,
  1.19446652e+00,-1.01439664e-02, 8.58784083e-01, 6.20619205e-02,
  7.49173663e-02,-6.91755449e-02, 1.22613438e-01, 9.85251593e-01,
  2.94775481e-03,-1.31771401e-01,-1.09118773e-01]

qacc:
[  -0.99736748, -57.17239497, 119.90135122, -78.56797325, -61.90859881,
    6.90564073, -13.21183678, 186.05003625,   0.35891324, -59.77728017,
  132.20271551,-114.73194375,  -1.39320946,   2.7806221 , -11.71142119,
   39.50015665,  -2.01182146,  -0.52370586,  -0.79126861,  -2.37605221,
  -20.65513565, -96.55426237]

qfrc_actuator:
[ 1.67892271e-03, 1.41731410e-01, 5.42450472e-03, 1.05258837e-03,
  4.48563977e-02, 4.00581177e-01, 1.38059095e-01, 6.21454016e-02,
 -1.49468553e-03, 1.22851222e-01, 5.67927658e-03, 1.12338166e-03,
  1.65498336e-02,-1.47368656e-03, 1.61397982e-04,-3.09261898e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.40984516,  0.039757  , -0.40791229,  0.039757  ,  0.32491459,
       -0.00827772, -0.40791229, -0.00827772,  0.40903838,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008448286137940239
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.95460405,  0.18465188, -0.23374088,  0.17935359,  0.98280399,
        0.04391587,  0.23783062,  0.        , -0.97130664])
  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([ 0.09127885, -0.07927217,  0.11533783])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004199295556762128
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.60957897e-14, -2.64383159e-13,  1.00000000e+00,  1.74746137e-26,
        1.00000000e+00,  2.64383159e-13, -1.00000000e+00,  0.00000000e+00,
        6.60957897e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07992443, -0.05961788,  0.06198988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.54564040e-04,-5.39330232e-03,-1.22441641e-03,-2.43630386e-04,
  1.62589636e-02, 2.60142372e-01, 1.48919951e-01, 7.27987447e-02,
  5.16274570e-05,-5.67727690e-03,-1.35823500e-03,-3.40933273e-04,
 -1.28772900e-04, 1.74825066e-05,-3.04191938e-05, 1.83202185e-04,
 -4.28922415e-02,-7.01810251e-02,-7.71880697e+00, 9.68301332e-03,
 -3.14293597e-02,-5.28658326e-04]


--- Step 957 ---
qpos:
[ 5.01971854e-04, 7.67242234e-01,-1.69309183e-02,-2.70064910e-02,
 -3.62506437e-02, 4.22063098e-01,-1.57818779e-01,-5.13843542e-02,
  2.16383215e-02, 7.81572585e-01,-1.70641928e-02, 2.29912504e-02,
  1.19487855e+00,-1.01422451e-02, 8.59067908e-01, 6.20645111e-02,
  7.45248760e-02,-6.91273043e-02, 1.22597054e-01, 9.84645613e-01,
  2.75163582e-03,-1.34660322e-01,-1.11049731e-01]

qacc:
[ -0.92650503,-59.59327701,121.83463452,-69.92104713,-62.0811315 ,
  -0.86255227,  7.62525137,181.61462369,  0.53516752,-57.53119256,
 118.56829985,-78.02680754, -1.70878267,  3.63730855,-12.80581118,
  42.5688078 , -2.02980585, -0.48116378, -0.84219854, -1.17383647,
 -21.0784654 ,-91.65199071]

qfrc_actuator:
[ 1.60643883e-03, 1.39388521e-01, 5.43412603e-03, 1.10303550e-03,
  4.43623302e-02, 4.00100188e-01, 1.38301618e-01, 6.23444663e-02,
 -1.44156450e-03, 1.20718442e-01, 5.71034710e-03, 1.15340111e-03,
  1.65058743e-02,-1.40711213e-03, 9.74091487e-05,-2.90889086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.38016949,  0.0455177 , -0.37743474,  0.0455177 ,  0.2935989 ,
       -0.0104402 , -0.37743474, -0.0104402 ,  0.37891043,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007496296618005375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.51986690e-01,  1.87745675e-01, -2.41811712e-01,  1.81967183e-01,
        9.82217675e-01,  4.62210202e-02,  2.46189534e-01, -6.93889390e-18,
       -9.69221705e-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([ 0.09098632, -0.07921737,  0.11532546])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004107693757344072
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.35139459e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.35139459e-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([ 0.07992208, -0.05961925,  0.0619901 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.44845552e-04,-5.68522959e-03,-1.28416887e-03,-2.31622042e-04,
  1.79278019e-02, 2.57773754e-01, 1.47881855e-01, 7.22982190e-02,
  7.95064346e-05,-5.65500084e-03,-1.33775703e-03,-2.70131854e-04,
 -1.18896698e-04, 4.17407634e-05,-6.09562432e-05, 1.89273390e-04,
 -4.67943883e-02,-7.99369088e-02,-7.71550423e+00, 1.02968951e-02,
 -3.23402976e-02,-5.47828922e-04]


--- Step 958 ---
qpos:
[ 4.90240122e-04, 7.69556987e-01,-1.69516296e-02,-2.70071244e-02,
 -3.58102337e-02, 4.24723800e-01,-1.58009352e-01,-5.15606508e-02,
  2.16528648e-02, 7.83507706e-01,-1.70840382e-02, 2.29904821e-02,
  1.19528981e+00,-1.01400465e-02, 8.59350869e-01, 6.20663470e-02,
  7.41242079e-02,-6.90808201e-02, 1.22577109e-01, 9.84001807e-01,
  2.57417165e-03,-1.37589549e-01,-1.13150045e-01]

qacc:
[-1.02240008e+00,-6.17823585e+01, 1.31860946e+02,-9.44472031e+01,
 -6.08075399e+01, 7.89945341e-01, 3.39673951e-01, 2.03568307e+02,
 -1.60981951e-02,-5.46401258e+01, 1.06594848e+02,-5.32054042e+01,
 -9.96544887e-01, 1.87795678e+00, 1.05450865e+00,-5.42846196e+00,
 -2.04443281e+00,-4.39116256e-01,-8.90294004e-01, 7.14163661e-02,
 -2.15877573e+01,-8.66791124e+01]

qfrc_actuator:
[ 1.51464202e-03, 1.37100991e-01, 5.46560630e-03, 1.11520275e-03,
  4.39164171e-02, 3.99557496e-01, 1.38482482e-01, 6.25317870e-02,
 -1.48708862e-03, 1.18673877e-01, 5.75463225e-03, 1.22519123e-03,
  1.64700509e-02,-1.38633366e-03, 2.22310096e-05,-2.96169292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 0.34132268,  0.04868309, -0.33783299,  0.04868309,  0.25929134,
       -0.01182105, -0.33783299, -0.01182105,  0.33961922,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006496602850786338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.49186152e-01,  1.91161114e-01, -2.50006155e-01,  1.84856481e-01,
        9.81558673e-01,  4.86893515e-02,  2.54703221e-01,  6.93889390e-18,
       -9.67019270e-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([ 0.0906875 , -0.07915958,  0.11531269])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00040156455105193334
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.91185901e-14, -1.38237180e-13,  1.00000000e+00,  9.55475900e-27,
        1.00000000e+00,  1.38237180e-13, -1.00000000e+00,  0.00000000e+00,
        6.91185901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07992026, -0.0596214 ,  0.06199031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.60120102e-04,-5.80362678e-03,-1.32912638e-03,-2.84152949e-04,
  1.96723788e-02, 2.55391241e-01, 1.46612794e-01, 7.17234335e-02,
 -6.97373978e-06,-5.54581573e-03,-1.31456280e-03,-2.25244294e-04,
 -9.95390391e-05, 2.61285409e-06,-8.39039503e-05,-5.04807465e-05,
 -5.07419270e-02,-8.94927026e-02,-7.71207902e+00, 1.09192698e-02,
 -3.32566226e-02,-5.68268940e-04]


--- Step 959 ---
qpos:
[ 4.77115171e-04, 7.71826436e-01,-1.69720554e-02,-2.70083500e-02,
 -3.54114031e-02, 4.27426153e-01,-1.58168734e-01,-5.17198448e-02,
  2.16666633e-02, 7.85400993e-01,-1.71050162e-02, 2.29893752e-02,
  1.19570069e+00,-1.01384978e-02, 8.59633428e-01, 6.20651325e-02,
  7.37153161e-02,-6.90359313e-02, 1.22553419e-01, 9.83319697e-01,
  2.41681485e-03,-1.40560314e-01,-1.15409404e-01]

qacc:
[-7.83363183e-01,-6.18777884e+01, 1.36274482e+02,-1.13733143e+02,
 -5.78914966e+01, 4.19311856e+00,-5.99653616e+00, 2.19952112e+02,
 -4.03823982e-01,-5.28007697e+01, 1.09480288e+02,-8.27382776e+01,
  1.94341095e-01,-1.06228243e+00, 8.59237504e+00,-3.09777088e+01,
 -2.05592321e+00,-3.98835788e-01,-9.36367962e-01, 1.35067505e+00,
 -2.21395708e+01,-8.17478553e+01]

qfrc_actuator:
[ 0.00146534, 0.13488309, 0.00549226, 0.00108706, 0.04349866, 0.39921087,
  0.13866743, 0.06268727,-0.00155569, 0.11669905, 0.00573588, 0.00121457,
  0.01644444,-0.00142829, 0.        ,-0.00311792, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.29800604,  0.04913034, -0.29392824,  0.04913034,  0.22892739,
       -0.01154655, -0.29392824, -0.01154655,  0.29607602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005451839958470666
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94620199,  0.19487568, -0.25831234,  0.18799603,  0.98082795,
        0.05132275,  0.26336152,  0.        , -0.96469721])
  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([ 0.09038232, -0.07909903,  0.11529975])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0003923721021607124
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.07378926e-14, -2.82951570e-13,  1.00000000e+00,  2.00153978e-26,
        1.00000000e+00,  2.82951570e-13, -1.00000000e+00,  0.00000000e+00,
        7.07378926e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07991881, -0.05962432,  0.06199053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24268651e-04,-5.81040906e-03,-1.36532670e-03,-3.32024165e-04,
  2.14212021e-02, 2.53131986e-01, 1.45307187e-01, 7.10675754e-02,
 -6.80308783e-05,-5.40710437e-03,-1.35024396e-03,-3.01228415e-04,
 -8.65645901e-05,-6.27090391e-05,-6.79195200e-05,-1.70177291e-04,
 -5.47321573e-02,-9.88353028e-02,-7.70850941e+00, 1.15499905e-02,
 -3.41773322e-02,-5.90023345e-04]


--- Step 960 ---
qpos:
[ 4.63065879e-04, 7.74050727e-01,-1.69929611e-02,-2.70102896e-02,
 -3.49957042e-02, 4.30165793e-01,-1.58301423e-01,-5.18663322e-02,
  2.16794687e-02, 7.87253906e-01,-1.71271587e-02, 2.29868660e-02,
  1.19611114e+00,-1.01377136e-02, 8.59915584e-01, 6.20622974e-02,
  7.33073067e-02,-6.89850734e-02, 1.22528275e-01, 9.82620245e-01,
  2.21878244e-03,-1.43704957e-01,-1.17479433e-01]

qacc:
[  -0.51200468, -59.79688107, 129.64784636,-108.09491641,  23.2910574 ,
    1.73741082,  12.55078646, 136.16498474,  -0.54407327, -52.9737152 ,
  117.38576649,-110.07876356,   0.32122298,  -1.41142863,   4.26783301,
  -15.86369255,   0.22059916,   1.49225408,  -0.36347857,   3.3621349 ,
  -88.82605812,  95.15452188]

qfrc_actuator:
[ 0.00144184, 0.13267175, 0.00548075, 0.00105327, 0.04309566, 0.39873134,
  0.13884118, 0.06281622,-0.00161967, 0.1148352 , 0.00573369, 0.00115558,
  0.01641431,-0.00147145, 0.        ,-0.00319159, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.25747951,  0.03564481, -0.25500028,  0.03564481,  0.33809911,
        0.01126928, -0.25500028,  0.01126928,  0.25905476,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043690619996943384
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.94303663,  0.19886825, -0.26670832,  0.19136227,  0.98002623,
        0.05412081,  0.27214406,  0.        , -0.96225652])
  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([ 0.09007043, -0.07903595,  0.11528717])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.89552976, -0.91530806, -4.80920189, -0.91530806,  6.38480092,
       -0.28344451, -4.80920189, -0.28344451,  4.94947614,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003878070043194376
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.15705887e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.15705887e-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([ 0.07446105, -0.08770787,  0.06199063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.30942663e-05,-5.81583541e-03,-1.41057904e-03,-3.40064574e-04,
  2.31011412e-02, 2.50479497e-01, 1.43893158e-01, 7.03363102e-02,
 -9.03732719e-05,-5.22801589e-03,-1.31164783e-03,-3.46283842e-04,
 -9.76326017e-05,-7.28570234e-05,-5.27571420e-05,-9.24990274e-05,
 -5.87632628e-02,-1.07960328e-01,-7.70478069e+00, 1.21893267e-02,
 -3.51015450e-02,-6.13146377e-04]


--- Step 961 ---
qpos:
[ 4.47868734e-04, 7.76230056e-01,-1.70143668e-02,-2.70123719e-02,
 -3.45586858e-02, 4.32940476e-01,-1.58406444e-01,-5.19989597e-02,
  2.16912078e-02, 7.89067225e-01,-1.71495581e-02, 2.29841342e-02,
  1.19652094e+00,-1.01373798e-02, 8.60197268e-01, 6.20598587e-02,
  7.28985623e-02,-6.89281938e-02, 1.22501282e-01, 9.81902903e-01,
  1.98228435e-03,-1.46997777e-01,-1.19391844e-01]

qacc:
[-6.39328517e-01,-5.83051759e+01, 1.22298584e+02,-9.09824252e+01,
  2.91466553e+01,-1.43423943e+00, 1.48094244e+01, 1.53734848e+02,
 -5.83817306e-01,-5.20489421e+01, 1.10605351e+02,-8.49044603e+01,
 -4.95906270e-02,-5.78893413e-01,-1.89999924e+00, 5.61945659e+00,
 -1.83756719e-01, 1.50545121e+00,-4.62065205e-01, 1.15037596e+00,
 -7.61709277e+01, 7.93170379e+01]

qfrc_actuator:
[ 0.00138066, 0.13050008, 0.00548249, 0.00105195, 0.04269522, 0.39814201,
  0.13900025, 0.06292681,-0.00168034, 0.11299995, 0.00577744, 0.00115754,
  0.01637082,-0.0014972 , 0.        ,-0.00316268, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.23363705,  0.02675116, -0.23210051,  0.02675116,  0.29800548,
        0.0074189 , -0.23210051,  0.0074189 ,  0.23449213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003400294501478583
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9393466 ,  0.20601149, -0.2742029 ,  0.19775819,  0.97854957,
        0.05772722,  0.2802136 ,  0.        , -0.95993767])
  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([ 0.08976441, -0.07893567,  0.11528862])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.94217125,  1.15001922,  4.80650731,  1.15001922,  7.82660121,
       -0.69013728,  4.80650731, -0.69013728,  5.10729555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003971612364082888
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.98849059e-14, -6.98849059e-14,  1.00000000e+00,  4.88390007e-27,
        1.00000000e+00,  6.98849059e-14, -1.00000000e+00,  0.00000000e+00,
        6.98849059e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07435498, -0.08769077,  0.0619904 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03024317e-04,-5.78757065e-03,-1.40386137e-03,-3.09459692e-04,
  2.18536785e-02, 2.47935179e-01, 1.42688998e-01, 6.98063983e-02,
 -9.70514344e-05,-5.09209027e-03,-1.22514383e-03,-2.77131124e-04,
 -1.19804268e-04,-5.98430705e-05,-3.75600260e-05, 1.62753026e-05,
 -6.36164322e-02,-1.03943814e-01,-7.68738177e+00, 1.21569774e-02,
 -3.60592557e-02,-6.19102019e-04]


--- Step 962 ---
qpos:
[ 4.31180242e-04, 7.78364978e-01,-1.70360049e-02,-2.70146182e-02,
 -3.40973386e-02, 4.35751191e-01,-1.58483245e-01,-5.21171934e-02,
  2.17022692e-02, 7.90842054e-01,-1.71719300e-02, 2.29808789e-02,
  1.19692994e+00,-1.01370644e-02, 8.60478297e-01, 6.20610670e-02,
  7.24878210e-02,-6.88652955e-02, 1.22472042e-01, 9.81166669e-01,
  1.70917222e-03,-1.50419071e-01,-1.21174044e-01]

qacc:
[ -0.83478912,-58.36442967,123.66327343,-93.55192547, 32.92259478,
  -0.58495745, 11.42541059,164.75610009, -0.3644622 ,-52.00583085,
 113.83707571,-94.61187406, -0.40294616,  0.36005875,-11.95819892,
  40.47458722, -0.49922506,  1.50466248, -0.56184448, -0.71724799,
 -66.52035307, 65.61777642]

qfrc_actuator:
[ 0.00129746, 0.12838783, 0.00551016, 0.00105208, 0.04226735, 0.39754515,
  0.1391211 , 0.06300239,-0.00170305, 0.11121497, 0.00583056, 0.00114219,
  0.01633534,-0.00149475, 0.        ,-0.00296707, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21935394,  0.01996883, -0.21844312,  0.01996883,  0.26928597,
        0.0045645 , -0.21844312,  0.0045645 ,  0.2197712 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025184809556171397
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.93611665,  0.20928952, -0.28263674,  0.20035655,  0.97785372,
        0.06049259,  0.28903785,  0.        , -0.95731767])
  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([ 0.08945154, -0.07888058,  0.11528214])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.97257128,  1.17820489,  4.83097281,  1.17820489,  8.65167703,
       -0.89728106,  4.83097281, -0.89728106,  5.19140524,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040305705368254285
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.37725294e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.37725294e-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([ 0.07427097, -0.08767882,  0.06199025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.33651346e-04,-5.70834911e-03,-1.36978808e-03,-3.05889654e-04,
  2.03555112e-02, 2.45494188e-01, 1.41397219e-01, 6.91836537e-02,
 -6.22032602e-05,-4.94386507e-03,-1.17428904e-03,-2.84207729e-04,
 -1.22253407e-04,-3.43338046e-05,-1.88964868e-05, 1.90902145e-04,
 -6.82896785e-02,-9.97674460e-02,-7.67176428e+00, 1.21095753e-02,
 -3.70736136e-02,-6.24291839e-04]


--- Step 963 ---
qpos:
[ 4.12913407e-04, 7.80456305e-01,-1.70581871e-02,-2.70180379e-02,
 -3.36100510e-02, 4.38595408e-01,-1.58532925e-01,-5.22205958e-02,
  2.17126819e-02, 7.92580016e-01,-1.71949831e-02, 2.29779365e-02,
  1.19733835e+00,-1.01373417e-02, 8.60759075e-01, 6.20652283e-02,
  7.20740856e-02,-6.87964203e-02, 1.22440159e-01, 9.80410257e-01,
  1.40106058e-03,-1.53953827e-01,-1.22849435e-01]

qacc:
[-8.83302758e-01,-5.84984632e+01, 1.29949660e+02,-1.17383313e+02,
  3.47477026e+01,-1.29577721e-02, 2.66896475e+00, 1.84727569e+02,
 -3.48691768e-01,-4.61613706e+01, 9.25771753e+01,-5.89362112e+01,
  2.28399858e-01,-1.17453468e+00,-9.30633078e+00, 3.19758382e+01,
 -7.48531723e-01, 1.49421765e+00,-6.60776387e-01,-2.24555729e+00,
 -5.92094184e+01, 5.39057807e+01]

qfrc_actuator:
[ 0.00121961, 0.12631091, 0.00551779, 0.0009999 , 0.04177599, 0.39669797,
  0.13917189, 0.06312191,-0.00173844, 0.10952817, 0.00585361, 0.0011701 ,
  0.0163047 ,-0.00152891, 0.        ,-0.00281687, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.21075574,  0.01373637, -0.21030762,  0.01373637,  0.24587286,
        0.0022937 , -0.21030762,  0.0022937 ,  0.21090555,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017008379664468535
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.32833728e-01,  2.12300393e-01, -2.91118153e-01,  2.02660729e-01,
        9.77204453e-01,  6.32462306e-02,  2.97909155e-01,  6.93889390e-18,
       -9.54594226e-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([ 0.0891365 , -0.07882802,  0.11527807])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.98743758,  1.20877089,  4.83874018,  1.20877089,  9.67703034,
       -1.17151222,  4.83874018, -1.17151222,  5.28009431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004058854241608262
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.36765570e-13, -6.83827848e-14,  1.00000000e+00, -9.35241052e-27,
        1.00000000e+00,  6.83827848e-14, -1.00000000e+00,  0.00000000e+00,
       -1.36765570e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07420438, -0.08767102,  0.06199018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41598044e-04,-5.62025608e-03,-1.36870532e-03,-3.53477161e-04,
  1.86427780e-02, 2.42752095e-01, 1.40007062e-01, 6.85779888e-02,
 -5.96213822e-05,-4.75153988e-03,-1.16736900e-03,-2.32905128e-04,
 -1.12919315e-04,-6.70183808e-05, 8.91274241e-06, 1.57573663e-04,
 -7.29012710e-02,-9.57828314e-02,-7.65763344e+00, 1.20658843e-02,
 -3.81354180e-02,-6.29029691e-04]


--- Step 964 ---
qpos:
[ 3.93075411e-04, 7.82504669e-01,-1.70808949e-02,-2.70218653e-02,
 -3.30961641e-02, 4.41470132e-01,-1.58555870e-01,-5.23087489e-02,
  2.17227697e-02, 7.94282053e-01,-1.72190786e-02, 2.29758881e-02,
  1.19774602e+00,-1.01379833e-02, 8.61040252e-01, 6.20678045e-02,
  7.16565668e-02,-6.87216341e-02, 1.22405244e-01, 9.79632216e-01,
  1.05937599e-03,-1.57590640e-01,-1.24437890e-01]

qacc:
[-8.77459376e-01,-5.61369531e+01, 1.19517673e+02,-9.42081799e+01,
  3.52706569e+01,-1.97641530e+00, 2.21614658e+00, 1.95122289e+02,
 -1.67326987e-01,-4.27119154e+01, 7.96305587e+01,-3.60483661e+01,
 -2.90519937e-01,-9.74228414e-02, 5.37959213e+00,-1.79537087e+01,
 -9.45833479e-01, 1.47774840e+00,-7.58115805e-01,-3.48154155e+00,
 -5.36957437e+01, 4.39439510e+01]

qfrc_actuator:
[ 0.00114564, 0.12427213, 0.00553158, 0.00098841, 0.04127069, 0.39563547,
  0.13917046, 0.06324383,-0.0017457 , 0.10784302, 0.00584156, 0.00122334,
  0.01626099,-0.00154894, 0.        ,-0.00290771, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20596348,  0.0079139 , -0.20581138,  0.0079139 ,  0.22817457,
        0.00085407, -0.20581138,  0.00085407,  0.20599632,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.259674326534403e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92948221,  0.21508376, -0.29966947,  0.20470758,  0.97659561,
        0.0659987 ,  0.30685114,  0.        , -0.95175752])
  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([ 0.08881877, -0.07877722,  0.1152758 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.98812774,  1.24460496,  4.83035991,  1.24460496, 10.95595283,
       -1.53768764,  4.83035991, -1.53768764,  5.38433292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040601587670194283
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.02541220e-13, -6.83608135e-14,  1.00000000e+00, -7.00980123e-27,
        1.00000000e+00,  6.83608135e-14, -1.00000000e+00,  0.00000000e+00,
       -1.02541220e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07415156, -0.08766654,  0.06199017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41190230e-04,-5.53340489e-03,-1.34546218e-03,-3.09812448e-04,
  1.68351772e-02, 2.39919815e-01, 1.38618910e-01, 6.79526952e-02,
 -3.04606779e-05,-4.63767497e-03,-1.15976954e-03,-1.98031103e-04,
 -1.27350971e-04,-5.68320873e-05, 1.65392425e-05,-8.21082085e-05,
 -7.75430599e-02,-9.21756658e-02,-7.64469925e+00, 1.20362961e-02,
 -3.92376968e-02,-6.33521687e-04]


--- Step 965 ---
qpos:
[ 3.71504543e-04, 7.84510514e-01,-1.71042686e-02,-2.70248819e-02,
 -3.25555341e-02, 4.44375952e-01,-1.58549539e-01,-5.23813693e-02,
  2.17334502e-02, 7.95948683e-01,-1.72440401e-02, 2.29736690e-02,
  1.19815250e+00,-1.01378882e-02, 8.61321363e-01, 6.20703025e-02,
  7.12346434e-02,-6.86410177e-02, 1.22366916e-01, 9.78831004e-01,
  6.85396793e-04,-1.61320861e-01,-1.25956246e-01]

qacc:
[ -0.96785891,-52.64977415,102.80412175,-56.5396034 , 35.10407146,
  -7.43204515, 21.78898348,175.62420595,  0.34613391,-44.71083905,
  92.24705923,-67.75492395, -1.54145949,  2.89314795,  0.21918472,
  -0.72864832, -1.10115964,  1.45757202, -0.8532324 , -4.47110762,
 -49.55066291, 35.48736418]

qfrc_actuator:
[ 0.00105689, 0.12223754, 0.00553149, 0.00103655, 0.04076376, 0.39453988,
  0.13919824, 0.06328984,-0.00168289, 0.10615491, 0.00582685, 0.00122006,
  0.01619882,-0.00150722, 0.        ,-0.00290903, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 2.04073304e-01,  2.35238963e-03, -2.04059745e-01,  2.35238963e-03,
        2.16436914e-01,  1.42527027e-04, -2.04059745e-01,  1.42527027e-04,
        2.04074947e-01,  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: -1.758755811636841e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92604743,  0.21767267, -0.30830952,  0.20652736,  0.97602183,
        0.06875928,  0.31588384,  0.        , -0.94879787])
  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([ 0.08849799, -0.07872755,  0.11527478])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.9764304 ,  1.28931   ,  4.8065101 ,  1.28931   , 12.55780673,
       -2.03364689,  4.8065101 , -2.03364689,  5.52194081,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00040379466177170587
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.43684281e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.43684281e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07410962, -0.08766474,  0.06199021])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55839082e-04,-5.47275085e-03,-1.33660978e-03,-2.44730449e-04,
  1.49927825e-02, 2.37202982e-01, 1.37278565e-01, 6.72304183e-02,
  5.24544216e-05,-4.57288305e-03,-1.13644496e-03,-2.48667092e-04,
 -1.52617838e-04, 3.66559716e-06,-8.38744835e-06,-5.36976919e-06,
 -8.22871230e-02,-8.90303344e-02,-7.63270374e+00, 1.20260948e-02,
 -4.03752686e-02,-6.37898853e-04]


--- Step 966 ---
qpos:
[ 3.48239662e-04, 7.86474478e-01,-1.71284820e-02,-2.70270914e-02,
 -3.18043017e-02, 4.48743977e-01,-1.57176291e-01,-5.14437250e-02,
  2.17446044e-02, 7.97580289e-01,-1.72698617e-02, 2.29716707e-02,
  1.19855809e+00,-1.01378887e-02, 8.61602298e-01, 6.20734133e-02,
  7.08116118e-02,-6.85547275e-02, 1.22324406e-01, 9.78014740e-01,
  2.78742183e-04,-1.65099820e-01,-1.27393640e-01]

qacc:
[-9.44148049e-01,-5.13264201e+01, 9.93263864e+01,-5.33139873e+01,
  2.75336835e+02, 2.36546329e+02,-2.24634050e+03, 1.63976826e+04,
  2.78924369e-01,-4.34155254e+01, 8.67093080e+01,-5.57312309e+01,
 -5.34872212e-01, 5.01624173e-01,-2.08816400e+00, 6.97601535e+00,
 -2.77039729e-01, 1.41844564e+00,-1.04534150e+00,-6.38674680e+00,
 -2.70976125e+01, 4.13290901e+01]

qfrc_actuator:
[ 0.00097779, 0.12023997, 0.00552344, 0.00108391, 0.04022729, 0.39397973,
  0.13923032, 0.06335492,-0.00166758, 0.10447889, 0.00581077, 0.00123684,
  0.01615228,-0.00151818, 0.        ,-0.00287528, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.95435944, -0.51019553, -4.92801968, -0.51019553, 33.43473899,
       -2.94856012, -4.92801968, -2.94856012,  5.25962246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039954344700088296
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.38936458e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.38936458e-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([ 0.07407626, -0.08766509,  0.0619903 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52614927e-04,-5.39600180e-03,-1.32830835e-03,-2.41265135e-04,
  1.31134273e-02, 2.34990915e-01, 1.35814923e-01, 6.65129013e-02,
  4.17797390e-05,-4.52092419e-03,-1.12297571e-03,-2.25954155e-04,
 -1.39128855e-04,-4.35947108e-05,-1.00050763e-05, 3.11132963e-05,
 -8.71896764e-02,-8.63708772e-02,-7.62142969e+00, 1.20375108e-02,
 -4.15442759e-02,-6.42245503e-04]


--- Step 967 ---
qpos:
[ 8.75737993e-04, 7.88410031e-01,-1.71787902e-02,-2.70900872e-02,
 -3.10289139e-02, 4.53881450e-01,-1.55683582e-01,-5.05872683e-02,
  2.17556670e-02, 7.99176813e-01,-1.72957949e-02, 2.29704836e-02,
  1.19896293e+00,-1.01383264e-02, 8.61883132e-01, 6.20768787e-02,
  7.03875541e-02,-6.84655586e-02, 1.22278055e-01, 9.77175682e-01,
 -1.41169189e-04,-1.68928013e-01,-1.28806026e-01]

qacc:
[ 3.12161967e+02,-9.01255897e+01, 5.22400719e+02,-1.51007737e+03,
  2.97802973e+01, 5.02632126e+02, 1.38988414e+01,-2.14970815e+03,
 -3.60940576e-02,-4.43688818e+01, 8.75049604e+01,-4.74641985e+01,
 -1.39537113e-01,-4.40914612e-01,-1.22399231e+00, 4.05793591e+00,
 -2.56534483e-01, 7.19653105e-01,-9.60274315e-01,-1.27896245e+00,
 -2.67986999e+01, 1.18786657e+01]

qfrc_actuator:
[ 0.00099392, 0.11831647, 0.0055643 , 0.00111272, 0.03949632, 0.3923683 ,
  0.13786237, 0.06250152,-0.00169864, 0.10278839, 0.00582972, 0.00128308,
  0.01611513,-0.00154245, 0.        ,-0.00285663, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.47404804,  0.22937249, -0.41486119,  0.22937249,  0.12902541,
       -0.19075947, -0.41486119, -0.19075947,  0.36857909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.7425742478418048e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.19714356, -0.97983736, -0.03245251, -0.00640118, -0.03181494,
        0.99947328, -0.98035373,  0.19724746,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05702783, -0.04255134,  0.16338507])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.20628373,  0.03421883,  0.20342578,  0.03421883,  0.48923018,
       -0.04759522,  0.20342578, -0.04759522,  0.21428986,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.980443468732172e-05
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.92042581,  0.22313407, -0.32097899,  0.21069033,  0.97478777,
        0.07347379,  0.3292809 ,  0.        , -0.94423201])
  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([ 0.08766393, -0.07864985,  0.11546493])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.92711179,  0.36804445,  4.9133465 ,  0.36804445, 10.87252686,
       -0.44535369,  4.9133465 , -0.44535369,  4.96047193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00039418288583915884
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.11238818e-13, -7.04129393e-14,  1.00000000e+00,  1.48739461e-26,
        1.00000000e+00,  7.04129393e-14, -1.00000000e+00,  0.00000000e+00,
        2.11238818e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07404966, -0.08766701,  0.06199042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.60287349e-05,-5.27595117e-03,-1.26200265e-03,-2.56091211e-04,
  1.73613549e-03, 1.60063909e-01, 6.60645975e-02, 1.51432112e-02,
 -9.39021255e-06,-4.50162054e-03,-1.07444686e-03,-1.93296894e-04,
 -1.31913833e-04,-6.25274929e-05,-6.14618971e-06, 1.79326539e-05,
 -9.03681608e-02,-8.18199590e-02,-7.61534003e+00, 1.19405649e-02,
 -4.27305744e-02,-6.44246484e-04]


--- Step 968 ---
qpos:
[ 1.93443657e-03, 7.90285251e-01,-1.72632888e-02,-2.71947981e-02,
 -3.02445438e-02, 4.59343095e-01,-1.54131431e-01,-4.97935782e-02,
  2.17666698e-02, 8.00738861e-01,-1.73205191e-02, 2.29699839e-02,
  1.19936671e+00,-1.01384156e-02, 8.62163726e-01, 6.20818627e-02,
  6.99629858e-02,-6.83754609e-02, 1.22228551e-01, 9.76306056e-01,
 -5.61982157e-04,-1.72805737e-01,-1.30247255e-01]

qacc:
[ 3.00453414e+02,-7.03778849e+01, 3.10536323e+02,-9.32263402e+02,
  1.08192776e+01, 1.30495608e+02, 4.17320210e+02,-1.82877929e+03,
 -1.77273804e-02,-4.75107178e+01, 1.00394329e+02,-6.50544709e+01,
 -1.02351280e+00, 1.68186234e+00,-4.88419301e+00, 1.66928219e+01,
 -1.27656531e-01, 2.32210810e-01,-7.88216878e-01, 3.10947397e-01,
 -2.68380407e+01,-1.59889276e+01]

qfrc_actuator:
[ 0.00051539, 0.11638744, 0.0056601 , 0.00117393, 0.03871533, 0.3896304 ,
  0.13637283, 0.06169561,-0.0017039 , 0.10119204, 0.00594029, 0.00132856,
  0.01606232,-0.00152106, 0.        ,-0.00277604, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.47602261,  0.24923458, -0.40556091,  0.24923458,  0.15391865,
       -0.1979467 , -0.40556091, -0.1979467 ,  0.35437588,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.696624963209045e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.99947740e-01, -9.79261744e-01, -3.26701483e-02, -6.53581123e-03,
       -3.20097136e-02,  9.99466188e-01, -9.79784764e-01,  2.00054532e-01,
        8.67361738e-19])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05689797, -0.04250778,  0.16354607])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.23030839, -0.06403284, -0.22122782, -0.06403284,  0.62486195,
       -0.11420076, -0.22122782, -0.11420076,  0.26336299,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003224644326800969
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.18704722e-01,  2.26384876e-01, -3.23622498e-01,  2.13524390e-01,
        9.74037929e-01,  7.52160025e-02,  3.32248353e-01,  1.38777878e-17,
       -9.43191938e-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([ 0.08709193, -0.07862841,  0.11572023])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.89776352,  1.44976358,  4.67827672,  1.44976358, 24.95647333,
       -6.21604677,  4.67827672, -6.21604677,  6.82407074,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038826389392052074
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.85945472e-13, -2.14459104e-13,  1.00000000e+00, -6.13236098e-26,
        1.00000000e+00,  2.14459104e-13, -1.00000000e+00,  0.00000000e+00,
       -2.85945472e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07402831, -0.08767008,  0.06199056])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.81586278e-02,-5.82413272e-03, 1.26467699e-04, 2.84220931e-03,
 -2.95179513e-04, 1.18654356e-01, 5.85454158e-02, 1.83868673e-02,
 -6.50259172e-06,-4.38430599e-03,-9.71414280e-04,-1.90850069e-04,
 -1.47327365e-04,-1.87281675e-05,-5.98933219e-06, 7.96055831e-05,
 -9.42824626e-02,-8.07697096e-02,-7.60936974e+00, 1.20243302e-02,
 -4.39224876e-02,-6.52635152e-04]


--- Step 969 ---
qpos:
[ 3.46831407e-03, 7.92090692e-01,-1.73796757e-02,-2.73329437e-02,
 -2.94697967e-02, 4.64909486e-01,-1.52570986e-01,-4.90565385e-02,
  2.17774056e-02, 8.02267786e-01,-1.73448415e-02, 2.29688272e-02,
  1.19976955e+00,-1.01382820e-02, 8.62444651e-01, 6.20844030e-02,
  6.95385097e-02,-6.82861205e-02, 1.22176523e-01, 9.75398473e-01,
 -9.72983672e-04,-1.76733221e-01,-1.31765859e-01]

qacc:
[ 2.68237358e+02,-7.22008908e+01, 2.64113252e+02,-7.39516557e+02,
 -1.19502859e+01,-1.26793509e+00, 4.42832764e+02,-1.51091173e+03,
 -1.34110164e-01,-4.62336558e+01, 1.04112045e+02,-9.17439848e+01,
 -1.00091235e+00, 1.59420385e+00, 7.91011382e+00,-2.68646192e+01,
  2.30522502e-02,-1.89326305e-01,-6.31171657e-01, 1.33405981e+00,
 -2.69103175e+01,-4.11045164e+01]

qfrc_actuator:
[-0.00049617, 0.11449839, 0.00575414, 0.00129532, 0.03790984, 0.38633636,
  0.13482259, 0.06087899,-0.00172917, 0.09964784, 0.00599805, 0.00130238,
  0.01602149,-0.00150841, 0.        ,-0.00290811, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.47565967,  0.25264964, -0.403014  ,  0.25264964,  0.16334755,
       -0.1957886 , -0.403014  , -0.1957886 ,  0.35291972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.164862425871161e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.20280795, -0.97866478, -0.03292709, -0.0066815 , -0.03224207,
        0.99945776, -0.97919574,  0.20291798,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05675266, -0.04243481,  0.16370339])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.30720038, -0.06762755, -0.29966412, -0.06762755,  1.05738393,
       -0.16929981, -0.29966412, -0.16929981,  0.3454076 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005673853103778352
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.17040527e-01,  2.29814706e-01, -3.25916973e-01,  2.16545366e-01,
        9.73234402e-01,  7.69604048e-02,  3.34880243e-01,  1.38777878e-17,
       -9.42260698e-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([ 0.08649324, -0.07860824,  0.11600341])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.86633725,  1.53429789,  4.61813471,  1.53429789, 28.93127333,
       -7.99517182,  4.61813471, -7.99517182,  7.52259914,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00038174990836528644
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.63530875e-14, -1.45412350e-13,  1.00000000e+00,  5.28618787e-27,
        1.00000000e+00,  1.45412350e-13, -1.00000000e+00,  0.00000000e+00,
        3.63530875e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07401109, -0.08767411,  0.0619907 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.58066252e-02,-4.71351364e-03, 1.92701549e-03, 5.04916444e-03,
 -1.57024572e-03, 9.89468322e-02, 5.39513459e-02, 2.06944391e-02,
 -2.52974858e-05,-4.24422746e-03,-9.86926667e-04,-2.53818335e-04,
 -1.34999387e-04,-2.29563819e-05, 9.80648830e-07,-1.29586329e-04,
 -9.91787610e-02,-8.31512403e-02,-7.60348903e+00, 1.22942816e-02,
 -4.51288502e-02,-6.66129620e-04]


--- Step 970 ---
qpos:
[ 0.00541536, 0.79382638,-0.01752504,-0.02749903,-0.02872273, 0.47047498,
 -0.15103437,-0.04837369, 0.02178804, 0.8037646 ,-0.01737101, 0.02296734,
  1.20017168,-0.01013836, 0.86272592, 0.06208233, 0.06911474,-0.06819901,
  0.12212255, 0.97444592,-0.00136457,-0.18071071,-0.13340511]

qacc:
[ 2.32792736e+02,-6.89468031e+01, 2.29458240e+02,-6.14577680e+02,
 -3.32647497e+01,-4.56208806e+01, 3.88547609e+02,-1.28657163e+03,
 -4.31137585e-02,-3.79256342e+01, 7.50407352e+01,-5.41127479e+01,
 -5.23957246e-01, 4.79933182e-01, 1.44492859e+01,-4.97772691e+01,
  1.77842979e-01,-5.57884975e-01,-4.87078909e-01, 2.07884973e+00,
 -2.70242576e+01,-6.35437657e+01]

qfrc_actuator:
[-0.00196626, 0.11270239, 0.00584075, 0.00144347, 0.03712243, 0.38368602,
  0.13324553, 0.06014594,-0.00173072, 0.09809413, 0.00591792, 0.00128753,
  0.01599319,-0.00151875, 0.        ,-0.00314668, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.47375632,  0.25212207, -0.40109789,  0.25212207,  0.16860508,
       -0.19181194, -0.40109789, -0.19181194,  0.35318719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.4085333542477896e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.05814268e-01, -9.78025596e-01, -3.32628905e-02, -6.84976787e-03,
       -3.25499703e-02,  9.99446637e-01, -9.78567099e-01,  2.05928221e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05659411, -0.04233586,  0.16385618])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.40069191,  0.00871628, -0.4005971 ,  0.00871628,  1.69743688,
        0.02821487, -0.4005971 ,  0.02821487,  0.40130582,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008118271697417102
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91525622,  0.23344182, -0.32834581,  0.21973005,  0.97237077,
        0.07882759,  0.33767553,  0.        , -0.94126258])
  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([ 0.08588672, -0.07858629,  0.11629498])
  solimp: array([9.0e-01, 9.5e-01, 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([  4.83286811,   1.66274117,   4.53783053,   1.66274117,
        32.83282184, -10.25967709,   4.53783053, -10.25967709,
         8.59219482,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00037460047024191756
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.85234522e-13, -7.40938088e-14,  1.00000000e+00, -1.37247313e-26,
        1.00000000e+00,  7.40938088e-14, -1.00000000e+00,  0.00000000e+00,
       -1.85234522e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07399714, -0.08767898,  0.06199087])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.10969685e-02,-3.02142145e-03, 3.61153770e-03, 6.87034007e-03,
 -1.88095252e-03, 9.08547220e-02, 5.18802829e-02, 2.27775176e-02,
 -1.00630373e-05,-4.18042455e-03,-1.09967132e-03,-2.38191993e-04,
 -1.16059507e-04,-4.39032362e-05,-2.04311561e-05,-2.47155239e-04,
 -1.05063229e-01,-8.87473851e-02,-7.59769339e+00, 1.27460283e-02,
 -4.63492550e-02,-6.84609708e-04]


--- Step 971 ---
qpos:
[ 0.0062108 , 0.79552263,-0.01757997,-0.02750282,-0.02797743, 0.47597003,
 -0.14956024,-0.04774212, 0.02179822, 0.80522975,-0.01739769, 0.02296481,
  1.20057313,-0.01013833, 0.8630071 , 0.06207706, 0.06868646,-0.06810653,
  0.12206366, 0.97346633,-0.00178381,-0.18474324,-0.13501875]

qacc:
[-6.47578764e+02, 3.01162095e+01,-8.65418339e+02, 3.55398028e+03,
 -2.14604295e+00,-2.54862302e+01, 1.70008834e+02,-9.03266017e+02,
 -2.38855142e-01,-4.26023713e+01, 9.56086197e+01,-8.97063363e+01,
 -7.18711252e-01, 1.09055259e+00, 9.56464507e+00,-3.35789084e+01,
 -1.12931201e+00, 1.34392107e+00,-1.22734300e+00,-7.50307313e+00,
 -3.11205914e+01, 1.31401310e+01]

qfrc_actuator:
[-0.00382177, 0.11097238, 0.00596825, 0.00158006, 0.03633226, 0.38129036,
  0.13169895, 0.05948324,-0.00177135, 0.09661794, 0.00593468, 0.0012439 ,
  0.01597242,-0.00150706, 0.        ,-0.00330397, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.10728286, -0.41709702, -0.10728286,  0.35187924,
        0.02026689, -0.41709702,  0.02026689,  0.42546044,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010448293139541632
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.13250279e-01,  2.37309665e-01, -3.31146571e-01,  2.23096067e-01,
        9.71434055e-01,  8.08951275e-02,  3.40884252e-01, -1.38777878e-17,
       -9.40105274e-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([ 0.08528198, -0.07856114,  0.11658522])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.79743799,  1.8443244 ,  4.42875589,  1.8443244 , 28.78481899,
       -9.989377  ,  4.42875589, -9.989377  ,  8.95744415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003667780098699086
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  1.5134809e-13,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -1.5134809e-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([ 0.07398578, -0.08768464,  0.06199104])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.03657841e-01,-1.25523715e-03, 5.19525413e-03, 8.40600039e-03,
 -1.27994633e-03, 8.83015418e-02, 5.14430958e-02, 2.48068791e-02,
 -4.23852712e-05,-4.08894079e-03,-1.00265050e-03,-2.67772501e-04,
 -1.01871393e-04,-2.13250619e-05,-4.26231698e-05,-1.75019944e-04,
 -1.11911438e-01,-9.73396726e-02,-7.59196704e+00, 1.33744068e-02,
 -4.75819926e-02,-7.08050855e-04]


--- Step 972 ---
qpos:
[ 0.00648845, 0.79720553,-0.01761813,-0.02750057,-0.02723874, 0.48134292,
 -0.14816727,-0.04715729, 0.02180734, 0.80666425,-0.01742424, 0.02296051,
  1.20097398,-0.01013822, 0.86328828, 0.06206787, 0.06825331,-0.0680087 ,
  0.12199965, 0.97245796,-0.00222983,-0.18883203,-0.13661265]

qacc:
[-2.90667969e+02,-5.18206248e+01, 1.34082705e+02,-4.70236947e+01,
 -7.66539498e+00,-3.25447763e+01, 7.69044554e+01,-6.63965503e+02,
 -5.74471067e-01,-4.44741147e+01, 1.07275804e+02,-1.15477892e+02,
 -6.70361193e-01, 1.02971936e+00, 1.18414097e+01,-4.13799708e+01,
 -1.21806456e+00, 1.33657517e+00,-1.28135542e+00,-7.44048849e+00,
 -3.18685519e+01, 1.00850353e+01]

qfrc_actuator:
[-0.00456229, 0.10924402, 0.00604796, 0.0015839 , 0.03554334, 0.37830081,
  0.13027209, 0.05884601,-0.00185278, 0.09521843, 0.00599122, 0.00116611,
  0.01595087,-0.00150011, 0.        ,-0.00350084, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.11274933, -0.41565265, -0.11274933,  0.25551712,
        0.04751263, -0.41565265,  0.04751263,  0.41778515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012533714952654683
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.91099378,  0.24106068, -0.33463425,  0.2262777 ,  0.97051005,
        0.08311831,  0.34480246,  0.        , -0.93867527])
  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([ 0.08468298, -0.07853373,  0.11686427])
  solimp: array([9.0e-01, 9.5e-01, 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([  4.76048768,   2.50652586,   4.04716828,   2.50652586,
        36.51586622, -19.66700466,   4.04716828, -19.66700466,
        16.94082027,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0003583209841516305
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.74600898e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.74600898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07397647, -0.08769102,  0.06199124])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.66742123e-02,-1.17946465e-03, 6.90199138e-04, 2.81837267e-04,
 -1.97915514e-03, 8.86394599e-02, 5.30580830e-02, 2.67162751e-02,
 -9.78094619e-05,-3.94147036e-03,-9.32763610e-04,-2.95175589e-04,
 -8.90315384e-05,-1.87751389e-05,-4.32505981e-05,-2.13052257e-04,
 -1.17267139e-01,-9.61416480e-02,-7.58488407e+00, 1.35028625e-02,
 -4.88441393e-02,-7.15426473e-04]


--- Step 973 ---
qpos:
[ 0.00653366, 0.79886896,-0.01764925,-0.02749647,-0.02650836, 0.48657024,
 -0.14685744,-0.04661451, 0.02181545, 0.80806906,-0.01745104, 0.02295551,
  1.20137429,-0.01013806, 0.86356883, 0.06205935, 0.06781497,-0.06790554,
  0.12193029, 0.97141918,-0.00270186,-0.19297836,-0.13819131]

qacc:
[-1.30250677e+02,-4.14613345e+01, 1.02891582e+02,-6.80339959e+01,
 -9.39081271e+00,-4.78377649e+01, 6.71435472e+01,-5.53298157e+02,
 -5.46573796e-01,-3.99455121e+01, 8.84614082e+01,-7.82891966e+01,
 -4.04536364e-01, 5.41917119e-01,-2.91367276e+00, 8.89235985e+00,
 -1.29610930e+00, 1.33143860e+00,-1.33683808e+00,-7.31172374e+00,
 -3.26417721e+01, 7.72410591e+00]

qfrc_actuator:
[-0.00482475, 0.10754186, 0.00608324, 0.00159944, 0.03481399, 0.37528334,
  0.128943  , 0.05825778,-0.00190465, 0.09384107, 0.00601793, 0.00113997,
  0.01592887,-0.00149603, 0.        ,-0.00345316, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.11651931, -0.41461161, -0.11651931,  0.22949203,
        0.05653848, -0.41461161,  0.05653848,  0.41478421,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014319566410630894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90843769,  0.24466822, -0.3389372 ,  0.22923294,  0.96960686,
        0.08552658,  0.34956147,  0.        , -0.93691343])
  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([ 0.08409427, -0.0785035 ,  0.11712676])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00034932320031227926
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.94552884e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.94552884e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07396875, -0.08769799,  0.06199145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09837208e-02,-2.27846460e-03,-1.35357399e-04,-9.44451537e-06,
 -2.37152604e-03, 9.15404268e-02, 5.57065780e-02, 2.84479056e-02,
 -9.33125265e-05,-3.82278405e-03,-9.24194183e-04,-2.35269063e-04,
 -8.11123244e-05,-1.83112998e-05,-4.78465669e-05, 2.92808146e-05,
 -1.22965497e-01,-9.52613232e-02,-7.57756738e+00, 1.36489235e-02,
 -5.01218901e-02,-7.22990122e-04]


--- Step 974 ---
qpos:
[ 0.0071359 , 0.80053158,-0.01769891,-0.02755678,-0.02580764, 0.49164464,
 -0.14562891,-0.04610985, 0.02182277, 0.80944421,-0.01747741, 0.02295014,
  1.20177408,-0.01013785, 0.86384862, 0.06205506, 0.06737372,-0.06780092,
  0.12185685, 0.97033513,-0.0031749 ,-0.19718445,-0.13984971]

qacc:
[ 3.11598697e+02,-8.22285184e+01, 5.62363217e+02,-1.64490597e+03,
 -3.29163980e+01,-5.43652431e+01, 6.01631735e+01,-4.76749492e+02,
 -4.23950907e-01,-4.11683674e+01, 9.14624073e+01,-7.67100280e+01,
 -2.18324703e-01, 1.96474843e-01,-1.38956414e+01, 4.70090372e+01,
 -7.26791242e-01, 3.64775009e-01,-1.01996959e+00,-4.12095926e+00,
 -3.33603934e+01,-4.18407513e+01]

qfrc_actuator:
[-0.00486084, 0.10588463, 0.00607712, 0.00160601, 0.03412471, 0.37221488,
  0.12763599, 0.05773071,-0.00193841, 0.09241727, 0.00606258, 0.00112671,
  0.01590661,-0.00149368, 0.        ,-0.00322626, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.47382269,  0.20839268, -0.42553546,  0.20839268,  0.11267468,
       -0.17686094, -0.42553546, -0.17686094,  0.38721057,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8011898296578572e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.30296094e-01, -9.72140868e-01, -4.36559533e-02, -1.00633897e-02,
       -4.24802359e-02,  9.99046624e-01, -9.73068568e-01,  2.30515862e-01,
       -1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0560884 , -0.04212483,  0.16442818])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.43067336, -0.102178  , -0.41837686, -0.102178  ,  0.22256466,
        0.0508253 , -0.41837686,  0.0508253 ,  0.41826056,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015787980496530087
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.90612704,  0.24507546, -0.34477791,  0.22905475,  0.96950401,
        0.08715447,  0.35562299,  0.        , -0.93462949])
  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([ 0.08351161, -0.07850413,  0.11736293])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00033986540337396787
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.16663754e-14, -1.63332751e-13,  1.00000000e+00,  1.33387937e-26,
        1.00000000e+00,  1.63332751e-13, -1.00000000e+00,  0.00000000e+00,
        8.16663754e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07396225, -0.08770544,  0.06199166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.37099305e-03,-3.00777076e-03,-5.08252450e-04,-9.84493928e-05,
 -2.63796832e-03, 9.55672582e-02, 5.84781481e-02, 3.00059527e-02,
 -7.32945084e-05,-3.79770340e-03,-8.78345428e-04,-2.15795020e-04,
 -7.61538031e-05,-1.83281818e-05,-2.14552236e-05, 2.21767823e-04,
 -1.29006621e-01,-9.46158563e-02,-7.57000705e+00, 1.38092721e-02,
 -5.14153166e-02,-7.30724250e-04]


--- Step 975 ---
qpos:
[ 0.00828041, 0.80214888,-0.01778055,-0.02765732,-0.02514862, 0.49656532,
 -0.14447544,-0.04563922, 0.02182952, 0.81078951,-0.01750347, 0.02294464,
  1.20217331,-0.01013733, 0.86412847, 0.06205146, 0.0669304 ,-0.0676967 ,
  0.12177989, 0.96919762,-0.00363587,-0.20145243,-0.14163215]

qacc:
[ 3.02828408e+02,-5.36650794e+01, 2.73509008e+02,-8.84223963e+02,
 -4.54627984e+01,-6.38758717e+01, 7.56373745e+01,-4.31120891e+02,
 -3.02732170e-01,-4.05327655e+01, 8.78129230e+01,-6.84979105e+01,
 -6.69821907e-01, 1.22656522e+00,-1.94325228e+00, 7.00916419e+00,
 -5.20437562e-01,-9.83489834e-02,-8.80921821e-01,-2.12613361e+00,
 -3.42548060e+01,-6.52052788e+01]

qfrc_actuator:
[-0.00543985, 0.10424348, 0.00613995, 0.00169047, 0.03343091, 0.36889737,
  0.12640915, 0.05723549,-0.00196112, 0.09094197, 0.0060819 , 0.00112112,
  0.01588422,-0.00147463, 0.        ,-0.00319747, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.47418431,  0.23224422, -0.41341672,  0.23224422,  0.13883373,
       -0.18838917, -0.41341672, -0.18838917,  0.36835333,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.1790654574574216e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.23350152, -0.97135072, -0.04421332, -0.01033398, -0.04298868,
        0.99902211, -0.97230152,  0.23373008,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05597061, -0.04208088,  0.16456837])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.43067336, -0.08475044, -0.42225218, -0.08475044,  0.21434656,
        0.04341906, -0.42225218,  0.04341906,  0.4219587 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016955142424571411
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.02888829e-01,  2.48517909e-01, -3.50757198e-01,  2.31651579e-01,
        9.68627301e-01,  8.99927614e-02,  3.62117811e-01, -1.38777878e-17,
       -9.32132335e-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([ 0.08294885, -0.07846696,  0.1175877 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000330084554848481
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.40862597e-14, -3.36345039e-13,  1.00000000e+00,  2.82819963e-26,
        1.00000000e+00,  3.36345039e-13, -1.00000000e+00,  0.00000000e+00,
        8.40862597e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07395665, -0.0877133 ,  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:
[-3.78759862e-02,-4.63711725e-03, 4.73358220e-04, 3.20495105e-03,
 -1.83319685e-03, 9.97182867e-02, 6.12399137e-02, 3.14008577e-02,
 -5.33232392e-05,-3.82408292e-03,-8.91913753e-04,-2.05030792e-04,
 -7.28394748e-05,-7.32537024e-07, 1.17273142e-05, 3.76911254e-05,
 -1.37116223e-01,-1.00672459e-01,-7.56251988e+00, 1.43334475e-02,
 -5.27272026e-02,-7.48389300e-04]


--- Step 976 ---
qpos:
[ 0.00869517, 0.80371806,-0.01781169,-0.02765109,-0.02450201, 0.50133841,
 -0.14339159,-0.0451986 , 0.02183567, 0.81210567,-0.01752938, 0.02293935,
  1.20257183,-0.01013648, 0.86440866, 0.06204556, 0.066481  ,-0.06758705,
  0.1216969 , 0.96802608,-0.00412106,-0.20578031,-0.14339798]

qacc:
[-4.06794007e+02, 1.56509426e+01,-5.97085052e+02, 2.39669705e+03,
 -1.33022335e+01,-6.25859422e+01, 6.60815694e+01,-3.65763487e+02,
 -3.15136149e-01,-3.85325723e+01, 8.06742723e+01,-5.60433570e+01,
 -9.21002809e-01, 1.64499295e+00, 7.48222109e+00,-2.53482086e+01,
 -1.51769547e+00, 1.35756106e+00,-1.50742824e+00,-5.88170441e+00,
 -3.41984649e+01, 7.96621530e+00]

qfrc_actuator:
[-0.00653493, 0.10267457, 0.00622949, 0.00182326, 0.03277603, 0.36566992,
  0.12525669, 0.05675275,-0.00199485, 0.08957209, 0.0061215 , 0.00113779,
  0.01583514,-0.00146359, 0.        ,-0.00332118, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.09142829, -0.42085675, -0.09142829,  0.18416768,
        0.05355169, -0.42085675,  0.05355169,  0.41903961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017837691168382773
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.99251107e-01,  2.52079807e-01, -3.57495760e-01,  2.34247737e-01,
        9.67706449e-01,  9.31247924e-02,  3.69425832e-01, -1.38777878e-17,
       -9.29260219e-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([ 0.08240055, -0.07842549,  0.11779406])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00032005888122096926
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.67202169e-14, -3.46880868e-13,  1.00000000e+00,  3.00815841e-26,
        1.00000000e+00,  3.46880868e-13, -1.00000000e+00,  0.00000000e+00,
        8.67202169e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07395173, -0.08772157,  0.06199212])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.61518350e-02,-3.94640587e-03, 2.16267628e-03, 5.35020220e-03,
 -3.84528125e-04, 1.04004785e-01, 6.37668484e-02, 3.26031122e-02,
 -5.54266576e-05,-3.73495840e-03,-8.78131937e-04,-1.84110262e-04,
 -9.35875887e-05,-4.82013622e-06, 3.76467164e-06,-1.21447769e-04,
 -1.46503274e-01,-1.10095613e-01,-7.55492627e+00, 1.50569457e-02,
 -5.40540732e-02,-7.72101011e-04]


--- Step 977 ---
qpos:
[ 0.00961136, 0.80530581,-0.01785209,-0.02771722,-0.02389516, 0.505976  ,
 -0.1423701 ,-0.04478492, 0.02184153, 0.81339378,-0.0175552 , 0.0229355 ,
  1.20296958,-0.01013563, 0.86468854, 0.06204057, 0.06602864,-0.06747689,
  0.12160964, 0.96679879,-0.00459805,-0.21017375,-0.14527888]

qacc:
[ 2.79085866e+02,-9.89214387e+01, 6.92601638e+02,-1.94185699e+03,
 -4.19821653e+01,-6.04120593e+01, 6.87499355e+01,-3.35931942e+02,
 -1.46835890e-01,-3.43259603e+01, 6.25122169e+01,-1.70141779e+01,
 -5.10376925e-01, 5.75204425e-01,-3.18961002e+00, 1.05464762e+01,
 -7.39962466e-01, 1.26814727e-01,-1.06590949e+00,-3.28949085e+00,
 -3.66486057e+01,-6.06702996e+01]

qfrc_actuator:
[-0.00692002, 0.10113442, 0.00622987, 0.00180086, 0.03214967, 0.36269388,
  0.1241557 , 0.05626937,-0.00199944, 0.08829444, 0.00617327, 0.0012208 ,
  0.0157754 ,-0.00147527, 0.        ,-0.0032674 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.47388904,  0.19026386, -0.43401669,  0.19026386,  0.10407062,
       -0.16212068, -0.43401669, -0.16212068,  0.40281872,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.1223005784211092e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.40341814e-01, -9.69618882e-01, -4.55525589e-02, -1.09595613e-02,
       -4.42145184e-02,  9.98961943e-01, -9.70626447e-01,  2.40591562e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05572911, -0.04197478,  0.16483989])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.43067336, -0.07339032, -0.42437413, -0.07339032,  0.17966386,
        0.04340903, -0.42437413,  0.04340903,  0.42316629,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018413115191078548
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89526394,  0.25544498, -0.3650347 ,  0.23653817,  0.96682359,
        0.09644602,  0.37756081,  0.        , -0.92598479])
  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([ 0.08186377, -0.07838145,  0.11798091])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0003097685450385024
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.96010136e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.96010136e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07394731, -0.08773026,  0.06199236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.99627160e-02,-3.16513236e-03,-3.92720531e-04,-1.76466415e-05,
 -3.81078626e-04, 1.08242189e-01, 6.60774954e-02, 3.36057754e-02,
 -2.73288588e-05,-3.58836744e-03,-8.44863803e-04,-1.13017941e-04,
 -1.18074474e-04,-3.27807738e-05,-1.81174149e-05, 4.60447364e-05,
 -1.53493452e-01,-1.09360939e-01,-7.54686535e+00, 1.52580563e-02,
 -5.53898973e-02,-7.82376154e-04]


--- Step 978 ---
qpos:
[ 0.01103411, 0.80685248,-0.017926  ,-0.02782491,-0.02333999, 0.51048913,
 -0.14140406,-0.04439498, 0.02184743, 0.81465446,-0.01758103, 0.02293186,
  1.2033667 ,-0.01013496, 0.86496761, 0.06204158, 0.06557418,-0.06736808,
  0.12151874, 0.96550612,-0.00505307,-0.21463613,-0.14732189]

qacc:
[ 2.81483541e+02,-4.64973214e+01, 2.61616617e+02,-8.95692667e+02,
 -5.37980991e+01,-5.83656511e+01, 6.93145008e+01,-3.00491810e+02,
  3.27063630e-02,-3.57626042e+01, 7.40204246e+01,-5.00667788e+01,
 -4.07929222e-02,-3.61675939e-01,-1.93147006e+01, 6.58255342e+01,
 -5.25846606e-01,-3.37171046e-01,-9.10732710e-01,-1.55751905e+00,
 -3.82262946e+01,-8.55796324e+01]

qfrc_actuator:
[-0.00781842, 0.09954633, 0.00626956, 0.0018573 , 0.03155496, 0.35975586,
  0.12312392, 0.05583004,-0.00198661, 0.08699393, 0.00619687, 0.00123578,
  0.01575191,-0.0014826 , 0.        ,-0.00294965, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.47365319,  0.22012828, -0.41939348,  0.22012828,  0.13127646,
       -0.17970427, -0.41939348, -0.17970427,  0.37933129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.5733438087734416e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.24395892, -0.96867829, -0.0463295 , -0.01131464, -0.04492662,
        0.99892621, -0.96971956,  0.24422116,  0.        ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05560242, -0.04191484,  0.16497677])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.43067336, -0.05209057, -0.42751153, -0.05209057,  0.16931435,
        0.03184555, -0.42751153,  0.03184555,  0.4267931 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018725514053162403
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.90874222e-01,  2.58893308e-01, -3.73252428e-01,  2.38782441e-01,
        9.65905924e-01,  1.00043445e-01,  3.86427310e-01,  1.38777878e-17,
       -9.22319865e-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([ 0.08133933, -0.07833362,  0.11815056])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002993684083718168
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85427552e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.85427552e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07394321, -0.0877393 ,  0.0619926 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.59972927e-02,-5.69774769e-03, 1.06844557e-04, 3.65704900e-03,
  1.02834584e-03, 1.11917650e-01, 6.80960887e-02, 3.44991943e-02,
  2.76330054e-06,-3.51858697e-03,-8.35971004e-04,-1.72193522e-04,
 -1.02939638e-04,-3.90240173e-05,-7.58154058e-06, 3.17001344e-04,
 -1.63803360e-01,-1.18408261e-01,-7.53859629e+00, 1.59940327e-02,
 -5.67519744e-02,-8.06170251e-04]


--- Step 979 ---
qpos:
[ 0.01154748, 0.80834073,-0.01794955,-0.02781463,-0.02279802, 0.51488891,
 -0.14049095,-0.04402573, 0.02185343, 0.81588836,-0.0176074 , 0.02292697,
  1.20376319,-0.01013441, 0.86524688, 0.06204367, 0.06511288,-0.06725363,
  0.12142113, 0.9641764 ,-0.0055307 ,-0.2191603 ,-0.1493387 ]

qacc:
[-5.04481779e+02, 2.55740178e+01,-6.99130093e+02, 2.69958684e+03,
 -1.35256421e+01,-4.47827067e+01, 2.90834339e+01,-2.19056126e+02,
  6.81222174e-02,-3.64679503e+01, 8.39486294e+01,-8.50837887e+01,
 -3.23281211e-01, 2.14336843e-01,-2.93648123e+00, 1.07436553e+01,
 -1.70944075e+00, 1.41029682e+00,-1.67761956e+00,-3.64151955e+00,
 -3.55353096e+01, 1.21865102e+01]

qfrc_actuator:
[-0.00919498, 0.09798171, 0.0063608 , 0.00197692, 0.03102483, 0.35715011,
  0.12213396, 0.05547797,-0.0019813 , 0.08570805, 0.00618585, 0.00117508,
  0.01572356,-0.00148717, 0.        ,-0.00290502, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.05908463, -0.42660116, -0.05908463,  0.14356766,
        0.03976439, -0.42660116,  0.03976439,  0.42516595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001879895675604443
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88606027,  0.26252316, -0.38207171,  0.24106659,  0.96492569,
        0.1039486 ,  0.39595973,  0.        , -0.91826788])
  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([ 0.08082687, -0.07828185,  0.1183044 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002888998504790852
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.60733471e-14,  1.92146694e-13,  1.00000000e+00, -1.84601761e-26,
        1.00000000e+00, -1.92146694e-13, -1.00000000e+00,  0.00000000e+00,
        9.60733471e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0739393 , -0.08774874,  0.06199285])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.27599022e-02,-5.20386329e-03, 1.87810710e-03, 5.85558359e-03,
  3.10190644e-03, 1.15377835e-01, 6.98137286e-02, 3.53205042e-02,
  8.86005341e-06,-3.46490412e-03,-8.56878857e-04,-2.45680572e-04,
 -9.95336196e-05,-3.42248673e-05, 2.83609758e-05, 6.05278338e-05,
 -1.75753966e-01,-1.31308594e-01,-7.53006963e+00, 1.69650319e-02,
 -5.81302232e-02,-8.36913847e-04]


--- Step 980 ---
qpos:
[ 0.01164742, 0.80979722,-0.01796762,-0.02780201,-0.0222677 , 0.5191906 ,
 -0.13962606,-0.04367453, 0.02185953, 0.8170956 ,-0.01763386, 0.02292234,
  1.20415883,-0.0101338 , 0.8655269 , 0.06204096, 0.06464457,-0.0671335 ,
  0.12131658, 0.9628083 ,-0.0060302 ,-0.22374779,-0.15132993]

qacc:
[-2.29015080e+02,-5.22712711e+01, 1.15907257e+02,-6.11241622e+01,
 -1.17934093e+01,-3.25263172e+01, 3.40935230e+00,-1.66236338e+02,
  5.71608482e-02,-3.44424640e+01, 7.06061393e+01,-4.63720584e+01,
 -8.82632599e-01, 1.28347858e+00, 1.56653005e+01,-5.30950247e+01,
 -1.75360858e+00, 1.41727921e+00,-1.73542357e+00,-3.12382980e+00,
 -3.64382767e+01, 1.16897448e+01]

qfrc_actuator:
[-0.00968064, 0.09646494, 0.00643025, 0.00195606, 0.03048013, 0.35511968,
  0.12120649, 0.05514918,-0.00198058, 0.08444129, 0.00620787, 0.00119462,
  0.01566568,-0.00149006, 0.        ,-0.00316376, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.06076741, -0.4263647 , -0.06076741,  0.13153829,
        0.04263407, -0.4263647 ,  0.04263407,  0.42459696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018606666783613321
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88090646,  0.26592019, -0.391523  ,  0.24300002,  0.96399505,
        0.1080025 ,  0.40614628,  0.        , -0.91380808])
  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([ 0.08032263, -0.07822835,  0.1184415 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002782504121968954
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.97503486e-14,  1.99500697e-13,  1.00000000e+00, -1.99002641e-26,
        1.00000000e+00, -1.99500697e-13, -1.00000000e+00,  0.00000000e+00,
        9.97503486e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07393552, -0.08775863,  0.06199309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.76728594e-02,-3.90638872e-03,-6.09569782e-04,-7.16853670e-05,
  3.22398217e-03, 1.18862753e-01, 7.14700982e-02, 3.60127129e-02,
  6.99372552e-06,-3.42251188e-03,-8.17636257e-04,-1.65239491e-04,
 -1.25972376e-04,-3.09022559e-05, 1.31421011e-05,-2.53270916e-04,
 -1.83654399e-01,-1.29920353e-01,-7.52156350e+00, 1.71956883e-02,
 -5.95043904e-02,-8.50612092e-04]


--- Step 981 ---
qpos:
[ 0.0115606 , 0.8112236 ,-0.01798469,-0.02778931,-0.02174725, 0.52340968,
 -0.13880198,-0.04333869, 0.02186585, 0.81827655,-0.01765945, 0.02291783,
  1.20455369,-0.01013323, 0.86580673, 0.0620372 , 0.06416908,-0.06700769,
  0.12120485, 0.96140042,-0.00655093,-0.22840014,-0.15329608]

qacc:
[-1.03298353e+02,-4.23534469e+01, 9.31215620e+01,-7.14927944e+01,
 -9.86192602e+00,-2.71639087e+01, 2.75015505e+00,-1.42316335e+02,
  1.40931971e-01,-3.68792245e+01, 8.06047398e+01,-6.05923736e+01,
 -5.88540795e-01, 6.93850117e-01, 2.86604423e+00,-1.04069373e+01,
 -1.79375921e+00, 1.42236155e+00,-1.79540857e+00,-2.62045433e+00,
 -3.73524499e+01, 1.12433667e+01]

qfrc_actuator:
[-0.00976395, 0.09499133, 0.00647586, 0.00195483, 0.02994817, 0.35335802,
  0.12035074, 0.05480451,-0.00196488, 0.08321433, 0.00628497, 0.00120805,
  0.0156274 ,-0.00149207, 0.        ,-0.00320853, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.06295512, -0.42604717, -0.06295512,  0.12213249,
        0.04559173, -0.42604717,  0.04559173,  0.42393647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001816416184615801
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87541925,  0.26908295, -0.40154141,  0.24458129,  0.963117  ,
        0.11218569,  0.41691861,  0.        , -0.90894382])
  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([ 0.07982528, -0.07817319,  0.11856307])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000267424540796396
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.07576878e-13, -4.15153756e-13,  1.00000000e+00,  8.61763204e-26,
        1.00000000e+00,  4.15153756e-13, -1.00000000e+00,  0.00000000e+00,
        2.07576878e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0739318 , -0.08776888,  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:
[-1.70403301e-02,-3.83868858e-03,-8.54071628e-04,-1.93563836e-04,
  3.28080773e-03, 1.21858478e-01, 7.29659119e-02, 3.65579144e-02,
  2.10680527e-05,-3.34674674e-03,-7.45946400e-04,-1.66577355e-04,
 -1.22264446e-04,-3.50669373e-05,-2.97618956e-05,-5.89399864e-05,
 -1.91912030e-01,-1.28490986e-01,-7.51276715e+00, 1.74309261e-02,
 -6.08923621e-02,-8.64642802e-04]


--- Step 982 ---
qpos:
[ 0.0121033 , 0.81265054,-0.01801983,-0.02784124,-0.02126168, 0.52755829,
 -0.13801083,-0.04301546, 0.02187258, 0.81943277,-0.01768508, 0.0229123 ,
  1.20494782,-0.01013246, 0.86608623, 0.06203389, 0.06368918,-0.06688064,
  0.12108763, 0.95992799,-0.00706171,-0.23312728,-0.15537073]

qacc:
[ 3.47698253e+02,-8.21837385e+01, 5.65701394e+02,-1.65368783e+03,
 -3.44315186e+01,-2.72866731e+01, 1.51442807e+01,-1.29163768e+02,
  2.28880089e-01,-3.46979270e+01, 8.05632904e+01,-7.98755744e+01,
 -6.78591776e-01, 1.06333769e+00,-1.79082847e+00, 5.63973985e+00,
 -1.10101452e+00, 3.11937554e-01,-1.37304559e+00,-2.09341271e+00,
 -4.22118976e+01,-5.84853536e+01]

qfrc_actuator:
[-0.0096494 , 0.09357243, 0.00647395, 0.00193122, 0.02942674, 0.35155059,
  0.1195499 , 0.05449034,-0.00194038, 0.08209255, 0.0063232 , 0.00116458,
  0.01560624,-0.00147573, 0.        ,-0.00318   , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.47375279,  0.19052585, -0.43375294,  0.19052585,  0.09616311,
       -0.16585616, -0.43375294, -0.16585616,  0.40090053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.3845347207753009e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.61435244e-01, -9.63863445e-01, -5.11749270e-02, -1.33964829e-02,
       -4.93903573e-02,  9.98689705e-01, -9.65128047e-01,  2.61778251e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05517678, -0.04178509,  0.16548225])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.43067336, -0.04817945, -0.42796995, -0.04817945,  0.11548391,
        0.03548299, -0.42796995,  0.03548299,  0.4266788 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017487685539590491
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.69607006e-01,  2.72012071e-01, -4.12059569e-01,  2.45812238e-01,
        9.62293839e-01,  1.16477080e-01,  4.28205557e-01,  1.38777878e-17,
       -9.03681361e-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([ 0.07933336, -0.07811648,  0.1186705 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002564221192199734
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.16483474e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.16483474e-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([ 0.07392804, -0.08777945,  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:
[-7.56973845e-03,-3.78806758e-03,-9.18031764e-04,-2.23298998e-04,
  3.25793451e-03, 1.24036697e-01, 7.41476870e-02, 3.69995990e-02,
  3.62451492e-05,-3.18376033e-03,-7.60162802e-04,-2.17728092e-04,
 -1.03864112e-04,-1.66242125e-05,-2.45706125e-05, 2.04310995e-05,
 -2.00548974e-01,-1.27006655e-01,-7.50367769e+00, 1.76708203e-02,
 -6.22944188e-02,-8.79023305e-04]


--- Step 983 ---
qpos:
[ 0.01323988, 0.81403935,-0.01808514,-0.02793311,-0.02082318, 0.53164503,
 -0.13724513,-0.04270196, 0.02187984, 0.82056517,-0.01771139, 0.02290687,
  1.20534124,-0.01013176, 0.86636568, 0.06202989, 0.06320596,-0.06675441,
  0.12096565, 0.95837742,-0.00754652,-0.23793519,-0.15761537]

qacc:
[ 3.27550684e+02,-4.86286205e+01, 2.68041229e+02,-8.81778721e+02,
 -4.59032314e+01,-3.05112431e+01, 3.11825705e+01,-1.13641825e+02,
  2.97944507e-01,-2.93498813e+01, 5.85360271e+01,-3.81278337e+01,
 -4.84694792e-01, 5.14974336e-01, 2.00531306e+00,-7.09187469e+00,
 -8.33124759e-01,-2.07178963e-01,-1.18774267e+00,-1.34473030e+00,
 -4.52556007e+01,-9.09744956e+01]

qfrc_actuator:
[-0.01015771, 0.09218549, 0.0064977 , 0.00194109, 0.02892283, 0.34950582,
  0.11879045, 0.05419787,-0.00191086, 0.08098959, 0.0063209 , 0.00117683,
  0.01556342,-0.0014841 , 0.        ,-0.00321508, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.47366218,  0.21270051, -0.42321904,  0.21270051,  0.11938922,
       -0.17804973, -0.42321904, -0.17804973,  0.38417833,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.421629074108272e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.65379795e-01, -9.62726338e-01, -5.22643570e-02, -1.38888865e-02,
       -5.03851351e-02,  9.98633285e-01, -9.64043911e-01,  2.65742990e-01,
        1.73472348e-18])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([10, 43], dtype=int32)
  geom1: 10
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05507007, -0.04175154,  0.16560422])
  solimp: array([9.0e-01, 9.5e-01, 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([ 0.43067336, -0.02960972, -0.42965428, -0.02960972,  0.10772761,
        0.02225588, -0.42965428,  0.02225588,  0.42913959,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016614984090921403
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.63408190e-01,  2.74994348e-01, -4.22970927e-01,  2.46953455e-01,
        9.61445843e-01,  1.20978852e-01,  4.39932140e-01,  1.38777878e-17,
       -8.98031019e-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([ 0.07884762, -0.07805687,  0.118766  ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002453759223009916
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13114503e-13, -2.26229007e-13,  1.00000000e+00,  2.55897818e-26,
        1.00000000e+00,  2.26229007e-13, -1.00000000e+00,  0.00000000e+00,
        1.13114503e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07392417, -0.08779029,  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:
[-3.96259597e-02,-5.22830388e-03, 2.15745215e-06, 3.01651060e-03,
  4.50934413e-03, 1.25373099e-01, 7.49776114e-02, 3.73263870e-02,
  4.81796755e-05,-3.07826570e-03,-7.70333654e-04,-1.56476021e-04,
 -1.10053549e-04,-3.39303027e-05,-1.31679857e-05,-3.80496936e-05,
 -2.13599643e-01,-1.36248903e-01,-7.49381888e+00, 1.85074754e-02,
 -6.37326244e-02,-9.07057229e-04]


--- Step 984 ---
qpos:
[ 0.01360589, 0.81537557,-0.01810623,-0.02792206,-0.02039108, 0.53567876,
 -0.13650023,-0.04239561, 0.02188734, 0.82167376,-0.01773848, 0.02290299,
  1.205734  ,-0.01013167, 0.86664501, 0.06202548, 0.06271498,-0.06662231,
  0.12083575, 0.95678356,-0.00805095,-0.24281013,-0.15982377]

qacc:
[-4.24363856e+02, 1.93490321e+01,-6.02527969e+02, 2.34863213e+03,
 -6.15899669e+00,-2.64887749e+01, 2.29488433e+01,-7.47523856e+01,
  1.36126917e-01,-2.60753773e+01, 4.08392322e+01, 4.57641828e+00,
  3.87490251e-02,-8.57367796e-01, 1.07063827e+00,-4.02220924e+00,
 -1.93875340e+00, 1.46674974e+00,-1.98218948e+00, 2.42785318e-02,
 -3.89498210e+01, 1.60364217e+01]

qfrc_actuator:
[-0.01132692, 0.09076742, 0.00659169, 0.00202548, 0.02847332, 0.34740924,
  0.11800825, 0.05388507,-0.00191413, 0.07983589, 0.00629495, 0.00125729,
  0.01551295,-0.00152487, 0.        ,-0.00323412, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.03870637, -0.42893048, -0.03870637,  0.09551309,
        0.03024461, -0.42893048,  0.03024461,  0.4279441 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015566988832885745
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.56792587e-01,  2.78159751e-01, -4.34204578e-01,  2.48117201e-01,
        9.60534827e-01,  1.25740612e-01,  4.52044597e-01,  1.38777878e-17,
       -8.91995338e-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([ 0.07836805, -0.07799384,  0.11885092])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00023431995467569633
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.36903218e-13,  2.36903218e-13,  1.00000000e+00,  5.61231346e-26,
        1.00000000e+00, -2.36903218e-13, -1.00000000e+00,  0.00000000e+00,
       -2.36903218e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07392012, -0.08780147,  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:
[-7.05524880e-02,-4.73763880e-03, 1.60841045e-03, 5.09919216e-03,
  6.42745480e-03, 1.26229121e-01, 7.54121764e-02, 3.74879952e-02,
  2.08368049e-05,-3.06885239e-03,-7.71116496e-04,-8.28541647e-05,
 -1.25310431e-04,-7.08894729e-05,-1.52999477e-05,-2.40010706e-05,
 -2.29294750e-01,-1.50845404e-01,-7.48340160e+00, 1.96699981e-02,
 -6.51941304e-02,-9.43544292e-04]


--- Step 985 ---
qpos:
[ 0.01361861, 0.81668291,-0.01812324,-0.02790853,-0.01996361, 0.53966796,
 -0.13577062,-0.04209377, 0.02189452, 0.82275902,-0.01776665, 0.02289933,
  1.20612606,-0.0101323 , 0.86692397, 0.06202285, 0.06221613,-0.06648432,
  0.12069765, 0.95514499,-0.00857425,-0.24775352,-0.16199606]

qacc:
[-1.94316065e+02,-4.42995114e+01, 9.23927672e+01,-3.51116829e+01,
 -4.39538618e+00,-2.52183809e+01, 2.37082866e+01,-4.52886675e+01,
 -1.58169590e-01,-2.73607512e+01, 5.18230490e+01,-2.89231087e+01,
  2.22680186e-01,-1.32123911e+00,-5.96498551e+00, 2.00111937e+01,
 -1.96748454e+00, 1.47216444e+00,-2.04829223e+00, 6.48117782e-01,
 -3.98314367e+01, 1.57160782e+01]

qfrc_actuator:
[-0.01176576, 0.08937814, 0.00661223, 0.0020277 , 0.02805237, 0.3452442 ,
  0.11721796, 0.05357914,-0.00195473, 0.07871451, 0.00625518, 0.0012707 ,
  0.01546856,-0.00156676, 0.        ,-0.00313702, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.04174165, -0.42864574, -0.04174165,  0.08796462,
        0.03337308, -0.42864574,  0.03337308,  0.42742347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014316401335513784
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.49876862e-01,  2.81065351e-01, -4.45770780e-01,  2.48904625e-01,
        9.59688631e-01,  1.30553512e-01,  4.64495218e-01,  2.77555756e-17,
       -8.85575628e-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([ 0.07789083, -0.07792974,  0.11892449])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002230637667409302
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24428884e-13,  4.97715537e-13,  1.00000000e+00, -6.19301890e-26,
        1.00000000e+00, -4.97715537e-13, -1.00000000e+00,  0.00000000e+00,
        1.24428884e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0739159 , -0.08781308,  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:
[-3.23841713e-02,-3.57666586e-03,-6.11138444e-04,-5.05991814e-05,
  6.32946176e-03, 1.26577002e-01, 7.56084380e-02, 3.75282397e-02,
 -2.90515850e-05,-3.02764955e-03,-7.80325674e-04,-1.48067584e-04,
 -1.36743338e-04,-8.21868680e-05,-1.44843198e-05, 9.27068566e-05,
 -2.39060839e-01,-1.48466591e-01,-7.47380367e+00, 1.99420498e-02,
 -6.66324192e-02,-9.62183884e-04]


--- Step 986 ---
qpos:
[ 0.01347106, 0.81796333,-0.01814062,-0.02789538,-0.01953912, 0.54361786,
 -0.13504909,-0.04179352, 0.0219013 , 0.82382127,-0.01779529, 0.02289644,
  1.20651728,-0.01013317, 0.86720246, 0.06202405, 0.0617093 ,-0.06634044,
  0.12055108, 0.95346025,-0.00911572,-0.25276677,-0.16413231]

qacc:
[-88.02544563,-35.26476653, 75.8410211 ,-62.1881564 , -2.77799638,
 -32.00374846, 45.81400462,-32.25471514, -0.21260244,-27.50453241,
  50.74294224,-19.8743424 , -0.24477295, -0.12485024,-12.22560378,
  41.79485724, -1.99335458,  1.4754903 , -2.11727958,  1.24994008,
 -40.71283551, 15.42660724]

qfrc_actuator:
[-0.01178667, 0.08807447, 0.0065934 , 0.00200438, 0.02764934, 0.34273128,
  0.11647886, 0.05329531,-0.00198178, 0.07763934, 0.00626099, 0.00131557,
  0.01543318,-0.00157345, 0.        ,-0.00293675, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.04508357, -0.42830715, -0.04508357,  0.08155091,
        0.0367486 , -0.42830715,  0.0367486 ,  0.4268052 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012871241224968442
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.84266992,  0.28371187, -0.45761882,  0.24932012,  0.95890958,
        0.13539534,  0.47722834,  0.        , -0.87877933])
  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([ 0.07741511, -0.07786455,  0.11898749])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021159383300237145
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.96760760e-13,  1.31173840e-13,  1.00000000e+00,  2.58098645e-26,
        1.00000000e+00, -1.31173840e-13, -1.00000000e+00,  0.00000000e+00,
       -1.96760760e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07391148, -0.08782506,  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:
[-1.47066541e-02,-3.47419772e-03,-8.46760170e-04,-2.00609222e-04,
  6.15990405e-03, 1.26155198e-01, 7.55805133e-02, 3.74595754e-02,
 -3.84136300e-05,-2.96248641e-03,-7.29425610e-04,-1.16383344e-04,
 -1.37075066e-04,-5.16727582e-05,-5.99289364e-07, 2.02595224e-04,
 -2.49248445e-01,-1.45970248e-01,-7.46392553e+00, 2.02180633e-02,
 -6.80838468e-02,-9.81355510e-04]


--- Step 987 ---
qpos:
[ 0.01325196, 0.8192172 ,-0.0181582 ,-0.02788271,-0.01911643, 0.54753565,
 -0.13432817,-0.04149207, 0.02190733, 0.82486086,-0.01782297, 0.02289393,
  1.20690773,-0.01013394, 0.86748166, 0.06202125, 0.06119442,-0.06619064,
  0.12039576, 0.95172787,-0.00967471,-0.25785121,-0.1662324 ]

qacc:
[-39.24302828,-35.46256079, 77.62096659,-66.1632266 , -1.64996479,
 -37.31876945, 67.0824676 ,-23.14292058, -0.39610835,-31.83247009,
  68.4435445 ,-46.69452061, -0.83735503,  1.25850722, 13.14793489,
 -44.39225412, -2.01528417,  1.47712649, -2.18911117,  1.83745818,
 -41.55644273, 15.21339535]

qfrc_actuator:
[-0.01167954, 0.086814  , 0.00660703, 0.00198535, 0.02722176, 0.34003994,
  0.11576939, 0.05297035,-0.00203598, 0.0766009 , 0.00634722, 0.00134319,
  0.01541389,-0.00155923, 0.        ,-0.00315667, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.43067336, -0.04873983, -0.42790649, -0.04873983,  0.07556106,
        0.04044835, -0.42790649,  0.04044835,  0.42606617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011237671929233022
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.35180646e-01,  2.86100146e-01, -4.69702028e-01,  2.49368998e-01,
        9.58199722e-01,  1.40244060e-01,  4.90192199e-01, -2.77555756e-17,
       -8.71614369e-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([ 0.07694018, -0.07779828,  0.1190405 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00019989447498973412
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.08276709e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.08276709e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07390684, -0.08783735,  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:
[-6.57335387e-03,-3.41929174e-03,-8.24891736e-04,-2.02691814e-04,
  5.88240890e-03, 1.25294366e-01, 7.52225884e-02, 3.72026684e-02,
 -6.99234438e-05,-2.87685090e-03,-6.27971164e-04,-1.28424231e-04,
 -1.14168311e-04,-2.53553871e-05, 1.77166082e-05,-2.09746588e-04,
 -2.59882046e-01,-1.43341386e-01,-7.45377055e+00, 2.04980714e-02,
 -6.95486231e-02,-1.00107547e-03]


--- Step 988 ---
qpos:
[ 0.01300226, 0.8204447 ,-0.01817556,-0.02787045,-0.01869467, 0.55143258,
 -0.13360312,-0.04118723, 0.02191229, 0.82587847,-0.01784958, 0.0228906 ,
  1.20729744,-0.01013458, 0.86776106, 0.06201487, 0.0606714 ,-0.06603494,
  0.12023138, 0.94994633,-0.01025062,-0.26300808,-0.16829628]

qacc:
[-16.75730762,-36.3172751 , 80.73500058,-69.03151038, -0.82261115,
 -31.27213003, 57.92017357,  8.04769561, -0.57315061,-33.72561118,
  81.53629636,-81.16526766, -0.80514726,  1.25035978, 11.13331036,
 -38.46112198, -2.03324604,  1.47703392, -2.26347009,  2.40055468,
 -42.38701677, 14.98278688]

qfrc_actuator:
[-0.01150245, 0.08555435, 0.00664012, 0.00196915, 0.02679722, 0.33758741,
  0.11505571, 0.05261857,-0.00210597, 0.07557558, 0.00642721, 0.00130728,
  0.01538298,-0.00155044, 0.        ,-0.00333836, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.42766213, -0.05144574, -0.42455651, -0.05144574,  0.06939651,
        0.04341292, -0.42455651,  0.04341292,  0.42240156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009421781956114389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82786966,  0.28645167, -0.48226266,  0.24751692,  0.95809469,
        0.14418715,  0.50335594,  0.        , -0.86407916])
  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([ 0.07646015, -0.07775138,  0.11908102])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00018794915665799883
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.69189946e-13,  2.95351957e-13,  1.00000000e+00, -1.09040973e-25,
        1.00000000e+00, -2.95351957e-13, -1.00000000e+00,  0.00000000e+00,
        3.69189946e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07390194, -0.0878499 ,  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:
[-2.81489746e-03,-3.38121260e-03,-7.91236977e-04,-1.96854714e-04,
  5.54888024e-03, 1.24314860e-01, 7.44884532e-02, 3.67805020e-02,
 -1.00251953e-04,-2.79481120e-03,-6.04262159e-04,-1.84974889e-04,
 -1.06333773e-04,-2.06908732e-05,-2.27719896e-05,-1.92847004e-04,
 -2.70976829e-01,-1.40555590e-01,-7.44335363e+00, 2.07815315e-02,
 -7.10268567e-02,-1.02135433e-03]


--- Step 989 ---
qpos:
[ 0.01274143, 0.82164623,-0.01819253,-0.02785825,-0.01827383, 0.55531678,
 -0.13286996,-0.04087639, 0.02191631, 0.82687473,-0.01787578, 0.02288715,
  1.2076863 ,-0.01013453, 0.86803972, 0.06201102, 0.06014018,-0.06587332,
  0.12005764, 0.94811416,-0.01084293,-0.26823853,-0.17032338]

qacc:
[ -6.07842125,-35.48082884, 76.90864366,-59.25304673, -0.80819615,
 -26.22403058, 44.42554181, 54.72230798, -0.49914309,-29.58855389,
  65.0880425 ,-52.18211703, -1.11836464,  2.20805507, -8.64508444,
  28.82599454, -2.05050913,  1.47724644, -2.34137422,  2.98282486,
 -43.18158295, 14.98479519]

qfrc_actuator:
[-0.01124245, 0.08432338, 0.00668453, 0.00197254, 0.02639211, 0.3351377 ,
  0.11435275, 0.0523368 ,-0.00214931, 0.07456654, 0.00646744, 0.00130531,
  0.01535044,-0.00150949, 0.        ,-0.00319414, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.37788871, -0.04831245, -0.37478765, -0.04831245,  0.06245577,
        0.04066126, -0.37478765,  0.04066126,  0.37264722,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007433109471983731
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.19860285e-01,  2.88313515e-01, -4.94676086e-01,  2.46859423e-01,
        9.57536066e-01,  1.48946662e-01,  5.16613529e-01,  1.38777878e-17,
       -8.56218700e-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([ 0.07598381, -0.07768345,  0.11911649])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017574037884870997
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57935107e-13,  1.57935107e-13,  1.00000000e+00,  2.49434982e-26,
        1.00000000e+00, -1.57935107e-13, -1.00000000e+00,  0.00000000e+00,
       -1.57935107e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07389678, -0.08786269,  0.06199552])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02499951e-03,-3.32323515e-03,-7.67685451e-04,-1.74415105e-04,
  5.19014880e-03, 1.22775183e-01, 7.35270938e-02, 3.63190431e-02,
 -8.76183276e-05,-2.72963086e-03,-6.25925755e-04,-1.47769363e-04,
 -1.02397358e-04, 1.42078113e-05,-3.72543359e-05, 1.29335074e-04,
 -2.82557945e-01,-1.37604203e-01,-7.43268444e+00, 2.10687773e-02,
 -7.25186769e-02,-1.04221212e-03]


--- Step 990 ---
qpos:
[ 0.01247821, 0.82282256,-0.01820971,-0.02784585,-0.01785384, 0.55919636,
 -0.13212127,-0.04055619, 0.02192021, 0.82785039,-0.01790182, 0.02288325,
  1.20807445,-0.01013378, 0.86831788, 0.06201086, 0.05960071,-0.0657058 ,
  0.11987421, 0.94622991,-0.01145116,-0.27354359,-0.17231287]

qacc:
[-1.29948900e+00,-3.23196403e+01, 6.61298139e+01,-4.40048888e+01,
 -7.31196097e-01,-2.91237061e+01, 5.64122299e+01, 8.25216102e+01,
 -6.01562878e-02,-2.85941147e+01, 6.43793088e+01,-5.73328924e+01,
 -9.81712732e-01, 2.04551737e+00,-1.18337923e+01, 4.04398673e+01,
 -2.06359018e+00, 1.47671690e+00,-2.42217584e+00, 3.56590189e+00,
 -4.39086117e+01, 1.51222611e+01]

qfrc_actuator:
[-0.01099319, 0.08313752, 0.00669998, 0.00198746, 0.02594574, 0.33245914,
  0.11363285, 0.05202204,-0.00212309, 0.07361094, 0.00650183, 0.00128783,
  0.01533294,-0.00146759, 0.        ,-0.00300106, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.29075573, -0.03944951, -0.28806706, -0.03944951,  0.05477433,
        0.03231661, -0.28806706,  0.03231661,  0.28633012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005275498950939655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.11602463e-01,  2.89927167e-01, -5.07191955e-01,  2.45865858e-01,
        9.57048712e-01,  1.53648111e-01,  5.29954169e-01,  1.38777878e-17,
       -8.48026284e-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([ 0.0755055 , -0.0776146 ,  0.11914436])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00016324857582573904
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.55030485e-13,  3.40040646e-13,  1.00000000e+00, -8.67207309e-26,
        1.00000000e+00, -3.40040646e-13, -1.00000000e+00,  0.00000000e+00,
        2.55030485e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07389133, -0.08787568,  0.06199583])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21505500e-04,-3.23926585e-03,-7.80920647e-04,-1.59151471e-04,
  4.78955985e-03, 1.20601460e-01, 7.23513319e-02, 3.56933835e-02,
 -1.23436788e-05,-2.64208045e-03,-6.19520445e-04,-1.60475705e-04,
 -7.68973041e-05, 2.22858197e-05,-5.76137950e-06, 1.94815361e-04,
 -2.94628954e-01,-1.34435918e-01,-7.42177670e+00, 2.13577455e-02,
 -7.40239280e-02,-1.06364565e-03]


--- Step 991 ---
qpos:
[ 0.01221645, 0.82397413,-0.01822728,-0.02783379,-0.01743488, 0.5630815 ,
 -0.13134976,-0.04022342, 0.02192479, 0.82880592,-0.01792799, 0.02287944,
  1.20846211,-0.01013282, 0.86859602, 0.06201231, 0.05905294,-0.06553238,
  0.11968075, 0.94429225,-0.01207494,-0.27892402,-0.1742634 ]

qacc:
[  0.8069417 ,-32.33646927, 69.27868574,-56.44781954, -0.88507038,
 -29.25672977, 63.04259042,112.03044471,  0.38117335,-26.03246196,
  53.8155776 ,-37.1263147 , -0.47521073,  0.80483135, -4.87623188,
  17.07627711, -2.07255805,  1.47674567, -2.50621727,  4.16036245,
 -44.53219401, 15.53117895]

qfrc_actuator:
[-0.01075467, 0.08195284, 0.00669849, 0.00197359, 0.02551044, 0.32964024,
  0.11285661, 0.05164623,-0.00205559, 0.07265966, 0.00651502, 0.00129693,
  0.0153085 ,-0.00146093, 0.        ,-0.00292288, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.22568146, -0.03208873, -0.22338853, -0.03208873,  0.04770793,
        0.02556507, -0.22338853,  0.02556507,  0.22200915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000295448482590815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80310925,  0.29129612, -0.51977121,  0.24454793,  0.95663294,
        0.15827109,  0.54333401,  0.        , -0.83951662])
  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([ 0.07502421, -0.07754494,  0.11916549])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00015045456329640383
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.37912497e-13,  5.53434373e-13,  1.00000000e+00, -4.08386140e-25,
        1.00000000e+00, -5.53434373e-13, -1.00000000e+00,  0.00000000e+00,
        7.37912497e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07388558, -0.08788887,  0.06199614])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.33944895e-04,-3.19261124e-03,-7.81478126e-04,-1.84501021e-04,
  4.39622735e-03, 1.17881828e-01, 7.07476927e-02, 3.48392588e-02,
  6.35690451e-05,-2.58746237e-03,-6.22099357e-04,-1.30137694e-04,
 -6.61714884e-05,-5.94931654e-06, 1.48164325e-05, 8.73355523e-05,
 -3.07192752e-01,-1.31012858e-01,-7.41065666e+00, 2.16469865e-02,
 -7.55424940e-02,-1.08565435e-03]


--- Step 992 ---
qpos:
[ 0.0119578 , 0.82510149,-0.01824524,-0.0278221 ,-0.01701746, 0.56697917,
 -0.13055024,-0.03987557, 0.02192994, 0.82974146,-0.01795409, 0.02287571,
  1.20884942,-0.01013257, 0.86887438, 0.06201303, 0.05849686,-0.06535304,
  0.11947692, 0.94229987,-0.01271398,-0.28438052,-0.17617329]

qacc:
[  1.7088505 ,-31.64252509, 67.97570801,-55.97296291, -1.32584636,
 -29.25385598, 65.86984899,139.29934743,  0.31075508,-26.45437672,
  55.67609171,-39.75369627,  0.33896738, -1.34155127,  2.53418074,
  -8.4529904 , -2.07936742,  1.47683696, -2.59343106,  4.76204979,
 -45.12066217, 16.08566449]

qfrc_actuator:
[-0.01052548, 0.08081402, 0.00670486, 0.00196065, 0.02508229, 0.3266223 ,
  0.11206857, 0.05129786,-0.00203509, 0.07170101, 0.00653348, 0.00130385,
  0.01526926,-0.0015107 , 0.        ,-0.00296628, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 0.20451769, -0.03018062, -0.20227856, -0.03018062,  0.04285129,
        0.02412115, -0.20227856,  0.02412115,  0.20091874,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.758977862723118e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79439508,  0.29242393, -0.53237646,  0.24291839,  0.95628879,
        0.16279561,  0.55671097,  0.        , -0.83070626])
  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([ 0.07453872, -0.07747461,  0.11918086])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00013733951417282952
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.04189221e-13, -1.21256766e-12,  1.00000000e+00,  4.90106779e-25,
        1.00000000e+00,  1.21256766e-12, -1.00000000e+00,  0.00000000e+00,
        4.04189221e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07387952, -0.08790223,  0.06199646])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86972894e-04,-3.12124871e-03,-7.64751668e-04,-1.82053116e-04,
  4.01894214e-03, 1.14453854e-01, 6.87678235e-02, 3.38522476e-02,
  5.15491991e-05,-2.56299595e-03,-6.04645963e-04,-1.29438053e-04,
 -8.06957900e-05,-6.51906695e-05, 1.08625416e-05,-3.79518093e-05,
 -3.20233922e-01,-1.27271712e-01,-7.39936139e+00, 2.19335021e-02,
 -7.70741130e-02,-1.10821147e-03]


--- Step 993 ---
qpos:
[ 0.01170333, 0.82620497,-0.01826285,-0.02781079,-0.01654774, 0.57155054,
 -0.12906252,-0.03902548, 0.02193528, 0.83065697,-0.01797905, 0.0228713 ,
  1.20923625,-0.01013334, 0.86915312, 0.06201021, 0.05793406,-0.06516742,
  0.1192624 , 0.94026786,-0.01337526,-0.28988799,-0.17799552]

qacc:
[ 2.28233510e+00,-3.33170945e+01, 7.45781727e+01,-6.41098631e+01,
  4.65043960e+01, 1.86025209e+01,-8.73552884e+02, 7.94242878e+03,
  1.14280606e-01,-3.09989834e+01, 7.49681441e+01,-7.36989270e+01,
  3.95282392e-01,-1.76692429e+00, 1.11786691e+01,-3.83748592e+01,
 -1.67845404e+00, 1.57219230e+00,-2.67402234e+00, 6.21843393e+00,
 -3.21647176e+01, 4.06484878e+01]

qfrc_actuator:
[-0.01026862, 0.0796943 , 0.00675161, 0.00194844, 0.02467711, 0.32338697,
  0.11127688, 0.05097614,-0.00204294, 0.07074584, 0.00660821, 0.00127395,
  0.01521582,-0.00157574, 0.        ,-0.00315193, 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: -0.00012388388136905237
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.48090184e-13,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.48090184e-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([ 0.07387314, -0.08791575,  0.06199679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.84797457e-04,-3.05806025e-03,-7.07295415e-04,-1.77612971e-04,
  3.69006177e-03, 1.10459236e-01, 6.65241005e-02, 3.27656330e-02,
  1.76379235e-05,-2.54168158e-03,-5.40982661e-04,-1.64568445e-04,
 -1.17113735e-04,-9.45121963e-05,-5.19415242e-06,-1.87773576e-04,
 -3.33755742e-01,-1.23171226e-01,-7.38790936e+00, 2.22155009e-02,
 -7.86185464e-02,-1.13130594e-03]


--- Step 994 ---
qpos:
[ 0.01145405, 0.82728498,-0.01828016,-0.02780015,-0.01607026, 0.57663053,
 -0.12734246,-0.03812514, 0.02194008, 0.83155342,-0.0180035 , 0.02286611,
  1.20962229,-0.01013429, 0.86943161, 0.06200687, 0.05736447,-0.06497547,
  0.11903685, 0.93819535,-0.01405915,-0.29544785,-0.17972867]

qacc:
[ 2.83542420e+00,-3.32134989e+01, 7.62513179e+01,-7.10553250e+01,
  6.61939119e+00, 1.28905078e+02, 3.05894527e+02,-1.82913996e+02,
 -2.80926062e-01,-2.82678496e+01, 6.75347867e+01,-6.78637958e+01,
 -4.42235552e-01, 3.08464700e-01, 1.23700664e+00,-4.84994955e+00,
 -1.69828050e+00, 1.57992790e+00,-2.75525276e+00, 6.67735878e+00,
 -3.31091802e+01, 4.12041770e+01]

qfrc_actuator:
[-0.00996196, 0.07857766, 0.00678649, 0.00191906, 0.02421473, 0.31930176,
  0.10977611, 0.05012397,-0.00210316, 0.06987181, 0.00666236, 0.00124042,
  0.0151805 ,-0.00157834, 0.        ,-0.00317132, 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: -0.00011032496266641378
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51580195e-13, -5.03160390e-13,  1.00000000e+00,  1.26585189e-25,
        1.00000000e+00,  5.03160390e-13, -1.00000000e+00,  0.00000000e+00,
        2.51580195e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07386638, -0.08792932,  0.06199713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.79636996e-04,-3.00698895e-03,-6.98688370e-04,-1.89961571e-04,
  5.66044687e-04, 7.25032288e-02, 3.05599692e-02, 6.79205462e-03,
 -5.04299640e-05,-2.43647509e-03,-5.50372356e-04,-1.65727877e-04,
 -1.28010170e-04,-4.54323132e-05,-2.92898281e-05,-3.19129794e-05,
 -3.43266561e-01,-1.14147083e-01,-7.38033571e+00, 2.22123002e-02,
 -8.01605171e-02,-1.15037023e-03]


--- Step 995 ---
qpos:
[ 0.01121034, 0.82834232,-0.01829805,-0.02779002,-0.01559795, 0.58200943,
 -0.12549807,-0.03720695, 0.02194445, 0.8324318 ,-0.01802861, 0.02286084,
  1.21000753,-0.01013505, 0.86970969, 0.06200494, 0.05678802,-0.06477719,
  0.11879994, 0.93608141,-0.0147661 ,-0.30106149,-0.18137127]

qacc:
[ 3.03697181e+00,-2.93957151e+01, 6.35163767e+01,-5.48234677e+01,
 -4.49241815e+00, 8.53609911e+01, 1.94174865e+02,-3.03303626e+02,
 -2.31389179e-01,-2.21666202e+01, 4.47577023e+01,-3.19042180e+01,
 -6.75325718e-01, 1.01991406e+00,-4.83840752e+00, 1.61315436e+01,
 -1.71619653e+00, 1.58559903e+00,-2.84067152e+00, 7.10605376e+00,
 -3.40598124e+01, 4.17818566e+01]

qfrc_actuator:
[-0.00966362, 0.07750751, 0.00677866, 0.00189757, 0.02370615, 0.31458448,
  0.10803047, 0.04920465,-0.00212314, 0.06903576, 0.00665105, 0.0012406 ,
  0.01515611,-0.00156166, 0.        ,-0.00309253, 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: -9.662035548931025e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.87264267e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -2.87264267e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07385927, -0.08794289,  0.06199748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15084827e-04,-2.93010670e-03,-7.30032915e-04,-1.79785743e-04,
 -3.53176496e-04, 4.21650637e-02, 1.71328618e-02, 3.34867567e-03,
 -4.17057999e-05,-2.34117851e-03,-5.95138059e-04,-1.27827823e-04,
 -1.12787805e-04,-1.95617616e-05,-2.12227159e-05, 7.22880611e-05,
 -3.53125687e-01,-1.04753715e-01,-7.37252664e+00, 2.21930660e-02,
 -8.17105643e-02,-1.16928859e-03]


--- Step 996 ---
qpos:
[ 0.01097134, 0.82937725,-0.01831626,-0.02778066,-0.01513361, 0.58754369,
 -0.12358815,-0.03628365, 0.02194868, 0.83329182,-0.01805384, 0.02285627,
  1.21039222,-0.01013648, 0.86998772, 0.06200291, 0.05620464,-0.06457255,
  0.11855131, 0.93392505,-0.01549661,-0.30673028,-0.18292182]

qacc:
[ 2.56462681e+00,-3.02972639e+01, 6.82857914e+01,-6.45791485e+01,
 -6.75438281e+00, 3.34540410e+01, 1.57550225e+02,-2.88306504e+02,
 -6.74153784e-02,-2.24773072e+01, 4.19867243e+01,-1.61166835e+01,
  1.75054849e-01,-1.10644532e+00, 1.89489670e-01,-8.08536124e-01,
 -1.73203658e+00, 1.58930171e+00,-2.93027665e+00, 7.50908476e+00,
 -3.50158030e+01, 4.23758240e+01]

qfrc_actuator:
[-0.00946148, 0.07643832, 0.00678147, 0.00186318, 0.02325069, 0.30947646,
  0.10613522, 0.04829281,-0.00211886, 0.06814036, 0.00665472, 0.00127837,
  0.01511699,-0.00160472, 0.        ,-0.00309859, 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: -8.272848465246119e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-3.35502043e-13, -1.34200817e-12,  1.00000000e+00, -4.50246483e-25,
        1.00000000e+00,  1.34200817e-12, -1.00000000e+00,  0.00000000e+00,
       -3.35502043e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0738518 , -0.0879564 ,  0.06199783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35474009e-04,-2.89159888e-03,-7.06837939e-04,-1.90246487e-04,
 -5.60523087e-04, 2.19157418e-02, 8.94863350e-03, 1.52898509e-03,
 -1.34515750e-05,-2.35438345e-03,-5.64522699e-04,-8.69288028e-05,
 -1.12279361e-04,-7.12344491e-05,-5.81047771e-06,-5.69537297e-06,
 -3.63356448e-01,-9.49667433e-02,-7.36448837e+00, 2.21565354e-02,
 -8.32690628e-02,-1.18800766e-03]


--- Step 997 ---
qpos:
[ 0.01073658, 0.83038986,-0.01833456,-0.02777218,-0.01467822, 0.59313866,
 -0.12164991,-0.0353636 , 0.02195268, 0.83413337,-0.01807896, 0.0228525 ,
  1.21077603,-0.01013777, 0.87026523, 0.0620045 , 0.05561427,-0.06436154,
  0.11829058, 0.93172521,-0.0162513 ,-0.31245555,-0.18437881]

qacc:
[ 2.31374687e+00,-3.10650141e+01, 7.17299952e+01,-7.06187572e+01,
 -7.44435156e+00,-4.86756989e+00, 1.47880874e+02,-2.94453385e+02,
 -1.13411862e-01,-2.30846810e+01, 4.34544563e+01,-1.60366929e+01,
 -5.93962078e-01, 7.87798886e-01,-1.16494672e+01, 3.96933067e+01,
 -1.74563246e+00, 1.59108764e+00,-3.02406887e+00, 7.88983025e+00,
 -3.59764796e+01, 4.29815706e+01]

qfrc_actuator:
[-0.00926517, 0.07536078, 0.00679062, 0.00182151, 0.02277871, 0.30414025,
  0.10419479, 0.04737333,-0.00213565, 0.06723462, 0.00666708, 0.0013202 ,
  0.01507438,-0.00159408, 0.        ,-0.00290608, 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: -6.860902971600469e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.04546978e-13, -8.09093955e-13,  1.00000000e+00, -3.27316514e-25,
        1.00000000e+00,  8.09093955e-13, -1.00000000e+00,  0.00000000e+00,
       -4.04546978e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.073844  , -0.08796982,  0.06199819])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93387897e-04,-2.87349757e-03,-6.89834788e-04,-1.95240457e-04,
 -6.37640957e-04, 8.61465886e-03, 3.65385221e-03, 3.38060967e-04,
 -2.14900576e-05,-2.36356433e-03,-5.53216946e-04,-8.15630327e-05,
 -1.26946997e-04,-2.69579803e-05,-8.40232878e-06, 1.90263486e-04,
 -3.73982556e-01,-8.47620370e-02,-7.35622835e+00, 2.21014341e-02,
 -8.48363357e-02,-1.20647517e-03]


--- Step 998 ---
qpos:
[ 0.01050658, 0.83138071,-0.0183531 ,-0.02776402,-0.01423211, 0.59873197,
 -0.11970648,-0.03445181, 0.02195666, 0.83495711,-0.01810392, 0.0228495 ,
  1.21115888,-0.01013839, 0.87054274, 0.06200734, 0.05501688,-0.06414417,
  0.11801737, 0.92948079,-0.01703082,-0.31823859,-0.18574072]

qacc:
[ 2.58358679e+00,-2.87217465e+01, 6.20171497e+01,-5.11026041e+01,
 -7.59033371e+00,-3.29255212e+01, 1.49408572e+02,-3.00112942e+02,
 -2.98997929e-03,-2.23751775e+01, 4.24325528e+01,-1.64037648e+01,
 -1.26116682e+00, 2.41116453e+00,-3.69974695e+00, 1.31274977e+01,
 -1.75681205e+00, 1.59097247e+00,-3.12204998e+00, 8.25073056e+00,
 -3.69412772e+01, 4.35955262e+01]

qfrc_actuator:
[-0.00900278, 0.07434036, 0.0068035 , 0.00181141, 0.02230098, 0.29864634,
  0.1022915 , 0.04647332,-0.00212943, 0.0664189 , 0.00670223, 0.00136406,
  0.01504037,-0.00155175, 0.        ,-0.00284664, 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: -5.422326781595599e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.11875745e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.11875745e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07383586, -0.08798312,  0.06199856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40390752e-04,-2.80238811e-03,-6.80266533e-04,-1.62367155e-04,
 -6.67678729e-04,-1.11971318e-04, 2.53286772e-04,-4.16825025e-04,
 -2.26417573e-06,-2.27563685e-03,-5.30600900e-04,-7.93905694e-05,
 -1.17207656e-04, 9.50954490e-06, 1.30742711e-05, 6.79976404e-05,
 -3.85028207e-01,-7.41155373e-02,-7.34775530e+00, 2.20264712e-02,
 -8.64126566e-02,-1.22463917e-03]


--- Step 999 ---
qpos:
[ 0.0102814 , 0.83235036,-0.01837163,-0.02775514,-0.01379485, 0.60428341,
 -0.11777384,-0.03355246, 0.02196068, 0.8357634 ,-0.01812859, 0.02284662,
  1.21154088,-0.01013826, 0.87082086, 0.0620062 , 0.05441243,-0.06392044,
  0.11773125, 0.92719058,-0.01783589,-0.32408065,-0.18700601]

qacc:
[ 2.61443698e+00,-2.65574474e+01, 5.09768727e+01,-2.28550322e+01,
 -7.13633656e+00,-5.00139851e+01, 1.50938326e+02,-3.19282423e+02,
  2.45798448e-02,-2.36118063e+01, 5.01908274e+01,-3.56531149e+01,
 -1.46709099e+00, 2.89437940e+00, 1.29964332e+01,-4.40235541e+01,
 -1.76539815e+00, 1.58894220e+00,-3.22422159e+00, 8.59348414e+00,
 -3.79097114e+01, 4.42148577e+01]

qfrc_actuator:
[-0.0087562 , 0.07336257, 0.00683653, 0.00185553, 0.02185922, 0.29309592,
  0.10036903, 0.04553804,-0.00212729, 0.0655929 , 0.0067332 , 0.00137338,
  0.01501156,-0.00150877, 0.        ,-0.0030614 , 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: -3.9534352930831185e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.02062221e-13, -2.80824888e-12,  1.00000000e+00,  1.97156545e-24,
        1.00000000e+00,  2.80824888e-12, -1.00000000e+00,  0.00000000e+00,
        7.02062221e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07382741, -0.08799628,  0.06199895])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.46488520e-04,-2.71605253e-03,-6.42916868e-04,-1.04091545e-04,
 -6.42872351e-04,-5.77296921e-03,-2.01079686e-03,-9.57019826e-04,
  2.55801799e-06,-2.23152954e-03,-5.13594595e-04,-1.09326232e-04,
 -9.79478662e-05, 1.90476975e-05, 7.50440952e-06,-2.10687372e-04,
 -3.96518151e-01,-6.30031211e-02,-7.33907937e+00, 2.19303348e-02,
 -8.79982520e-02,-1.24244738e-03]


--- Step 1000 ---
qpos:
[ 0.01006055, 0.83329944,-0.01839009,-0.0277466 ,-0.01336597, 0.60976728,
 -0.11586305,-0.03266748, 0.02196473, 0.83655221,-0.01815257, 0.02284383,
  1.2119221 ,-0.01013733, 0.87109857, 0.06200585, 0.05380089,-0.06369038,
  0.11743182, 0.92485332,-0.01866727,-0.32998294,-0.18817313]

qacc:
[ 2.35433468e+00,-2.81027389e+01, 6.22235529e+01,-5.32673334e+01,
 -6.65491075e+00,-5.71894027e+01, 1.35197785e+02,-2.99982700e+02,
  2.32174547e-02,-2.48404274e+01, 5.47155318e+01,-4.15131702e+01,
 -1.24309869e+00, 2.55091057e+00,-2.94244658e+00, 9.59633776e+00,
 -1.77120748e+00, 1.58495820e+00,-3.33058421e+00, 8.91920192e+00,
 -3.88813548e+01, 4.48373069e+01]

qfrc_actuator:
[-0.00855656, 0.07240076, 0.00686376, 0.0018425 , 0.02144232, 0.28755246,
  0.09841348, 0.04462461,-0.00212763, 0.06474976, 0.00677924, 0.00138004,
  0.01498056,-0.00146572, 0.        ,-0.00300988, 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: -2.4507549284638608e-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([ 0.07381865, -0.08800927,  0.06199934])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.02629424e-04,-2.64105631e-03,-6.24107522e-04,-1.55080286e-04,
 -6.12949672e-04,-9.41440372e-03,-3.50852333e-03,-1.26564158e-03,
  2.28104328e-06,-2.22133604e-03,-4.88223986e-04,-1.10051359e-04,
 -8.66432758e-05, 2.53343635e-05,-2.71093751e-05, 3.91078245e-05,
 -4.08477744e-01,-5.14005019e-02,-7.33021219e+00, 2.18116883e-02,
 -8.95933018e-02,-1.25984664e-03]


--- Step 1001 ---
qpos:
[ 0.00984407, 0.83422867,-0.01840889,-0.02773872,-0.01294507, 0.61516713,
 -0.1139805 ,-0.03179734, 0.02196898, 0.83732435,-0.01817656, 0.02284071,
  1.21230297,-0.01013654, 0.87137604, 0.06200641, 0.05318226,-0.06345399,
  0.11711862, 0.92246769,-0.01952578,-0.33594662,-0.18924054]

qacc:
[ 2.37099736e+00,-2.66478251e+01, 5.97706095e+01,-5.61664129e+01,
 -6.25301577e+00,-6.20634161e+01, 1.23080276e+02,-2.74001967e+02,
  1.14432056e-01,-2.26791718e+01, 5.02622033e+01,-4.35726070e+01,
 -8.42060886e-02,-1.17346176e-01,-3.07323475e+00, 1.02301594e+01,
 -1.77404971e+00, 1.57896099e+00,-3.44113633e+00, 9.22852892e+00,
 -3.98558168e+01, 4.54610618e+01]

qfrc_actuator:
[-0.00833329, 0.07147414, 0.00686968, 0.00181373, 0.02104341, 0.28205563,
  0.09648893, 0.04376668,-0.00211172, 0.06397434, 0.00679829, 0.00136735,
  0.01496959,-0.00147625, 0.        ,-0.00296156, 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: -9.110433866060808e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.09314024e-12, -1.21862805e-11,  1.00000000e+00,  7.42527161e-23,
        1.00000000e+00,  1.21862805e-11, -1.00000000e+00,  0.00000000e+00,
        6.09314024e-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([ 0.07380959, -0.08802208,  0.06199975])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.06306117e-04,-2.56170087e-03,-6.29192780e-04,-1.67925375e-04,
 -5.88220471e-04,-1.17200868e-02,-4.42277364e-03,-1.42328427e-03,
  1.83681068e-05,-2.14226640e-03,-5.09867443e-04,-1.28074975e-04,
 -5.82648852e-05,-2.45913913e-05,-1.20793129e-05, 4.61066200e-05,
 -4.20932977e-01,-3.92831576e-02,-7.32116699e+00, 2.16691678e-02,
 -9.11979382e-02,-1.27678242e-03]


--- Step 1002 ---
qpos:
[ 0.00963288, 0.83513833,-0.0184276 ,-0.02773066,-0.01253232, 0.6204732 ,
 -0.11212992,-0.03094339, 0.02197361, 0.83808049,-0.01820137, 0.02283569,
  1.21268334,-0.01013555, 0.87165356, 0.06200617, 0.05256162,-0.06321733,
  0.11676891, 0.92004279,-0.02037397,-0.34189814,-0.19029405]

qacc:
[ 2.86228935e+00,-2.56968174e+01, 5.33153540e+01,-3.58259306e+01,
 -6.30547112e+00,-6.72897174e+01, 1.28612464e+02,-2.89429862e+02,
  2.10723647e-01,-2.27529697e+01, 5.85077710e+01,-7.84267327e+01,
 -5.76310442e-01, 9.89168218e-01, 2.50349246e+00,-8.58364424e+00,
 -5.00071195e-01, 6.95166291e-02,-9.12773012e+00, 5.56327619e+00,
 -1.45057021e-01, 1.07892245e+00]

qfrc_actuator:
[-0.0080266 , 0.07055838, 0.00689871, 0.00182922, 0.02062274, 0.27666575,
  0.09461588, 0.04289502,-0.00208624, 0.06321023, 0.00676606, 0.00127242,
  0.01494399,-0.00146504, 0.        ,-0.00300433, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 4.91675251e-04,-2.50755952e-03,-5.90602313e-04,-1.20656344e-04,
 -6.04650480e-04,-1.30925625e-02,-4.96359965e-03,-1.56992560e-03,
  3.53970425e-05,-2.09155175e-03,-5.47966869e-04,-2.08007687e-04,
 -6.65977387e-05,-5.80531843e-06,-4.75908904e-06,-4.27826079e-05,
 -4.33910492e-01,-2.66262843e-02,-7.31195872e+00, 2.15013800e-02,
 -9.28122449e-02,-1.29319845e-03]


--- Step 1003 ---
qpos:
[ 0.00942657, 0.83602863,-0.01844583,-0.02772256,-0.01212815, 0.62567994,
 -0.11031369,-0.03010629, 0.02197839, 0.83882001,-0.01822559, 0.02283091,
  1.21306316,-0.01013462, 0.87193077, 0.06200742, 0.05193292,-0.06297327,
  0.11640887, 0.91756517,-0.02125867,-0.34792906,-0.19122658]

qacc:
[ 2.64256085e+00,-2.68523060e+01, 5.84561028e+01,-4.43487720e+01,
 -6.55182677e+00,-6.94248066e+01, 1.28424820e+02,-2.93160581e+02,
  8.54252832e-02,-2.31132977e+01, 4.95078811e+01,-3.40068820e+01,
 -2.96489001e-01, 2.44450179e-01,-4.93924784e+00, 1.66324539e+01,
 -2.01597464e+00, 1.85162159e+00,-2.58341843e+00, 1.09077030e+01,
 -5.02478673e+01, 5.60741066e+01]

qfrc_actuator:
[-0.00779679, 0.06963905, 0.00694131, 0.00183517, 0.02017463, 0.27136566,
  0.092771  , 0.0420224 ,-0.00209079, 0.06240565, 0.00681039, 0.00128962,
  0.01489898,-0.00147658, 0.        ,-0.00292291, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09107319,  0.04675581, -4.090806  ,  0.04675581, 28.81502963,
        0.28258209, -4.090806  ,  0.28258209,  4.09430296,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.008376569943685e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.61948004e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.61948004e-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([ 0.07377239, -0.08803621,  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:
[ 4.54499408e-04,-2.47038175e-03,-5.59301330e-04,-1.25588590e-04,
 -6.39571103e-04,-1.38834597e-02,-5.28872906e-03,-1.65079019e-03,
  1.32800387e-05,-2.11454158e-03,-4.68237423e-04,-9.65406091e-05,
 -8.69497496e-05,-2.69264070e-05,-1.22520290e-05, 7.71887221e-05,
 -4.40337752e-01,-2.33166147e-02,-7.31706100e+00, 2.17239058e-02,
 -9.44226679e-02,-1.31834188e-03]


--- Step 1004 ---
qpos:
[ 0.00922426, 0.83689993,-0.018464  ,-0.02771449,-0.01173237, 0.63078409,
 -0.108533  ,-0.02928529, 0.0219832 , 0.83954254,-0.01824829, 0.02282806,
  1.21344225,-0.01013345, 0.87220794, 0.06200893, 0.05129629,-0.062722  ,
  0.11603737, 0.91503334,-0.02217992,-0.35403819,-0.19203906]

qacc:
[ 2.16086380e+00,-2.53605773e+01, 5.41528225e+01,-4.09642255e+01,
 -6.34306805e+00,-6.88638362e+01, 1.16956478e+02,-2.64087176e+02,
  2.61653290e-02,-2.27018093e+01, 4.01974835e+01, 3.32667866e+00,
 -7.18749680e-01, 1.16454125e+00,-8.11480292e-01, 2.84271140e+00,
 -1.98288476e+00, 1.80081070e+00,-2.86283949e+00, 1.10116069e+01,
 -5.00821501e+01, 5.54155991e+01]

qfrc_actuator:
[-0.00763257, 0.0687252 , 0.00695613, 0.00183548, 0.01974923, 0.26612702,
  0.09095819, 0.04120961,-0.00209551, 0.06158381, 0.00689958, 0.00139047,
  0.01485833,-0.0014661 , 0.        ,-0.00291096, 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: -1.2755564746821935e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.17595819e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.17595819e-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([ 0.07374727, -0.08803933,  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:
[ 3.71975874e-04,-2.43737684e-03,-5.75570042e-04,-1.28624313e-04,
 -6.30362234e-04,-1.43305486e-02,-5.46105524e-03,-1.63725348e-03,
  2.76228521e-06,-2.12299758e-03,-4.14318413e-04,-8.92429065e-06,
 -9.95937701e-05,-1.33965753e-05,-1.39027154e-06, 1.36703630e-05,
 -4.55662055e-01,-7.76322818e-03,-7.30457745e+00, 2.14416720e-02,
 -9.60338286e-02,-1.33285610e-03]


--- Step 1005 ---
qpos:
[ 0.00902606, 0.83775252,-0.0184824 ,-0.02770688,-0.01134496, 0.63578469,
 -0.10678856,-0.02848056, 0.02198818, 0.84024925,-0.01827021, 0.02282459,
  1.21382048,-0.0101318 , 0.87248555, 0.06200654, 0.05065188,-0.06246372,
  0.11565337, 0.91244573,-0.0231379 ,-0.36022455,-0.19273218]

qacc:
[ 2.21700966e+00,-2.49889143e+01, 5.51267742e+01,-4.87939871e+01,
 -6.24056055e+00,-6.84990470e+01, 1.14520296e+02,-2.62736685e+02,
  9.75978818e-02,-2.43576401e+01, 5.91670299e+01,-5.95493027e+01,
 -1.24508103e+00, 2.26527292e+00, 1.24821351e+01,-4.25785127e+01,
 -1.94691925e+00, 1.75157554e+00,-3.12803770e+00, 1.11224051e+01,
 -5.00590823e+01, 5.49048849e+01]

qfrc_actuator:
[-0.00742   , 0.06782202, 0.00695449, 0.00181471, 0.01932297, 0.26102147,
  0.08917955, 0.0404032 ,-0.00208254, 0.06086515, 0.00696128, 0.0013622 ,
  0.01480969,-0.00144266, 0.        ,-0.00311758, 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: -1.4270237643165817e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.88999487e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.88999487e-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([ 0.07372453, -0.08804381,  0.0619996 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.82348472e-04,-2.41125750e-03,-5.87146809e-04,-1.48879421e-04,
 -6.30694992e-04,-1.44783904e-02,-5.53820234e-03,-1.65535338e-03,
  1.55200762e-05,-2.00923852e-03,-4.33766080e-04,-1.34817065e-04,
 -1.12280547e-04,-7.69459236e-07,-4.49739378e-06,-2.07282364e-04,
 -4.71478806e-01, 8.25916606e-03,-7.29236888e+00, 2.11336806e-02,
 -9.76602031e-02,-1.34667669e-03]


--- Step 1006 ---
qpos:
[ 0.00883192, 0.83858714,-0.01850091,-0.02770005,-0.01096561, 0.64068236,
 -0.10508067,-0.02769316, 0.02199294, 0.84094097,-0.01829166, 0.02281932,
  1.21419801,-0.01013016, 0.87276295, 0.06200304, 0.04999983,-0.06219863,
  0.11525583, 0.90980069,-0.02413291,-0.36648734,-0.19330634]

qacc:
[ 2.19490809e+00,-2.50486892e+01, 5.81714858e+01,-5.83805702e+01,
 -5.96325276e+00,-6.91209758e+01, 1.22390186e+02,-2.89008454e+02,
 -1.13013641e-01,-2.48398770e+01, 6.74061581e+01,-8.82437009e+01,
 -5.46707746e-01, 6.76698789e-01, 3.08048475e+00,-1.11881026e+01,
 -1.90809393e+00, 1.70339598e+00,-3.38091223e+00, 1.12342645e+01,
 -5.01583469e+01, 5.45220430e+01]

qfrc_actuator:
[-0.00721564, 0.06700356, 0.00697876, 0.00178172, 0.01891726, 0.25607328,
  0.08743635, 0.03955396,-0.00211236, 0.06017851, 0.00700659, 0.00127599,
  0.01477225,-0.0014473 , 0.        ,-0.00316725, 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: -1.1188033897824301e-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([ 0.07370383, -0.08804946,  0.06199969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.79154167e-04,-2.31471856e-03,-5.57814560e-04,-1.60746186e-04,
 -6.12623707e-04,-1.44165462e-02,-5.54171124e-03,-1.70718747e-03,
 -2.13307698e-05,-1.92262790e-03,-4.33275573e-04,-1.90981347e-04,
 -1.06267180e-04,-2.92161447e-05,-3.16079014e-05,-6.32824631e-05,
 -4.87828220e-01, 2.47841466e-02,-7.28041727e+00, 2.07983799e-02,
 -9.93008010e-02,-1.35974513e-03]


--- Step 1007 ---
qpos:
[ 0.00864156, 0.83940441,-0.01851897,-0.02769347,-0.0105938 , 0.64547797,
 -0.10340874,-0.02692219, 0.02199722, 0.8416176 ,-0.01831203, 0.02281404,
  1.21457489,-0.01012858, 0.87303952, 0.06200393, 0.04934031,-0.06192692,
  0.11484381, 0.90709644,-0.02516536,-0.37282589,-0.19376173]

qacc:
[ 2.04473849e+00,-2.46843888e+01, 5.58036794e+01,-4.81071365e+01,
 -5.51354400e+00,-6.76849522e+01, 1.15097729e+02,-2.67422823e+02,
 -2.53506292e-01,-2.29398200e+01, 5.28862462e+01,-4.36036759e+01,
 -2.23051428e-01, 5.39892630e-02,-1.44981867e+01, 4.89688060e+01,
 -1.86635993e+00, 1.65581027e+00,-3.62307537e+00, 1.13424887e+01,
 -5.03635370e+01, 5.42508131e+01]

qfrc_actuator:
[-0.00703556, 0.06622492, 0.0070363 , 0.00177741, 0.01854469, 0.25122482,
  0.08574694, 0.03875761,-0.00214978, 0.05946332, 0.00707757, 0.00128071,
  0.01474157,-0.00145074, 0.        ,-0.00292869, 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: -4.073753670813529e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36265360e-11, -2.72530721e-11,  1.00000000e+00,  3.71364969e-22,
        1.00000000e+00,  2.72530721e-11, -1.00000000e+00,  0.00000000e+00,
        1.36265360e-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([ 0.0736849 , -0.08805607,  0.06199989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.53612758e-04,-2.21491273e-03,-5.01256583e-04,-1.27111222e-04,
 -5.75815241e-04,-1.42814985e-02,-5.47570853e-03,-1.65245880e-03,
 -4.61534138e-05,-1.90466635e-03,-3.91472978e-04,-9.73911193e-05,
 -1.02204849e-04,-3.19298184e-05,-2.57291502e-05, 2.30021236e-04,
 -5.04749333e-01, 4.18452794e-02,-7.26871225e+00, 2.04341586e-02,
 -1.00954682e-01,-1.37199722e-03]


--- Step 1008 ---
qpos:
[ 0.0084547 , 0.84020463,-0.01853624,-0.02768742,-0.01022954, 0.65017297,
 -0.10177241,-0.02616761, 0.02200122, 0.84227978,-0.01833211, 0.02280985,
  1.21495105,-0.01012726, 0.87331584, 0.06200795, 0.04867828,-0.06165467,
  0.11439553, 0.90434843,-0.02619127,-0.37914749,-0.19420378]

qacc:
[ 1.88346865e+00,-2.58733912e+01, 6.18213330e+01,-5.98894855e+01,
 -5.45778853e+00,-6.68462139e+01, 1.14782928e+02,-2.68448441e+02,
 -1.42347707e-01,-1.76980780e+01, 3.08067390e+01,-1.87534907e+00,
 -1.46753920e-01,-2.68514290e-01,-9.78685035e+00, 3.37159128e+01,
 -6.28775269e-01, 1.34660269e-01,-9.06482831e+00, 3.25909041e+00,
 -9.58850491e-03, 8.02438373e-01]

qfrc_actuator:
[-0.0068714 , 0.06542348, 0.00709554, 0.0017546 , 0.0181592 , 0.24647648,
  0.08408611, 0.0379635 ,-0.00215589, 0.05879037, 0.00710992, 0.00133891,
  0.01469365,-0.00147115, 0.        ,-0.0027708 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 3.26051226e-04,-2.16834870e-03,-4.70676570e-04,-1.38711718e-04,
 -5.78609796e-04,-1.40863560e-02,-5.40756632e-03,-1.64075812e-03,
 -2.64925302e-05,-1.83938182e-03,-4.17898299e-04,-3.98460651e-05,
 -1.17160862e-04,-4.86981952e-05, 1.08391342e-05, 1.66726560e-04,
 -5.22280328e-01, 5.94761633e-02,-7.25725016e+00, 2.00393462e-02,
 -1.02620936e-01,-1.38336331e-03]


--- Step 1009 ---
qpos:
[ 0.00827128, 0.84098795,-0.01855312,-0.02768206,-0.00987265, 0.654769  ,
 -0.10017117,-0.02542931, 0.02200523, 0.84292831,-0.01835237, 0.02280561,
  1.2153265 ,-0.01012643, 0.87359315, 0.06200579, 0.04800822,-0.06137502,
  0.11393507, 0.90153496,-0.02726473,-0.38556361,-0.19450465]

qacc:
[ 1.84810788e+00,-2.48132814e+01, 5.89677035e+01,-5.90169297e+01,
 -5.28443374e+00,-6.57931751e+01, 1.13652675e+02,-2.67087787e+02,
  1.53976797e-02,-1.75988966e+01, 3.68190725e+01,-2.73861539e+01,
 -3.82232577e-01,-1.61004158e-02, 2.01090022e+01,-6.82277063e+01,
 -2.00656249e+00, 1.84892166e+00,-3.04334336e+00, 1.35807941e+01,
 -6.16148970e+01, 6.52643032e+01]

qfrc_actuator:
[-0.00670025, 0.06459726, 0.00711975, 0.00172106, 0.01778673, 0.2418276 ,
  0.08245643, 0.0371773 ,-0.00214324, 0.05816591, 0.00711942, 0.00133935,
  0.01464606,-0.00150152, 0.        ,-0.0031056 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09133317, -0.37864625, -4.07377394, -0.37864625, 20.99850165,
       -1.57147552, -4.07377394, -1.57147552,  4.23739756,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.658568696613301e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87367378e-12, -1.72420427e-11,  1.00000000e+00,  4.95480060e-23,
        1.00000000e+00,  1.72420427e-11, -1.00000000e+00,  0.00000000e+00,
        2.87367378e-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([ 0.07362754, -0.08805813,  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:
[ 3.20415487e-04,-2.16085523e-03,-4.92575723e-04,-1.46577817e-04,
 -5.68563775e-04,-1.38597625e-02,-5.32572351e-03,-1.62160989e-03,
  1.42981993e-06,-1.75701429e-03,-4.28401406e-04,-9.45829513e-05,
 -1.29479332e-04,-6.52001557e-05, 1.83259966e-05,-3.25336115e-04,
 -5.29741710e-01, 6.33010884e-02,-7.26433204e+00, 2.01932683e-02,
 -1.04272729e-01,-1.40285162e-03]


--- Step 1010 ---
qpos:
[ 0.00809185, 0.84175476,-0.01857044,-0.02767682,-0.00952271, 0.65926762,
 -0.09860443,-0.02470567, 0.02200952, 0.84356354,-0.018373  , 0.0228017 ,
  1.21570128,-0.01012628, 0.87387088, 0.061997  , 0.04733043,-0.06108831,
  0.11346099, 0.89865418,-0.02838537,-0.39207093,-0.19466722]

qacc:
[ 2.15229248e+00,-2.08116167e+01, 4.30239211e+01,-3.21574000e+01,
 -4.93323048e+00,-6.21383723e+01, 9.67902611e+01,-2.24351597e+02,
  1.51739530e-01,-1.58848426e+01, 2.97242435e+01,-1.35984204e+01,
 -1.82581908e-01,-5.02397250e-01, 2.06160575e+01,-7.12589858e+01,
 -1.93462092e+00, 1.76490930e+00,-3.40814787e+00, 1.33504385e+01,
 -6.05583844e+01, 6.36454926e+01]

qfrc_actuator:
[-0.00647299, 0.06379833, 0.0071053 , 0.00171695, 0.01744266, 0.23725925,
  0.08085919, 0.03647328,-0.00211952, 0.05754   , 0.0071156 , 0.0013591 ,
  0.01460936,-0.00153753, 0.        ,-0.00344394, 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: -1.7456479276589665e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.17997406e-12, -3.17997406e-12,  1.00000000e+00,  1.01122350e-23,
        1.00000000e+00,  3.17997406e-12, -1.00000000e+00,  0.00000000e+00,
        3.17997406e-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([ 0.07359272, -0.08805556,  0.06199949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74071116e-04,-2.13381036e-03,-5.32533391e-04,-1.17705670e-04,
 -5.38701528e-04,-1.36314545e-02,-5.23418884e-03,-1.52621725e-03,
  2.55431866e-05,-1.71656605e-03,-4.27797927e-04,-7.31558563e-05,
 -1.30324928e-04,-7.63938737e-05,-3.59096707e-05,-3.55989904e-04,
 -5.50439714e-01, 8.47435225e-02,-7.24949024e+00, 1.96446348e-02,
 -1.05936107e-01,-1.41181301e-03]


--- Step 1011 ---
qpos:
[ 0.00791683, 0.84250556,-0.01858825,-0.02767105,-0.00917909, 0.6636704 ,
 -0.09707196,-0.02399694, 0.0220139 , 0.84418607,-0.01839455, 0.02279869,
  1.21607532,-0.01012632, 0.87414761, 0.06199055, 0.0466452 ,-0.06079487,
  0.11297189, 0.89570414,-0.02955299,-0.39866656,-0.19469384]

qacc:
[ 2.37288777e+00,-1.87446722e+01, 3.39619701e+01,-1.25331159e+01,
 -4.44876242e+00,-6.12286685e+01, 9.75827680e+01,-2.30921692e+02,
  4.98226893e-02,-1.23305860e+01, 1.58084553e+01, 1.06102404e+01,
 -2.36886720e-01,-7.35719885e-02,-8.49983033e+00, 2.76367073e+01,
 -1.85814728e+00, 1.68289458e+00,-3.75080962e+00, 1.31502461e+01,
 -5.97661515e+01, 6.23005764e+01]

qfrc_actuator:
[-0.00623176, 0.06305767, 0.00710382, 0.00174797, 0.01713592, 0.23274172,
  0.07925934, 0.03575246,-0.00212492, 0.05695385, 0.00708626, 0.00140781,
  0.01458454,-0.00154104, 0.        ,-0.00330215, 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: -1.7933380110968233e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.54770464e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.54770464e-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([ 0.07356234, -0.08805537,  0.06199948])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.13173716e-04,-2.06703065e-03,-5.17757246e-04,-8.22263369e-05,
 -4.92963727e-04,-1.34266899e-02,-5.17352979e-03,-1.52792325e-03,
  7.68516253e-06,-1.65280587e-03,-4.44022837e-04,-4.19928063e-05,
 -1.21874749e-04,-4.59460010e-05,-6.15128730e-05, 1.16109475e-04,
 -5.71679528e-01, 1.06627486e-01,-7.23543535e+00, 1.90665438e-02,
 -1.07616027e-01,-1.41960450e-03]


--- Step 1012 ---
qpos:
[ 0.00774555, 0.84324026,-0.01860585,-0.02766468,-0.00884196, 0.66797883,
 -0.0955724 ,-0.02330293, 0.02201828, 0.84479609,-0.01841687, 0.02279623,
  1.21644868,-0.01012649, 0.87442363, 0.06198841, 0.04595286,-0.06049503,
  0.11246651, 0.89268275,-0.03076762,-0.40534798,-0.19458641]

qacc:
[ 2.00451290e+00,-2.05858288e+01, 3.99920474e+01,-1.80003850e+01,
 -4.52008980e+00,-6.26642955e+01, 1.04755112e+02,-2.38003786e+02,
  4.39547062e-03,-1.32777934e+01, 2.10169318e+01,-1.03759037e+00,
 -1.95036335e-01,-5.30339052e-02,-1.40732419e+01, 4.77161104e+01,
 -1.77747503e+00, 1.60232715e+00,-4.07377274e+00, 1.29696671e+01,
 -5.91988105e+01, 6.11909736e+01]

qfrc_actuator:
[-0.00607292, 0.06228705, 0.0071281 , 0.00178171, 0.01680047, 0.2283276 ,
  0.07774252, 0.03504542,-0.00212996, 0.05636077, 0.00706008, 0.00143771,
  0.01456154,-0.00154301, 0.        ,-0.00307388, 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: -1.2077043209005045e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.59641903e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.59641903e-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([ 0.07353579, -0.08805719,  0.06199964])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49176287e-04,-2.05466703e-03,-4.75028496e-04,-7.54070453e-05,
 -5.07467798e-04,-1.31930398e-02,-5.03930767e-03,-1.50301597e-03,
 -3.37344451e-07,-1.62577544e-03,-4.28500447e-04,-5.80184762e-05,
 -1.07703447e-04,-3.70518597e-05,-1.70491159e-05, 2.26475041e-04,
 -5.93515903e-01, 1.28998855e-01,-7.22212716e+00, 1.84569900e-02,
 -1.09310358e-01,-1.42615126e-03]


--- Step 1013 ---
qpos:
[ 0.00757771, 0.84395926,-0.01862328,-0.02765872,-0.00851133, 0.67219463,
 -0.09410459,-0.02262266, 0.02202262, 0.84539244,-0.01843838, 0.02279348,
  1.21682134,-0.01012694, 0.87469916, 0.06199165, 0.04525375,-0.06018909,
  0.1119436 , 0.88958782,-0.03202943,-0.41211295,-0.19434644]

qacc:
[ 1.84812916e+00,-2.20706040e+01, 5.02772938e+01,-4.60267897e+01,
 -4.49265285e+00,-6.16153362e+01, 1.00264764e+02,-2.19949221e+02,
 -1.39047122e-02,-2.08931947e+01, 4.95281634e+01,-4.57933853e+01,
 -3.75511363e-02,-4.74112431e-01,-1.69707675e+01, 5.83204813e+01,
 -1.69278458e+00, 1.52270334e+00,-4.37914180e+00, 1.28002414e+01,
 -5.88246086e+01, 6.02853489e+01]

qfrc_actuator:
[-0.00591135, 0.06154046, 0.00714958, 0.00176354, 0.01646824, 0.22401237,
  0.07628784, 0.03438792,-0.00213474, 0.05564415, 0.00708926, 0.00142079,
  0.01451836,-0.0015618 , 0.        ,-0.00279662, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09091176,  3.42267955,  2.24071946,  3.42267955,  9.37503931,
       -8.07145904,  2.24071946, -8.07145904, 16.4199955 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.661953901061391e-07
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.62251927e-11, -7.24503853e-11,  1.00000000e+00,  2.62452917e-21,
        1.00000000e+00,  7.24503853e-11, -1.00000000e+00,  0.00000000e+00,
        3.62251927e-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([ 0.07351255, -0.08806068,  0.06199998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22277602e-04,-2.01422391e-03,-4.69639302e-04,-1.25157096e-04,
 -5.10925419e-04,-1.29315919e-02,-4.91003323e-03,-1.43804955e-03,
 -3.85492984e-06,-1.73135753e-03,-3.66096304e-04,-1.03426162e-04,
 -1.16822358e-04,-4.92944860e-05, 1.39603424e-05, 2.86908326e-04,
 -6.15999971e-01, 1.51902662e-01,-7.20953855e+00, 1.78138906e-02,
 -1.11017102e-01,-1.43137066e-03]


--- Step 1014 ---
qpos:
[ 0.00741355, 0.84466332,-0.01864087,-0.02765243,-0.00818691, 0.67631939,
 -0.09266791,-0.02195643, 0.02202691, 0.84597524,-0.01845912, 0.02278983,
  1.21719308,-0.01012725, 0.87497506, 0.06199517, 0.04455145,-0.05988226,
  0.11138471, 0.88644238,-0.03328946,-0.41885446,-0.19409447]

qacc:
[ 1.97954852e+00,-1.86240656e+01, 3.64198748e+01,-1.96092858e+01,
 -4.26603076e+00,-6.18224411e+01, 1.05221875e+02,-2.31831472e+02,
 -2.24505221e-02,-2.18954868e+01, 5.58767659e+01,-6.26880889e+01,
 -7.88948948e-01, 1.12691036e+00,-2.54612587e-01, 1.76980868e+00,
 -7.97920003e-01, 2.21964669e-01,-8.99679095e+00, 1.70531452e-01,
  6.42936156e-04, 4.32834261e-01]

qfrc_actuator:
[-0.00571382, 0.06086759, 0.00716934, 0.001786  , 0.0161583 , 0.21973923,
  0.07484697, 0.03371182,-0.00213932, 0.05498384, 0.00713264, 0.00137641,
  0.01446843,-0.00155498, 0.        ,-0.00279457, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 3.45845165e-04,-1.91850928e-03,-4.63938289e-04,-8.35513221e-05,
 -4.91438355e-04,-1.27107777e-02,-4.82263798e-03,-1.43944647e-03,
 -5.35132750e-06,-1.72281834e-03,-3.67481475e-04,-1.34119191e-04,
 -1.31559493e-04,-2.81467329e-05, 3.36005558e-05, 1.87372461e-05,
 -6.39179958e-01, 1.75383111e-01,-7.19765380e+00, 1.71350943e-02,
 -1.12734355e-01,-1.43517284e-03]


--- Step 1015 ---
qpos:
[ 0.00725266, 0.84535267,-0.01865839,-0.02764564,-0.00786887, 0.68035524,
 -0.09126267,-0.02130468, 0.02203077, 0.84654566,-0.01847981, 0.02278556,
  1.21756395,-0.01012747, 0.87525171, 0.06199371, 0.04384592,-0.05957453,
  0.11078979, 0.88324659,-0.03454767,-0.42557214,-0.19383054]

qacc:
[ 1.74994295e+00,-1.85881169e+01, 3.59732619e+01,-1.66592987e+01,
 -4.34131639e+00,-5.91361970e+01, 1.01588958e+02,-2.37039930e+02,
 -2.26930106e-01,-1.77824538e+01, 4.23062358e+01,-4.40738356e+01,
 -9.49174975e-01, 1.39869320e+00, 1.61833660e+01,-5.49230537e+01,
 -8.08958218e-01, 2.27369198e-01,-9.00928473e+00, 1.65919240e-01,
  5.62545865e-04, 4.31552690e-01]

qfrc_actuator:
[-0.00556736, 0.06017344, 0.00718832, 0.00181452, 0.01582855, 0.21558006,
  0.07339094, 0.03301258,-0.00217926, 0.05445143, 0.00716651, 0.00135178,
  0.01442513,-0.00155085, 0.        ,-0.0030612 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 3.05939672e-04,-1.88293506e-03,-4.42686667e-04,-7.23659485e-05,
 -5.05808082e-04,-1.24522835e-02,-4.78007626e-03,-1.44986423e-03,
 -4.14390272e-05,-1.59140935e-03,-3.76359229e-04,-1.14626069e-04,
 -1.29355465e-04,-3.01178604e-05, 1.01958482e-05,-2.62963705e-04,
 -6.47984086e-01, 1.79775318e-01,-7.20764233e+00, 1.71821007e-02,
 -1.14410915e-01,-1.44551921e-03]


--- Step 1016 ---
qpos:
[ 0.00709488, 0.84602755,-0.01867602,-0.02763929,-0.00755716, 0.68430456,
 -0.08988877,-0.02066694, 0.02203397, 0.84710329,-0.01849916, 0.02278201,
  1.21793415,-0.01012799, 0.87552872, 0.06198641, 0.04313341,-0.0592597 ,
  0.11018113, 0.87996192,-0.03587592,-0.43241485,-0.1933839 ]

qacc:
[   1.66415825, -19.71295743,  44.38831941, -41.2057368 ,  -4.2760206 ,
  -55.37312129,  90.74411422,-219.95168406,  -0.33832734, -19.17058714,
   40.76967391, -21.01902366,  -0.48062334,   0.33895674,  18.16523545,
  -62.75260079,  -1.74295697,   1.77357246,  -3.4312821 ,  18.52735147,
  -84.07556593,  84.82076503]

qfrc_actuator:
[-0.00541709, 0.05947229, 0.00718893, 0.00179311, 0.01550731, 0.21157682,
  0.07195634, 0.03234102,-0.00222225, 0.05384023, 0.00724833, 0.00139234,
  0.0143965 ,-0.00156608, 0.        ,-0.00335963, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09448629, -0.77735825, -4.02001644, -0.77735825, 14.8015705 ,
       -2.07044929, -4.02001644, -2.07044929,  4.49485302,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.8042206627415522e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.89778586e-13, -1.97955717e-12,  1.00000000e+00,  1.95932330e-24,
        1.00000000e+00,  1.97955717e-12, -1.00000000e+00,  0.00000000e+00,
        9.89778586e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07336836, -0.0880299 ,  0.06199913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91274397e-04,-1.86482276e-03,-4.50589541e-04,-1.19793456e-04,
 -5.03925022e-04,-1.21404597e-02,-4.69905050e-03,-1.40958110e-03,
 -6.14556605e-05,-1.59740890e-03,-3.01578389e-04,-4.37093466e-05,
 -1.14297009e-04,-4.91132383e-05,-3.20984429e-05,-3.13501186e-04,
 -6.56640816e-01, 1.84125692e-01,-7.21777694e+00, 1.72284401e-02,
 -1.16061334e-01,-1.45570880e-03]


--- Step 1017 ---
qpos:
[ 0.00694089, 0.84668791,-0.01869336,-0.02763329,-0.00725188, 0.688169  ,
 -0.08854465,-0.02004139, 0.02203717, 0.84764883,-0.01851797, 0.02277823,
  1.21830377,-0.01012876, 0.87580554, 0.06197556, 0.04241439,-0.05893831,
  0.10955675, 0.87658654,-0.03727217,-0.43937371,-0.19276297]

qacc:
[ 2.03417029e+00,-2.07395780e+01, 4.75913329e+01,-4.34777932e+01,
 -4.31920879e+00,-5.37710999e+01, 8.05010190e+01,-1.81838826e+02,
 -7.35479861e-04,-1.79257725e+01, 4.17448507e+01,-3.77295283e+01,
 -3.53779085e-01, 1.78353116e-01, 1.04708900e+01,-3.70163093e+01,
 -1.62820134e+00, 1.63955113e+00,-3.93185407e+00, 1.73702088e+01,
 -8.04236691e+01, 8.05372076e+01]

qfrc_actuator:
[-0.00519467, 0.05877258, 0.00721417, 0.00177799, 0.01517592, 0.20764707,
  0.07060033, 0.0317624 ,-0.00219569, 0.05327589, 0.00728661, 0.00138217,
  0.01437668,-0.00157483, 0.        ,-0.00353226, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10136671, -0.64297524,  4.05065325, -0.64297524, 13.87458187,
        1.55133875,  4.05065325,  1.55133875,  4.34761647,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.7910284706853545e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.15864791e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.15864791e-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([ 0.07330433, -0.08801059,  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:
[ 3.56709489e-04,-1.85655137e-03,-4.24708146e-04,-1.13901473e-04,
 -5.14833937e-04,-1.18712766e-02,-4.54339062e-03,-1.29944092e-03,
 -1.33918157e-06,-1.53511304e-03,-3.34605686e-04,-9.07241557e-05,
 -1.00919459e-04,-4.26161489e-05,-5.50173232e-05,-1.95458740e-04,
 -6.87703017e-01, 2.17162352e-01,-7.19852201e+00, 1.61755462e-02,
 -1.17756421e-01,-1.45466764e-03]


--- Step 1018 ---
qpos:
[ 0.00679071, 0.84733387,-0.01871045,-0.02762721,-0.00695313, 0.69195069,
 -0.08722949,-0.01942752, 0.02204053, 0.84818295,-0.01853732, 0.02277295,
  1.21867262,-0.01012909, 0.87608159, 0.06196632, 0.04168937,-0.0586109 ,
  0.10891478, 0.87311839,-0.03873484,-0.44644099,-0.19197483]

qacc:
[ 2.03782847e+00,-1.95262168e+01, 4.16737203e+01,-3.00477611e+01,
 -4.34660421e+00,-5.22320218e+01, 7.69665814e+01,-1.72375523e+02,
  8.99650493e-02,-1.66842035e+01, 4.38917708e+01,-6.05399558e+01,
 -8.62632598e-01, 1.57783784e+00,-5.97499763e+00, 1.93564199e+01,
 -1.50018449e+00, 1.50574951e+00,-4.39806567e+00, 1.63415958e+01,
 -7.74167167e+01, 7.69113425e+01]

qfrc_actuator:
[-0.00500189, 0.05807957, 0.00723607, 0.00178448, 0.01484108, 0.20382988,
  0.0692847 , 0.03120784,-0.00218102, 0.05272631, 0.00726352, 0.0013067 ,
  0.01435152,-0.00154412, 0.        ,-0.00343409, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10491974, -1.6505399 ,  3.75846832, -1.6505399 , 17.45001277,
        5.86052789,  3.75846832,  5.86052789,  6.67858387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.543348562370154e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00140106e-12, -1.00140106e-12,  1.00000000e+00,  1.00280408e-24,
        1.00000000e+00,  1.00140106e-12, -1.00000000e+00,  0.00000000e+00,
        1.00140106e-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([ 0.07325088, -0.08799677,  0.06199824])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.57780304e-04,-1.83927724e-03,-4.22837292e-04,-9.09033814e-05,
 -5.23696377e-04,-1.15685801e-02,-4.42312361e-03,-1.25608203e-03,
  1.49906049e-05,-1.49405024e-03,-3.88704921e-04,-1.55381465e-04,
 -9.66913822e-05, 1.05892947e-06,-5.05345817e-05, 7.94276120e-05,
 -7.19065242e-01, 2.50225083e-01,-7.18136204e+00, 1.50986605e-02,
 -1.19470146e-01,-1.45155030e-03]


--- Step 1019 ---
qpos:
[ 0.00664338, 0.8479661 ,-0.0187281 ,-0.02762149,-0.00666048, 0.69565166,
 -0.08594294,-0.01882662, 0.02204387, 0.84870586,-0.01855749, 0.0227692 ,
  1.21904084,-0.01012932, 0.87635678, 0.06196259, 0.0409589 ,-0.05827799,
  0.10825348, 0.86955521,-0.04026274,-0.45360985,-0.19102551]

qacc:
[ 1.52639610e+00,-1.73651863e+01, 3.71106090e+01,-3.24463073e+01,
 -4.04092944e+00,-5.31934104e+01, 8.97525487e+01,-2.09605468e+02,
 -7.98153676e-03,-9.35951334e+00, 5.41484440e+00, 3.06370920e+01,
 -2.93547862e-01, 3.09426075e-01,-1.78841535e+01, 6.07565827e+01,
 -1.36126416e+00, 1.37228277e+00,-4.83255126e+00, 1.54139334e+01,
 -7.49481461e+01, 7.38393498e+01]

qfrc_actuator:
[-0.00489945, 0.05743177, 0.0072204 , 0.00176814, 0.01454235, 0.20007654,
  0.06796888, 0.0305833 ,-0.00219141, 0.05220753, 0.00723998, 0.0013887 ,
  0.01431786,-0.00154359, 0.        ,-0.00314168, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.10342803,  3.21803405, -2.54605154,  3.21803405,  5.86493149,
        2.22641924, -2.54605154,  2.22641924,  6.91746884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.2408032733250454e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.29605371e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.29605371e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07320652, -0.0879876 ,  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:
[ 2.68094714e-04,-1.78269061e-03,-4.55704211e-04,-1.12461609e-04,
 -4.92276722e-04,-1.13060735e-02,-4.34324602e-03,-1.30784246e-03,
 -2.40774647e-06,-1.45394277e-03,-3.89480067e-04, 7.33979825e-07,
 -9.24925265e-05,-2.02368141e-05,-1.68528802e-05, 2.89809072e-04,
 -7.50823553e-01, 2.83390028e-01,-7.16616776e+00, 1.39950108e-02,
 -1.21197547e-01,-1.44627864e-03]


--- Step 1020 ---
qpos:
[ 0.00649826, 0.84858506,-0.01874648,-0.02761608,-0.00637348, 0.69927325,
 -0.08468475,-0.0182383 , 0.02204769, 0.84921831,-0.01857858, 0.022766  ,
  1.21940849,-0.01013005, 0.87663163, 0.06196368, 0.04022358,-0.05794014,
  0.10757123, 0.86589458,-0.04185504,-0.46087426,-0.1899201 ]

qacc:
[   1.17843858, -16.09649612,  33.28091778, -27.72848432,  -3.71927338,
  -51.28217815,  83.76591611,-197.92608025,   0.26020537, -10.12162522,
   13.67942947,   5.14058982,   0.22654736,  -1.05998911, -15.05642902,
   51.91702201,  -1.21326555,   1.23920572,  -5.23755472,  14.56510928,
  -72.9341567 ,  71.23946324]

qfrc_actuator:
[-0.00481628, 0.05681619, 0.00720063, 0.00175626, 0.01426746, 0.19633932,
  0.06664642, 0.029976  ,-0.00214571, 0.05174709, 0.00721666, 0.00142073,
  0.01427379,-0.00157873, 0.        ,-0.00289703, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09835411,  3.24716581, -2.50048408,  3.24716581,  5.34651385,
        1.62087881, -2.50048408,  1.62087881,  6.20325143,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -4.043792624188608e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.05912455e-12, -1.37274970e-12,  1.00000000e+00,  2.82666262e-24,
        1.00000000e+00,  1.37274970e-12, -1.00000000e+00,  0.00000000e+00,
        2.05912455e-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([ 0.07316997, -0.08798235,  0.06199868])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06991018e-04,-1.72618820e-03,-4.52785266e-04,-1.07103277e-04,
 -4.58119657e-04,-1.11261795e-02,-4.28641949e-03,-1.27736628e-03,
  4.54803164e-05,-1.36637091e-03,-3.75564286e-04,-4.44897064e-05,
 -1.04594348e-04,-5.91950433e-05, 2.14600416e-05, 2.57941825e-04,
 -7.83062033e-01, 3.16731984e-01,-7.15283780e+00, 1.28616033e-02,
 -1.22934164e-01,-1.43876331e-03]


--- Step 1021 ---
qpos:
[ 0.00635566, 0.849191  ,-0.01876527,-0.02761093,-0.00609178, 0.70281686,
 -0.08345394,-0.0176623 , 0.02205183, 0.84972026,-0.01859984, 0.02276074,
  1.21977531,-0.01013056, 0.87690632, 0.06196938, 0.03948403,-0.05759785,
  0.10686651, 0.86213392,-0.04351122,-0.46822876,-0.18866292]

qacc:
[ 1.34949464e+00,-1.65965811e+01, 3.52735008e+01,-2.94867943e+01,
 -3.45567954e+00,-5.16850747e+01, 8.68316715e+01,-1.99285369e+02,
  1.74464433e-01,-1.76263309e+01, 5.14738224e+01,-7.93072970e+01,
 -6.09238697e-01, 8.94705425e-01,-1.41172081e+01, 4.91077640e+01,
 -1.05747519e+00, 1.10643462e+00,-5.61522547e+00, 1.37772697e+01,
 -7.13069013e+01, 6.90450354e+01]

qfrc_actuator:
[-0.00467414, 0.05620721, 0.00719656, 0.00174716, 0.01400888, 0.19269597,
  0.06538444, 0.02938384,-0.00213786, 0.05123661, 0.00721165, 0.00131662,
  0.01423414,-0.00156372, 0.        ,-0.00266481, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09290591,  3.74807835, -1.64431976,  3.74807835,  4.59115917,
        1.13572328, -1.64431976,  1.13572328,  6.68168453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0954905854866923e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32453831e-12,  2.64907662e-12,  1.00000000e+00, -3.50880348e-24,
        1.00000000e+00, -2.64907662e-12, -1.00000000e+00,  0.00000000e+00,
        1.32453831e-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([ 0.07314013, -0.08798037,  0.0619993 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37447481e-04,-1.68683074e-03,-4.24751820e-04,-1.01683375e-04,
 -4.30286526e-04,-1.09159843e-02,-4.17953426e-03,-1.25173452e-03,
  3.01625326e-05,-1.36622374e-03,-3.38929114e-04,-1.77257981e-04,
 -1.15988022e-04,-1.91337400e-05, 3.34178438e-05, 2.48163156e-04,
 -8.15855155e-01, 3.50323830e-01,-7.14129444e+00, 1.16952913e-02,
 -1.24675911e-01,-1.42890443e-03]


--- Step 1022 ---
qpos:
[ 0.00621591, 0.84978374,-0.01878381,-0.02760563,-0.00581509, 0.70628382,
 -0.08224924,-0.01709834, 0.02205542, 0.85021166,-0.01862033, 0.02275489,
  1.22014135,-0.01013067, 0.8771818 , 0.06197214, 0.03874009,-0.05725405,
  0.10612611, 0.85830994,-0.04517333,-0.47554774,-0.18739734]

qacc:
[ 1.52257994e+00,-1.78190286e+01, 3.75994168e+01,-2.56950469e+01,
 -3.25245746e+00,-5.28685475e+01, 9.25081968e+01,-2.03329602e+02,
 -2.91141978e-01,-1.73015543e+01, 4.39167082e+01,-4.75280920e+01,
 -1.08537359e+00, 1.94381510e+00, 1.00772131e+01,-3.34133689e+01,
 -1.09797731e+00, 3.78872921e-01,-8.92155677e+00,-5.31720359e+00,
 -2.49105693e-01,-1.89959720e-01]

qfrc_actuator:
[-0.00451558, 0.05557177, 0.00721963, 0.00175755, 0.01376198, 0.18912157,
  0.06418686, 0.02880553,-0.00220602, 0.05075358, 0.00727051, 0.00129301,
  0.01420784,-0.00153689, 0.        ,-0.00283231, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.68243877e-04,-1.68494829e-03,-3.85732781e-04,-7.94158848e-05,
 -4.09260857e-04,-1.07037576e-02,-4.05649908e-03,-1.22444481e-03,
 -5.30640199e-05,-1.33654354e-03,-2.75017732e-04,-9.80517738e-05,
 -1.00543236e-04,-2.43904003e-06, 3.68987366e-05,-1.50784711e-04,
 -8.49269282e-01, 3.84235764e-01,-7.13148085e+00, 1.04928392e-02,
 -1.26418982e-01,-1.41659279e-03]


--- Step 1023 ---
qpos:
[ 0.0060785 , 0.8503632 ,-0.01880172,-0.02760027,-0.00554386, 0.70967626,
 -0.08107083,-0.01654548, 0.0220585 , 0.85069272,-0.0186408 , 0.02275019,
  1.22050672,-0.01013047, 0.87745795, 0.06196892, 0.0379917 ,-0.05690872,
  0.10534995, 0.85442292,-0.04684124,-0.48283064,-0.18612345]

qacc:
[ 1.25070661e+00,-1.92273081e+01, 4.28862650e+01,-3.33151742e+01,
 -3.52177723e+00,-4.76523791e+01, 7.39070731e+01,-1.69380435e+02,
 -2.65227376e-01,-1.13474161e+01, 1.57922444e+01, 1.16843395e+01,
 -1.02338574e+00, 1.78672047e+00, 1.90896939e+01,-6.52709385e+01,
 -1.11157154e+00, 3.85174762e-01,-8.94134977e+00,-5.31575167e+00,
 -2.40934516e-01,-1.46064160e-01]

qfrc_actuator:
[-0.00441951, 0.05492581, 0.0072585 , 0.00176156, 0.01347066, 0.18567163,
  0.06298435, 0.0282757 ,-0.00223025, 0.0502558 , 0.00727806, 0.00135254,
  0.01417893,-0.001521  , 0.        ,-0.00314519, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.20292672e-04,-1.68507036e-03,-3.63875605e-04,-8.38982947e-05,
 -4.46745684e-04,-1.04315235e-02,-4.00035755e-03,-1.16186039e-03,
 -4.83854139e-05,-1.31787082e-03,-3.09504781e-04,-9.86202628e-06,
 -9.05096582e-05,-6.59300271e-06,-8.08749139e-06,-3.18460176e-04,
 -8.60140028e-01, 3.89290151e-01,-7.14733470e+00, 1.03334007e-02,
 -1.28059259e-01,-1.40821014e-03]


--- Step 1024 ---
qpos:
[ 0.00594373, 0.85092995,-0.01881929,-0.02759602,-0.00527833, 0.71299601,
 -0.07991872,-0.01600372, 0.02206137, 0.85116364,-0.01866171, 0.02274555,
  1.22087161,-0.01013066, 0.87773362, 0.06196533, 0.0372414 ,-0.05655959,
  0.10455247, 0.85041431,-0.0485989 ,-0.49024497,-0.18464429]

qacc:
[ 1.40809482e+00,-1.99874022e+01, 5.15380455e+01,-6.17711204e+01,
 -3.66216297e+00,-4.52397410e+01, 6.88140967e+01,-1.65544518e+02,
 -1.04992438e-01,-1.20884196e+01, 2.34199999e+01,-1.43349534e+01,
 -1.32217375e-02,-4.88204669e-01, 4.25086186e-01,-2.52404349e+00,
 -4.77420543e-01, 9.45715726e-01,-5.32858310e+00, 2.05945034e+01,
 -9.86627760e+01, 9.49709764e+01]

qfrc_actuator:
[-0.0042728 , 0.05433218, 0.0072886 , 0.00170854, 0.0131729 , 0.18228941,
  0.06177175, 0.02774331,-0.00222797, 0.04975315, 0.00725526, 0.00135395,
  0.01414846,-0.00154722, 0.        ,-0.00315051, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09154126, -1.09970263, -3.94098516, -1.09970263, 10.23327781,
       -1.71380596, -3.94098516, -1.71380596,  4.56976609,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.179229582302932e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.70740830e-12,  4.70740830e-12,  1.00000000e+00, -2.21596929e-23,
        1.00000000e+00, -4.70740830e-12, -1.00000000e+00,  0.00000000e+00,
        4.70740830e-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([ 0.07296182, -0.08792563,  0.06199959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.48529124e-04,-1.62817761e-03,-3.70024504e-04,-1.40248757e-04,
 -4.68483235e-04,-1.01948679e-02,-3.94405935e-03,-1.14938197e-03,
 -1.96904280e-05,-1.31538447e-03,-3.37114093e-04,-6.66546028e-05,
 -8.74135935e-05,-4.69778352e-05,-4.58334048e-05,-2.56497030e-05,
 -8.70750045e-01, 3.94266999e-01,-7.16338873e+00, 1.01673473e-02,
 -1.29662526e-01,-1.39930042e-03]


--- Step 1025 ---
qpos:
[ 0.00581242, 0.85148461,-0.01883705,-0.02759249,-0.00501818, 0.71624423,
 -0.07879161,-0.01547367, 0.02206416, 0.85162451,-0.01868174, 0.02274015,
  1.22123607,-0.01013143, 0.87800858, 0.06196496, 0.03648966,-0.05620724,
  0.10373187, 0.84628246,-0.05044306,-0.49777774,-0.18297216]

qacc:
[ 1.84546138e+00,-1.69540137e+01, 4.03209782e+01,-4.37289245e+01,
 -3.43598696e+00,-4.85970069e+01, 8.56235676e+01,-1.96125282e+02,
 -3.95773624e-02,-1.72439402e+01, 4.54207043e+01,-5.24873429e+01,
  3.53042996e-01,-1.30424472e+00,-1.08220904e+01, 3.62969189e+01,
 -3.60444672e-01, 8.07485212e-01,-5.78062327e+00, 1.84622998e+01,
 -9.32537425e+01, 8.89972238e+01]

qfrc_actuator:
[-0.00406144, 0.05377468, 0.00729573, 0.00167569, 0.01290921, 0.17894028,
  0.06061688, 0.02717832,-0.00222763, 0.04930478, 0.00732121, 0.00132111,
  0.0141224 ,-0.0015804 , 0.        ,-0.00297452, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  4.09222752,   3.73681765,   1.66808871,   3.73681765,
         8.86152743, -10.68408648,   1.66808871, -10.68408648,
        28.02649589,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -1.7028527574423913e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.6300452e-12,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        1.6300452e-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([ 0.07288398, -0.08789688,  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:
[ 3.26540730e-04,-1.56360660e-03,-3.83845747e-04,-1.18936793e-04,
 -4.43805173e-04,-1.00148858e-02,-3.82903492e-03,-1.16944902e-03,
 -8.12616364e-06,-1.26758623e-03,-2.53130887e-04,-1.02834224e-04,
 -9.00505258e-05,-6.08192035e-05,-2.69343104e-05, 1.67981449e-04,
 -9.14928464e-01, 4.41110133e-01,-7.14730256e+00, 8.45720951e-03,
 -1.31366994e-01,-1.38030733e-03]


--- Step 1026 ---
qpos:
[ 0.00568348, 0.85202745,-0.0188549 ,-0.02758945,-0.00476346, 0.71942258,
 -0.07768907,-0.01495564, 0.02206691, 0.85207583,-0.01870121, 0.02273537,
  1.22159987,-0.01013227, 0.87828359, 0.06196464, 0.03573707,-0.05585225,
  0.10288644, 0.84202537,-0.05237116,-0.50541764,-0.18111748]

qacc:
[ 1.25922630e+00,-1.63618811e+01, 3.77521467e+01,-3.73401148e+01,
 -3.44278827e+00,-4.82088799e+01, 8.87605587e+01,-2.06474085e+02,
 -1.62925423e-02,-1.29202015e+01, 2.50768043e+01,-8.05701972e+00,
 -4.24363229e-01, 4.14802911e-01,-4.03836405e-02, 2.77109194e-01,
 -2.12575671e-01, 6.59005324e-01,-6.20477238e+00, 1.65565861e+01,
 -8.87831001e+01, 8.39787832e+01]

qfrc_actuator:
[-0.0039907 , 0.05322557, 0.00730723, 0.00165501, 0.01263241, 0.17569219,
  0.05948811, 0.02659884,-0.00222849, 0.04887519, 0.00736828, 0.00135728,
  0.01408834,-0.0015819 , 0.        ,-0.00297723, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09137068,  4.01351684, -0.79435294,  4.01351684,  4.98759123,
        4.52820919, -0.79435294,  4.52820919, 26.97042457,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.0076624927080058e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.13234987e-12, -5.50890319e-12,  1.00000000e+00,  2.27647154e-23,
        1.00000000e+00,  5.50890319e-12, -1.00000000e+00,  0.00000000e+00,
        4.13234987e-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([ 0.07282129, -0.08787565,  0.06199963])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.22682333e-04,-1.52074488e-03,-3.67015341e-04,-1.04049784e-04,
 -4.48433298e-04,-9.78794210e-03,-3.75121928e-03,-1.17243594e-03,
 -3.89294122e-06,-1.20604538e-03,-2.52976881e-04,-2.95632733e-05,
 -1.02362398e-04,-3.24911654e-05, 3.33764854e-06, 2.49359759e-06,
 -9.58962018e-01, 4.87249346e-01,-7.13470024e+00, 6.73602031e-03,
 -1.33073594e-01,-1.35788794e-03]


--- Step 1027 ---
qpos:
[ 0.00555604, 0.85255871,-0.01887242,-0.0275871 ,-0.00451381, 0.7225331 ,
 -0.07661112,-0.01444834, 0.02206927, 0.85251748,-0.01872027, 0.02273108,
  1.22196296,-0.01013286, 0.87855887, 0.06196194, 0.03497923,-0.0554953 ,
  0.10200536, 0.8376962 ,-0.05430988,-0.51301287,-0.17925768]

qacc:
[   0.807913  , -17.6460308 ,  43.5960531 , -47.53403274,  -3.20701584,
  -42.84786961,  68.06176709,-164.80814359,  -0.20744415, -12.90778745,
   25.47229844, -10.69347841,  -0.85558673,   1.42810542,   7.59983033,
  -25.93402865,  -1.31420389,   0.49165116,  -8.91584485,  -9.10605067,
   -0.50946435,  -0.52080762]

qfrc_actuator:
[-0.00395135, 0.05268605, 0.00733907, 0.00162392, 0.01238545, 0.17256717,
  0.05836682, 0.02608665,-0.00226559, 0.04838939, 0.00738621, 0.00138051,
  0.01406017,-0.00156467, 0.        ,-0.00310302, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.42585594e-04,-1.48279380e-03,-3.35132705e-04,-1.11724833e-04,
 -4.21375186e-04,-9.51973720e-03,-3.68637092e-03,-1.09257338e-03,
 -3.81487451e-05,-1.22443864e-03,-2.66769606e-04,-3.84184581e-05,
 -9.76107148e-05,-1.12469518e-05,-3.79239182e-06,-1.26518284e-04,
 -1.00299189e+00, 5.32831427e-01,-7.12536744e+00, 4.99836687e-03,
 -1.34775339e-01,-1.33195233e-03]


--- Step 1028 ---
qpos:
[ 0.00543084, 0.8530788 ,-0.01888978,-0.02758451,-0.00426865, 0.72557687,
 -0.07555649,-0.0139512 , 0.02207157, 0.85294976,-0.01873912, 0.02272672,
  1.22232519,-0.01013265, 0.87883429, 0.06195608, 0.03421606,-0.05513635,
  0.10108851, 0.8332953 ,-0.05625902,-0.52056279,-0.17739291]

qacc:
[ 1.18743490e+00,-1.47074899e+01, 3.00223551e+01,-1.79483052e+01,
 -2.82121977e+00,-4.37967367e+01, 7.10572870e+01,-1.60584791e+02,
 -2.11675282e-02,-1.31137963e+01, 2.90912129e+01,-2.37446754e+01,
 -1.47469045e+00, 2.91703070e+00, 9.86344872e+00,-3.40004253e+01,
 -1.32891365e+00, 4.98150937e-01,-8.94140446e+00,-9.10143825e+00,
 -4.86610600e-01,-4.40557651e-01]

qfrc_actuator:
[-0.00380666, 0.05217455, 0.00736499, 0.00164024, 0.01217596, 0.16945314,
  0.05729538, 0.02560061,-0.00225305, 0.0479448 , 0.00740435, 0.00137813,
  0.0140249 ,-0.00151874, 0.        ,-0.00326476, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.10340290e-04,-1.42702182e-03,-3.29459718e-04,-6.17112616e-05,
 -3.74284756e-04,-9.33973566e-03,-3.56939826e-03,-1.05094556e-03,
 -4.70693599e-06,-1.19651646e-03,-2.72292543e-04,-6.54602295e-05,
 -9.72733565e-05, 2.25777179e-05,-2.17629485e-05,-1.70637024e-04,
 -1.01475716e+00, 5.38013828e-01,-7.14587334e+00, 4.68532647e-03,
 -1.36314462e-01,-1.30899894e-03]


--- Step 1029 ---
qpos:
[ 0.00530848, 0.85358807,-0.01890727,-0.02758144,-0.00402811, 0.72855561,
 -0.07452483,-0.01346417, 0.0220745 , 0.85337329,-0.01875767, 0.02272192,
  1.22268661,-0.0101316 , 0.87910978, 0.06194662, 0.03345562,-0.05477633,
  0.1001473 , 0.8287432 ,-0.05832256,-0.52825756,-0.1752916 ]

qacc:
[   1.51331829, -12.92736354,  23.34474269,  -6.92174824,  -2.88811288,
  -42.40941233,  69.28721854,-160.0531468 ,   0.33019128, -13.2909101 ,
   32.42540994, -33.98857961,  -1.49540708,   3.01127994,  11.03153937,
  -38.28325308,   0.67997942,   0.26703905,  -6.09094276,  22.49908703,
 -116.51643311, 110.84804755]

qfrc_actuator:
[-0.0036356 , 0.05166631, 0.00736964, 0.00166661, 0.01193714, 0.16644278,
  0.05624465, 0.02511622,-0.00219316, 0.04756401, 0.0074404 , 0.00136073,
  0.01399075,-0.00147399, 0.        ,-0.00344631, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09359046, -0.58439799, -4.05166161, -0.58439799,  2.96515684,
        0.16276146, -4.05166161,  0.16276146,  4.07011429,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.428070665241866e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14311235e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.14311235e-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([ 0.07254359, -0.08776171,  0.06199905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68666566e-04,-1.38898408e-03,-3.36698910e-04,-4.80955389e-05,
 -3.85992290e-04,-9.10729655e-03,-3.49467764e-03,-1.03653392e-03,
  5.84161390e-05,-1.11916757e-03,-2.50159671e-04,-7.99799912e-05,
 -8.85759771e-05, 2.78702920e-05,-3.43418807e-05,-1.95077574e-04,
 -1.02616332e+00, 5.43086797e-01,-7.16660908e+00, 4.36252656e-03,
 -1.37808400e-01,-1.28532062e-03]


--- Step 1030 ---
qpos:
[ 0.00518922, 0.85408642,-0.01892463,-0.02757845,-0.00379242, 0.73147141,
 -0.07351584,-0.01298788, 0.0220779 , 0.85378831,-0.01877589, 0.02271656,
  1.22304754,-0.01013059, 0.87938472, 0.06193769, 0.03269687,-0.05441507,
  0.09918109, 0.82403918,-0.0604995 ,-0.53607878,-0.17297048]

qacc:
[   1.64735593, -14.98844633,  32.81913085, -26.32962073,  -3.02491484,
  -41.80438049,  73.76085379,-177.41000312,   0.25511629, -13.34579223,
   33.70205344, -37.83812431,  -0.28272797,   0.2558367 ,  -2.38560355,
    7.20242911,   0.4220859 ,   0.31279172,  -6.24906141,  17.72166888,
 -108.87377004, 104.03073729]

qfrc_actuator:
[-0.00346797, 0.05112864, 0.00737951, 0.00166317, 0.01168266, 0.16355509,
  0.05521533, 0.02460134,-0.00217652, 0.04717138, 0.00746927, 0.00133472,
  0.01396262,-0.00148358, 0.        ,-0.00340729, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09573525, -0.65110521, -4.04365048, -0.65110521,  1.02174505,
        0.49497133, -4.04365048,  0.49497133,  4.01603538,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -3.256728736403952e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.70450645e-12,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.70450645e-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([ 0.07243401, -0.0877141 ,  0.0619987 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.92771163e-04,-1.39779373e-03,-3.23960514e-04,-7.62525123e-05,
 -4.07046971e-04,-8.83648414e-03,-3.41462731e-03,-1.05401621e-03,
  4.49933212e-05,-1.08357445e-03,-2.39062034e-04,-8.47825116e-05,
 -7.62051371e-05,-2.34779013e-05,-4.22605254e-05, 2.26735118e-05,
 -1.08272856e+00, 6.03970503e-01,-7.15302633e+00, 2.01580286e-03,
 -1.39455091e-01,-1.24927405e-03]


--- Step 1031 ---
qpos:
[ 0.00507258, 0.85457435,-0.018942  ,-0.02757628,-0.00356178, 0.73432521,
 -0.07252835,-0.01252219, 0.02208144, 0.85419457,-0.01879425, 0.02271305,
  1.22340798,-0.01013016, 0.87965914, 0.06193122, 0.03193889,-0.05405239,
  0.09818937, 0.81918183,-0.06278997,-0.5440107 ,-0.17044328]

qacc:
[ 1.39193801e+00,-1.53914830e+01, 3.83762661e+01,-4.49310580e+01,
 -3.12393169e+00,-4.34935579e+01, 8.10143850e+01,-1.84680672e+02,
  7.46357339e-02,-7.35511790e+00, 1.54064116e+00, 3.73587634e+01,
  2.68993542e-01,-1.16680837e+00,-8.25151523e+00, 2.76914175e+01,
  1.95516958e-01, 3.53847132e-01,-6.37702347e+00, 1.33947032e+01,
 -1.02771465e+02, 9.87345765e+01]

qfrc_actuator:
[-0.00335706, 0.05064876, 0.00739228, 0.00162444, 0.01142085, 0.16065842,
  0.0542255 , 0.02409059,-0.00218593, 0.04672163, 0.00745817, 0.00142812,
  0.0139168 ,-0.00152521, 0.        ,-0.0032741 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09354023, -0.72281348, -4.02921982, -0.72281348,  0.60322254,
        0.62613826, -4.02921982,  0.62613826,  3.98121547,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.405237539643279e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.30792802e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.30792802e-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([ 0.07234749, -0.08767925,  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:
[ 2.47499241e-04,-1.34324689e-03,-3.22193898e-04,-1.12000293e-04,
 -4.23481485e-04,-8.67620412e-03,-3.30905523e-03,-1.03567245e-03,
  1.25884636e-05,-1.11850192e-03,-2.70418106e-04, 3.64541738e-05,
 -9.76414925e-05,-6.24651626e-05,-1.98447324e-05, 1.28360060e-04,
 -1.13823409e+00, 6.63583522e-01,-7.14423977e+00,-3.47129049e-04,
 -1.41086152e-01,-1.20593620e-03]


--- Step 1032 ---
qpos:
[ 0.00495815, 0.85505231,-0.01895973,-0.02757429,-0.00333627, 0.73711792,
 -0.07156185,-0.01206656, 0.02208478, 0.8545918 ,-0.01881193, 0.02270997,
  1.22376783,-0.01012993, 0.87993314, 0.06192837, 0.03117459,-0.05368718,
  0.09716192, 0.81424111,-0.06509677,-0.55188594,-0.16791587]

qacc:
[ 1.17618681e+00,-1.25757247e+01, 2.64861988e+01,-2.17915076e+01,
 -3.17198624e+00,-4.26241166e+01, 7.73473976e+01,-1.73140368e+02,
 -9.62101583e-02,-1.29510787e+01, 2.71183822e+01,-1.43218291e+01,
 -8.80231217e-02,-2.78606481e-01,-1.15019456e+01, 3.93515901e+01,
 -1.58222650e+00, 6.32135884e-01,-8.93328557e+00,-1.40752804e+01,
 -8.57794514e-01,-7.95963665e-01]

qfrc_actuator:
[-0.00326318, 0.05018966, 0.00738916, 0.00161858, 0.01115678, 0.15778058,
  0.05324951, 0.02360423,-0.00221083, 0.0462768 , 0.00749445, 0.00144894,
  0.01389233,-0.00153227, 0.        ,-0.00308657, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.09233564e-04,-1.29287650e-03,-3.27758626e-04,-7.74129708e-05,
 -4.33090298e-04,-8.54315840e-03,-3.24758258e-03,-1.00023072e-03,
 -1.82385998e-05,-1.13419410e-03,-2.29853115e-04,-3.63353663e-05,
 -9.77193221e-05,-4.01300989e-05, 1.59899771e-06, 1.91326004e-04,
 -1.19295900e+00, 7.22285058e-01,-7.13984867e+00,-2.74004240e-03,
 -1.42691466e-01,-1.15503520e-03]


--- Step 1033 ---
qpos:
[ 0.00484601, 0.85552025,-0.01897754,-0.02757173,-0.00311531, 0.73985016,
 -0.07061557,-0.01162026, 0.02208788, 0.85498036,-0.0188289 , 0.02270641,
  1.22412703,-0.01012955, 0.88020687, 0.06192944, 0.0304039 ,-0.05331941,
  0.0960986 , 0.80921753,-0.06741963,-0.5597037 ,-0.16538847]

qacc:
[ 1.21286769e+00,-1.18251338e+01, 2.05526083e+01,-3.15293186e+00,
 -2.78680228e+00,-4.24481835e+01, 7.48072475e+01,-1.59547315e+02,
 -1.28971217e-01,-1.44224822e+01, 3.67936561e+01,-3.97588480e+01,
 -4.46124596e-01, 6.36488912e-01,-1.22199533e+01, 4.22305007e+01,
 -1.59791733e+00, 6.38574042e-01,-8.96666562e+00,-1.40686699e+01,
 -8.06713676e-01,-6.62807246e-01]

qfrc_actuator:
[-0.00314465, 0.04971125, 0.00739459, 0.00164989, 0.01094673, 0.15492019,
  0.05230766, 0.02315394,-0.00222699, 0.04587416, 0.00754063, 0.00142691,
  0.01387005,-0.00151871, 0.        ,-0.0028863 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.15923445e-04,-1.28344297e-03,-3.08206408e-04,-3.75940652e-05,
 -3.83725375e-04,-8.43511251e-03,-3.17628671e-03,-9.55454726e-04,
 -2.41105813e-05,-1.09529436e-03,-2.20643557e-04,-7.98575619e-05,
 -9.03475124e-05,-1.54743936e-05, 1.75639081e-05, 2.10107189e-04,
 -1.20549139e+00, 7.27401731e-01,-7.16667926e+00,-3.25523745e-03,
 -1.44070510e-01,-1.11219527e-03]


--- Step 1034 ---
qpos:
[ 0.00473614, 0.85597827,-0.018995  ,-0.02756887,-0.00289824, 0.7425228 ,
 -0.06968954,-0.01118273, 0.02209094, 0.85536033,-0.01884589, 0.02270367,
  1.22448554,-0.01012899, 0.88048096, 0.06193022, 0.02963495,-0.05295053,
  0.09501286, 0.80400842,-0.06990289,-0.56766793,-0.16259509]

qacc:
[ 1.20821212e+00,-1.34570430e+01, 2.76796276e+01,-1.57449903e+01,
 -2.38240794e+00,-4.01379824e+01, 6.59632521e+01,-1.42022062e+02,
 -1.64367146e-02,-9.58087086e+00, 1.41893143e+01, 6.51243902e+00,
 -6.89343632e-01, 1.08331298e+00, 1.40621517e+00,-4.09223212e+00,
  4.35249694e-01, 2.80064803e-01,-5.60451368e+00, 1.53942265e+01,
 -1.33427487e+02, 1.32235451e+02]

qfrc_actuator:
[-0.00303005, 0.04924304, 0.00742277, 0.0016673 , 0.01077054, 0.15209409,
  0.05135841, 0.02272859,-0.00222003, 0.04544686, 0.0075392 , 0.00146865,
  0.01383314,-0.00151082, 0.        ,-0.00291095, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09201914, -0.93942173, -3.98272614, -0.93942173,  0.45109201,
        0.85880022, -3.98272614,  0.85880022,  3.88945046,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.562536487148547e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.55263072e-12,  5.77302492e-12,  1.00000000e+00, -2.05094257e-23,
        1.00000000e+00, -5.77302492e-12, -1.00000000e+00,  0.00000000e+00,
        3.55263072e-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([ 0.07199444, -0.087527  ,  0.0619993 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.15225934e-04,-1.26199278e-03,-2.79642544e-04,-4.96153700e-05,
 -3.30792592e-04,-8.32179339e-03,-3.15017136e-03,-9.22376785e-04,
 -3.77590547e-06,-1.09796816e-03,-2.60532708e-04,-1.49266217e-05,
 -9.48550308e-05,-1.49514460e-05, 2.61913773e-05,-1.18953087e-05,
 -1.21751916e+00, 7.32361698e-01,-7.19377096e+00,-3.78326751e-03,
 -1.45393796e-01,-1.06843527e-03]


--- Step 1035 ---
qpos:
[ 0.00462832, 0.85642646,-0.01901155,-0.02756623,-0.00268498, 0.74513726,
 -0.0687842 ,-0.01075436, 0.02209421, 0.85573183,-0.01886308, 0.02270007,
  1.22484344,-0.01012834, 0.88075542, 0.06192839, 0.02886659,-0.05258018,
  0.09390389, 0.79861314,-0.07254239,-0.57575724,-0.15955642]

qacc:
[ 1.08879425e+00,-1.60262756e+01, 3.92641468e+01,-3.74597454e+01,
 -2.31924841e+00,-3.77887432e+01, 6.18846242e+01,-1.44611120e+02,
  1.12981371e-01,-1.24270240e+01, 3.17736018e+01,-4.03616473e+01,
 -6.60798311e-01, 9.85633397e-01, 8.47213483e+00,-2.87639300e+01,
  1.49151133e-01, 3.64289620e-01,-5.80842855e+00, 1.04770198e+01,
 -1.24401451e+02, 1.23444576e+02]

qfrc_actuator:
[-0.00293646, 0.04878486, 0.00748196, 0.00165867, 0.01058033, 0.14936514,
  0.0503951 , 0.02228589,-0.0021993 , 0.04502589, 0.0075274 , 0.00142329,
  0.01380345,-0.00150642, 0.        ,-0.00305015, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09109198, -0.9765503 , -3.97283061, -0.9765503 ,  0.40519924,
        0.90601891, -3.97283061,  0.90601891,  3.86838602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -6.342999523581416e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.62546849e-11,  1.64091781e-11,  1.00000000e+00, -4.30817799e-22,
        1.00000000e+00, -1.64091781e-11, -1.00000000e+00,  0.00000000e+00,
        2.62546849e-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([ 0.07186315, -0.08747227,  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:
[ 1.93957962e-04,-1.23433995e-03,-2.41021054e-04,-7.39721886e-05,
 -3.24092198e-04,-8.15250337e-03,-3.13563865e-03,-9.33155821e-04,
  1.95952540e-05,-1.09837254e-03,-2.74052920e-04,-1.02260516e-04,
 -9.04632112e-05,-1.92602577e-05, 3.82710129e-06,-1.38090053e-04,
 -1.28700375e+00, 8.11129080e-01,-7.18695854e+00,-7.00414613e-03,
 -1.46900479e-01,-9.96464594e-04]


--- Step 1036 ---
qpos:
[ 0.00452267, 0.85686515,-0.01902743,-0.0275641 ,-0.00247557, 0.74769515,
 -0.06789916,-0.01033501, 0.02209751, 0.85609536,-0.01888091, 0.02269625,
  1.22520056,-0.01012705, 0.88102982, 0.06192525, 0.02809099,-0.05220683,
  0.09275897, 0.79312528,-0.07520292,-0.58377867,-0.15652243]

qacc:
[ 1.15594444e+00,-1.54296979e+01, 3.89513526e+01,-4.18138652e+01,
 -2.33916053e+00,-3.64713602e+01, 5.96417960e+01,-1.41750082e+02,
  2.13547956e-02,-9.20592600e+00, 1.84314135e+01,-1.52366980e+01,
 -1.18188480e+00, 2.29184846e+00, 3.94422089e+00,-1.37732292e+01,
 -1.81181620e+00, 7.52694177e-01,-8.98881413e+00,-1.85186231e+01,
 -1.05759709e+00,-7.36193424e-01]

qfrc_actuator:
[-0.00282065, 0.04833657, 0.00752354, 0.00163483, 0.01038319, 0.14675239,
  0.04946738, 0.02185442,-0.00220604, 0.0446653 , 0.00750956, 0.00141579,
  0.01377278,-0.0014686 , 0.        ,-0.00311362, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.06203984e-04,-1.20182529e-03,-2.48937759e-04,-8.71302319e-05,
 -3.28879993e-04,-7.93720223e-03,-3.06285155e-03,-9.14224760e-04,
  3.17188328e-06,-1.04455230e-03,-2.84790547e-04,-6.65650892e-05,
 -9.00479809e-05, 1.45004442e-05,-1.99213130e-05,-7.21309717e-05,
 -1.35478459e+00, 8.87822480e-01,-7.18616916e+00,-1.02346169e-02,
 -1.48364991e-01,-9.15596625e-04]


--- Step 1037 ---
qpos:
[ 0.00441959, 0.85729467,-0.01904317,-0.0275623 ,-0.00227049, 0.75019795,
 -0.06703385,-0.00992447, 0.0221006 , 0.85645148,-0.01889897, 0.0226926 ,
  1.22555698,-0.01012504, 0.88130387, 0.06192301, 0.02730808,-0.05183044,
  0.09157792, 0.7875455 ,-0.07788415,-0.59173128,-0.15349346]

qacc:
[ 1.35522756e+00,-1.31826422e+01, 3.07520598e+01,-2.97773573e+01,
 -2.61451727e+00,-3.57114338e+01, 5.89566415e+01,-1.39594179e+02,
 -1.12725723e-01,-8.75236970e+00, 1.62562054e+01,-7.39602798e+00,
 -1.10535221e+00, 2.24067545e+00,-3.18417352e+00, 1.05234148e+01,
 -1.82747981e+00, 7.58720696e-01,-9.02938435e+00,-1.85144323e+01,
 -9.73875711e-01,-5.51641629e-01]

qfrc_actuator:
[-0.00267471, 0.04789782, 0.0075367 , 0.00161997, 0.01014795, 0.14421329,
  0.04856893, 0.0214332 ,-0.00222919, 0.04436157, 0.00752412, 0.0014307 ,
  0.01374689,-0.00142904, 0.        ,-0.00306089, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.42186031e-04,-1.17608454e-03,-2.72009313e-04,-7.72616623e-05,
 -3.69475967e-04,-7.72550740e-03,-2.97871496e-03,-8.91696614e-04,
 -2.10158881e-05,-9.58075295e-04,-2.41294476e-04,-4.15138103e-05,
 -7.75490499e-05, 2.26832488e-05,-2.20442339e-05, 4.50357179e-05,
 -1.36725029e+00, 8.92660795e-01,-7.21882428e+00,-1.09369634e-02,
 -1.49549075e-01,-8.53997386e-04]


--- Step 1038 ---
qpos:
[ 0.00431923, 0.85771517,-0.01905878,-0.02756106,-0.00206996, 0.75264728,
 -0.06618778,-0.00952255, 0.0221038 , 0.85679999,-0.01891678, 0.0226888 ,
  1.22591303,-0.01012318, 0.8815775 , 0.06192339, 0.0265178 ,-0.051451  ,
  0.0903606 , 0.78187445,-0.08058575,-0.59961414,-0.15046983]

qacc:
[ 1.44407823e+00,-1.34675271e+01, 3.31439309e+01,-3.66272832e+01,
 -2.74256560e+00,-3.45696512e+01, 5.71596606e+01,-1.36476027e+02,
  6.59927073e-02,-1.11122799e+01, 2.57195906e+01,-2.33258276e+01,
 -1.23692455e-02,-2.56520078e-01,-8.50823559e+00, 2.88580499e+01,
 -1.84234870e+00, 7.64439573e-01,-9.07029984e+00,-1.85125814e+01,
 -8.90393894e-01,-3.67157226e-01]

qfrc_actuator:
[-0.00252969, 0.04746826, 0.0075508 , 0.00159277, 0.00990962, 0.14175725,
  0.04769556, 0.02102154,-0.00220867, 0.04398808, 0.00754023, 0.00142324,
  0.01372922,-0.00144205, 0.        ,-0.00292239, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.58328385e-04,-1.15660884e-03,-2.68172468e-04,-8.90937117e-05,
 -3.89728794e-04,-7.50397532e-03,-2.89798947e-03,-8.69563425e-04,
  1.11720939e-05,-9.69245165e-04,-2.15595359e-04,-5.81658132e-05,
 -5.97834094e-05,-2.56114319e-05,-9.21770539e-06, 1.37244497e-04,
 -1.37906781e+00, 8.97295532e-01,-7.25175213e+00,-1.16536433e-02,
 -1.50667892e-01,-7.91376273e-04]


--- Step 1039 ---
qpos:
[ 0.00422109, 0.85812679,-0.01907482,-0.0275598 ,-0.00187365, 0.75504406,
 -0.06536013,-0.00912936, 0.022107  , 0.85714042,-0.0189344 , 0.02268568,
  1.22626877,-0.01012174, 0.88185097, 0.06192572, 0.02573015,-0.05107059,
  0.08912646, 0.77594582,-0.08352485,-0.6076947 ,-0.14710141]

qacc:
[ 1.17929034e+00,-1.04826992e+01, 2.02508706e+01,-1.26771358e+01,
 -2.53768603e+00,-3.57853316e+01, 6.36752060e+01,-1.46610445e+02,
 -6.17516514e-04,-9.75558819e+00, 1.63819196e+01, 1.20493221e+00,
  2.19595014e-01,-8.73774196e-01,-6.15895747e+00, 2.11781419e+01,
  6.58044426e-01, 2.39137735e-01,-4.20426161e+00, 1.50192369e+01,
 -1.86285194e+02, 1.78653686e+02]

qfrc_actuator:
[-0.00243968, 0.04702999, 0.00752992, 0.00159406, 0.00970689, 0.13930048,
  0.04684465, 0.0206012 ,-0.00221547, 0.04355813, 0.0075391 , 0.0014559 ,
  0.01370582,-0.00146826, 0.        ,-0.00282325, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09274262, -1.17363681, -3.9208569 , -1.17363681,  0.46758511,
        1.0851246 , -3.9208569 ,  1.0851246 ,  3.76793042,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.0080206476535967e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.14670671e-12,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.14670671e-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([ 0.0714387 , -0.08593032,  0.06199891])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11025096e-04,-1.15394119e-03,-2.99003039e-04,-5.98635979e-05,
 -3.63039400e-04,-7.36152082e-03,-2.81832459e-03,-8.65379506e-04,
 -8.98150675e-07,-1.02716408e-03,-2.32486894e-04,-1.79627029e-05,
 -6.53295318e-05,-4.40012287e-05, 7.04949219e-06, 1.04667370e-04,
 -1.39023198e+00, 9.01724641e-01,-7.28493848e+00,-1.23839837e-02,
 -1.51720825e-01,-7.27768705e-04]


--- Step 1040 ---
qpos:
[ 0.0041246 , 0.85852958,-0.01909058,-0.02755861,-0.00168138, 0.75738912,
 -0.06455014,-0.00874421, 0.02211015, 0.85747352,-0.01895223, 0.02268221,
  1.22662399,-0.01012054, 0.88212418, 0.06193123, 0.02494728,-0.05069235,
  0.08788355, 0.76956936,-0.08645353,-0.61611286,-0.14385313]

qacc:
[ 8.67922424e-01,-1.25929384e+01, 2.82722578e+01,-2.34068167e+01,
 -2.41387172e+00,-3.54792643e+01, 6.13592647e+01,-1.34535586e+02,
 -2.51011884e-02,-9.85772723e+00, 2.25907348e+01,-2.30161476e+01,
 -3.39739838e-02,-3.58009123e-01,-9.98189443e+00, 3.43446198e+01,
  1.19593736e+00,-5.39112575e-01,-2.19272627e+00,-2.63338828e+01,
 -2.61281919e+02,-9.68095505e+01]

qfrc_actuator:
[-0.00238326, 0.04662546, 0.00755958, 0.00159431, 0.00950926, 0.13688149,
  0.04603187, 0.0202147 ,-0.00222082, 0.04323985, 0.00754537, 0.00144082,
  0.01366833,-0.00148431, 0.        ,-0.00265936, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09131694, -1.41600881, -3.83846237, -1.41600881,  0.67449215,
        1.2604667 , -3.83846237,  1.2604667 ,  3.62633076,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.47203389216083e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.45070450e-07,  4.45060469e-07,  1.00000000e+00, -1.98083263e-13,
        1.00000000e+00, -4.45060469e-07, -1.00000000e+00,  0.00000000e+00,
        4.45070450e-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([ 0.08030375, -0.06113952,  0.06199946])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55135475e-04,-1.12360054e-03,-2.50625948e-04,-6.12598055e-05,
 -3.47538798e-04,-7.22576815e-03,-2.74009299e-03,-8.22446927e-04,
 -5.20257217e-06,-9.49460565e-04,-2.37685213e-04,-6.79683359e-05,
 -8.68103974e-05,-3.85770255e-05, 9.91398847e-06, 1.69457430e-04,
 -1.49044788e+00, 1.01723175e+00,-7.28120807e+00,-1.71022807e-02,
 -1.52998588e-01,-6.09900078e-04]


--- Step 1041 ---
qpos:
[ 0.00402962, 0.85892432,-0.01910626,-0.02755822,-0.00149301, 0.75968377,
 -0.06375763,-0.00836665, 0.02211323, 0.8577998 ,-0.01896992, 0.02267814,
  1.22697858,-0.01011947, 0.88239808, 0.06193296, 0.02416676,-0.05031555,
  0.08662963, 0.76276191,-0.08936121,-0.6248221 ,-0.14073446]

qacc:
[ 8.03810272e-01,-1.24704799e+01, 3.23592508e+01,-4.02715988e+01,
 -2.32804353e+00,-3.33062045e+01, 5.41619239e+01,-1.20652707e+02,
 -3.14286950e-02,-1.06142829e+01, 2.73041851e+01,-3.28697493e+01,
 -5.29724749e-01, 5.62959430e-01, 1.24386454e+01,-4.19936205e+01,
  5.85137302e-01,-3.63239327e-01,-2.75173369e+00,-2.95357105e+01,
 -2.37677243e+02,-9.99272048e+01]

qfrc_actuator:
[-0.00231179, 0.04628018, 0.0075835 , 0.00155852, 0.0093162 , 0.13454085,
  0.04523078, 0.01985133,-0.00222526, 0.04295554, 0.00757414, 0.00141562,
  0.01362776,-0.00149428, 0.        ,-0.00286693, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.1134062 , -1.4409605 , -3.8527579 , -1.4409605 ,  0.65014411,
        1.29528614, -3.8527579 ,  1.29528614,  3.62895942,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.017826609501815e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58200407e-12,  7.91002034e-13,  1.00000000e+00, -1.25136844e-24,
        1.00000000e+00, -7.91002034e-13, -1.00000000e+00,  0.00000000e+00,
        1.58200407e-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([ 0.08031616, -0.05989487,  0.06199584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.43812608e-04,-1.03725537e-03,-2.44112025e-04,-9.43433130e-05,
 -3.37116317e-04,-7.05186524e-03,-2.68850908e-03,-7.89821411e-04,
 -6.33607437e-06,-8.75069453e-04,-2.01451164e-04,-7.58983598e-05,
 -1.01613567e-04,-3.63508112e-05, 1.84473692e-05,-1.98018859e-04,
 -1.67279616e+00, 1.06742256e+00,-7.26817221e+00,-1.74279186e-02,
 -1.53899096e-01,-5.23958399e-04]


--- Step 1042 ---
qpos:
[ 0.003936  , 0.8593113 ,-0.01912209,-0.02755829,-0.00130845, 0.76192925,
 -0.06298255,-0.00799702, 0.02211568, 0.8581194 ,-0.01898746, 0.02267618,
  1.22733256,-0.01011903, 0.88267246, 0.06192888, 0.02338639,-0.04993945,
  0.08536268, 0.75554219,-0.09225065,-0.63377934,-0.13773008]

qacc:
[ 7.22135584e-01,-1.08174839e+01, 2.56605917e+01,-2.78271023e+01,
 -2.26016340e+00,-3.25075875e+01, 5.51322683e+01,-1.28466377e+02,
 -3.25418717e-01,-4.89666011e+00,-4.29377795e+00, 4.56168853e+01,
 -1.45935636e-01,-5.02163889e-01, 1.82580912e+01,-6.28566757e+01,
  3.99545533e-02,-1.73176932e-01,-3.25747091e+00,-2.97279261e+01,
 -2.16999354e+02,-8.93747139e+01]

qfrc_actuator:
[-0.00224958, 0.04591995, 0.00758633, 0.00153737, 0.00912736, 0.13224885,
  0.04442587, 0.01946908,-0.00228237, 0.04265854, 0.00759839, 0.00152675,
  0.01358003,-0.00153612, 0.        ,-0.00316742, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.11501891, -1.44422737, -3.8532568 , -1.44422737,  0.62124019,
        1.30949249, -3.8532568 ,  1.30949249,  3.62421204,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.263728347824822e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.64223944e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.64223944e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0800446 , -0.05977582,  0.06199546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29258176e-04,-1.00379805e-03,-2.47645881e-04,-7.64199345e-05,
 -3.29080770e-04,-6.89231709e-03,-2.64825476e-03,-7.98681699e-04,
 -5.95567782e-05,-8.38860669e-04,-1.86352274e-04, 6.47360600e-05,
 -1.17638962e-04,-7.09298636e-05,-2.09570451e-05,-3.10879999e-04,
 -1.85074563e+00, 1.10957664e+00,-7.26755728e+00,-1.73804671e-02,
 -1.54758554e-01,-4.39863574e-04]


--- Step 1043 ---
qpos:
[ 3.84379661e-03, 8.59690231e-01,-1.91372380e-02,-2.75579520e-02,
 -1.12739899e-03, 7.64126592e-01,-6.22239062e-02,-7.63517997e-03,
  2.21178600e-02, 8.58432926e-01,-1.90051584e-02, 2.26751637e-02,
  1.22768586e+00,-1.01193136e-02, 8.82946013e-01, 6.19269037e-02,
  2.26042194e-02,-4.95633449e-02, 8.40808888e-02, 7.47925869e-01,
 -9.51234473e-02,-6.42946493e-01,-1.34826674e-01]

qacc:
[ 7.49588808e-01,-1.17070965e+01, 2.46231824e+01,-1.28355853e+01,
 -2.07813607e+00,-3.36033745e+01, 6.04259392e+01,-1.33603594e+02,
 -1.46540958e-01,-5.64150523e+00, 4.51364238e+00, 1.64121118e+01,
  2.43583634e-01,-1.32288156e+00,-7.59675655e+00, 2.47490868e+01,
 -4.52329292e-01, 2.24256067e-03,-3.71085321e+00,-2.95402049e+01,
 -1.99191409e+02,-8.04149213e+01]

qfrc_actuator:
[-0.00217563, 0.04553592, 0.00762995, 0.00156049, 0.00896026, 0.13002272,
  0.04367885, 0.01909664,-0.00228175, 0.042392  , 0.00760211, 0.00157519,
  0.01353336,-0.00157877, 0.        ,-0.0030408 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09328815, -1.4347626 , -3.83359677, -1.4347626 ,  0.5937182 ,
        1.30974966, -3.83359677,  1.30974966,  3.60310101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.287180382508358e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.42705611e-12,  2.42705611e-12,  1.00000000e+00, -5.89060136e-24,
        1.00000000e+00, -2.42705611e-12, -1.00000000e+00,  0.00000000e+00,
        2.42705611e-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([ 0.07989502, -0.05968057,  0.06199849])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34161892e-04,-1.00865744e-03,-1.99697222e-04,-3.04708004e-05,
 -3.04471676e-04,-6.72773330e-03,-2.55208224e-03,-7.80683967e-04,
 -2.70955454e-05,-7.78841589e-04,-1.92628156e-04, 6.85829373e-06,
 -1.34462107e-04,-8.16270637e-05,-5.00987990e-05, 1.05247077e-04,
 -2.02208372e+00, 1.14921197e+00,-7.27915260e+00,-1.72588151e-02,
 -1.55584514e-01,-3.55745914e-04]


--- Step 1044 ---
qpos:
[ 3.75384744e-03, 8.60061210e-01,-1.91520896e-02,-2.75573396e-02,
 -9.50185278e-04, 7.66276925e-01,-6.14814451e-02,-7.28055357e-03,
  2.21199047e-02, 8.58739976e-01,-1.90222249e-02, 2.26733395e-02,
  1.22803820e+00,-1.01192828e-02, 8.83218837e-01, 6.19297128e-02,
  2.18106087e-02,-4.91828033e-02, 8.27625551e-02, 7.40187211e-01,
 -9.80121943e-02,-6.52006485e-01,-1.31924398e-01]

qacc:
[ 1.19175563e+00,-1.07549915e+01, 2.19230768e+01,-1.17375910e+01,
 -2.26740431e+00,-3.16811948e+01, 5.33114776e+01,-1.17880754e+02,
 -6.60783116e-02,-1.19887412e+01, 3.37343416e+01,-4.39344937e+01,
 -7.58794689e-01, 1.18369114e+00,-1.54872879e+01, 5.27105284e+01,
 -2.85902023e+00, 1.10808481e+00,-9.13541561e+00,-1.93745876e+01,
 -2.75104346e-01, 1.55437023e+00]

qfrc_actuator:
[-0.00202421, 0.045141  , 0.00764402, 0.00157398, 0.00875419, 0.12783698,
  0.04293704, 0.01875086,-0.00228207, 0.04205706, 0.00762928, 0.00153309,
  0.01350332,-0.00155056, 0.        ,-0.00278778, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.13983081e-04,-1.01021012e-03,-2.22702260e-04,-3.77377695e-05,
 -3.33627666e-04,-6.57315995e-03,-2.49975048e-03,-7.43157698e-04,
 -1.26435556e-05,-8.17314285e-04,-1.59515201e-04,-8.24462247e-05,
 -1.30099969e-04,-1.66911143e-05,-1.35975291e-05, 2.51937267e-04,
 -2.18674458e+00, 1.18669757e+00,-7.30255164e+00,-1.70856177e-02,
 -1.56363535e-01,-2.71949925e-04]


--- Step 1045 ---
qpos:
[ 3.66627651e-03, 8.60424334e-01,-1.91672723e-02,-2.75568953e-02,
 -7.76789006e-04, 7.68381460e-01,-6.07549502e-02,-6.93346587e-03,
  2.21213257e-02, 8.59039673e-01,-1.90387350e-02, 2.26714821e-02,
  1.22838968e+00,-1.01187262e-02, 8.83491934e-01, 6.19321381e-02,
  2.10055032e-02,-4.87978044e-02, 8.14073732e-02, 7.32327458e-01,
 -1.00916494e-01,-6.60957802e-01,-1.29023798e-01]

qacc:
[   1.25660455,  -9.79969668,  20.59150417, -17.20798668,  -2.24817576,
  -31.34091977,  55.78912488,-127.1652559 ,  -0.3250276 , -11.33516946,
   26.45974136, -22.51388662,  -1.125168  ,   2.05297461,   1.62113165,
   -4.95247171,  -2.87373689,   1.11432298,  -9.21207131, -19.40559754,
   -0.20113561,   1.78799398]

qfrc_actuator:
[-0.00189873, 0.04474268, 0.00762272, 0.00156392, 0.00856196, 0.12571137,
  0.04220469, 0.01838812,-0.00233626, 0.04163065, 0.00763427, 0.0015268 ,
  0.013478  ,-0.00151608, 0.        ,-0.00281748, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.25893044e-04,-1.01935445e-03,-2.61419686e-04,-6.22955376e-05,
 -3.32429862e-04,-6.41271361e-03,-2.45000031e-03,-7.50826439e-04,
 -5.96665998e-05,-9.27134514e-04,-1.88599807e-04,-4.88714110e-05,
 -1.07755528e-04, 2.53379669e-06, 1.81041830e-05,-1.82511851e-05,
 -2.19826902e+00, 1.19236178e+00,-7.36402548e+00,-1.77880104e-02,
 -1.57107683e-01,-2.03391088e-04]


--- Step 1046 ---
qpos:
[ 3.58078194e-03, 8.60779526e-01,-1.91823793e-02,-2.75562580e-02,
 -6.07088501e-04, 7.70440764e-01,-6.00432907e-02,-6.59472875e-03,
  2.21222999e-02, 8.59332099e-01,-1.90553064e-02, 2.26692445e-02,
  1.22874061e+00,-1.01183842e-02, 8.83765534e-01, 6.19305283e-02,
  2.01888511e-02,-4.84083260e-02, 8.00150348e-02, 7.24347873e-01,
 -1.03835950e-01,-6.69798948e-01,-1.26125426e-01]

qacc:
[ 1.09737338e+00,-1.02948112e+01, 2.06876749e+01,-1.16572165e+01,
 -2.16936224e+00,-3.53989903e+01, 7.47855592e+01,-1.62461558e+02,
 -2.32333710e-01,-1.02156660e+01, 2.40889376e+01,-2.52205172e+01,
 -4.03074695e-01, 3.09669795e-01, 1.29375739e+01,-4.41571781e+01,
 -2.88664369e+00, 1.11989326e+00,-9.28910497e+00,-1.94404721e+01,
 -1.26852025e-01, 2.02186412e+00]

qfrc_actuator:
[-0.0018076 , 0.04436315, 0.00763397, 0.00157555, 0.00837955, 0.12358616,
  0.04151976, 0.01798291,-0.00235122, 0.04125933, 0.00762578, 0.00150603,
  0.01345019,-0.00153143, 0.        ,-0.00303133, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.97245914e-04,-1.01453261e-03,-2.36319013e-04,-4.27897110e-05,
 -3.22547680e-04,-6.31119685e-03,-2.36295252e-03,-7.84727959e-04,
 -4.28063998e-05,-9.37849037e-04,-2.27129637e-04,-6.83917868e-05,
 -9.24853720e-05,-3.86331905e-05,-3.63667427e-07,-2.14067739e-04,
 -2.20832577e+00, 1.19755647e+00,-7.42580046e+00,-1.85012481e-02,
 -1.57751984e-01,-1.33891431e-04]


--- Step 1047 ---
qpos:
[ 3.49699752e-03, 8.61126880e-01,-1.91970947e-02,-2.75551862e-02,
 -4.41153583e-04, 7.72455903e-01,-5.93468067e-02,-6.26405431e-03,
  2.21231586e-02, 8.59618124e-01,-1.90725935e-02, 2.26667006e-02,
  1.22909109e+00,-1.01187711e-02, 8.84039312e-01, 6.19247003e-02,
  1.93606080e-02,-4.80143484e-02, 7.85852306e-02, 7.16249737e-01,
 -1.06770175e-01,-6.78528444e-01,-1.23229844e-01]

qacc:
[ 9.04236178e-01,-1.05536679e+01, 2.07747140e+01,-8.14115384e+00,
 -2.20498039e+00,-3.24667584e+01, 6.51479079e+01,-1.48059319e+02,
 -5.88845615e-02,-7.08649697e+00, 1.42878394e+01,-1.37336335e+01,
  1.24716501e-01,-1.00171703e+00, 1.29741411e+01,-4.50620909e+01,
 -2.89773259e+00, 1.12479197e+00,-9.36646787e+00,-1.94792146e+01,
 -5.21898803e-02, 2.25601850e+00]

qfrc_actuator:
[-0.00173772, 0.04399812, 0.00766447, 0.00159991, 0.00818669, 0.12151445,
  0.04081529, 0.01759154,-0.00234256, 0.04099495, 0.0076096 , 0.0014947 ,
  0.01341558,-0.00157616, 0.        ,-0.00324533, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.62467455e-04,-9.91137378e-04,-2.12241611e-04,-2.85944642e-05,
 -3.29265698e-04,-6.18298397e-03,-2.35136839e-03,-7.64050192e-04,
 -1.12027171e-05,-8.45527839e-04,-2.42398599e-04,-6.11231300e-05,
 -9.96318798e-05,-7.21419187e-05,-3.04029598e-05,-2.27467039e-04,
 -2.21690830e+00, 1.20227878e+00,-7.48783791e+00,-1.92244450e-02,
 -1.58295900e-01,-6.34962357e-05]


--- Step 1048 ---
qpos:
[ 3.41442449e-03, 8.61466697e-01,-1.92114833e-02,-2.75545666e-02,
 -2.78457819e-04, 7.74428122e-01,-5.86658073e-02,-5.93985542e-03,
  2.21238340e-02, 8.59897792e-01,-1.90903758e-02, 2.26633201e-02,
  1.22944090e+00,-1.01193758e-02, 8.84312783e-01, 6.19173177e-02,
  1.85207369e-02,-4.76158547e-02, 7.71176499e-02, 7.08034348e-01,
 -1.09718784e-01,-6.87144823e-01,-1.20337623e-01]

qacc:
[ 6.41034323e-01,-1.18038141e+01, 2.95407004e+01,-3.23509933e+01,
 -1.89113269e+00,-2.67219967e+01, 4.03371062e+01,-9.61683226e+01,
 -9.44245018e-02,-8.73627796e+00, 2.24921138e+01,-3.15013498e+01,
 -3.56051351e-01, 1.69071531e-01, 4.25217274e+00,-1.55106637e+01,
 -2.90699667e+00, 1.12901585e+00,-9.44411105e+00,-1.95218286e+01,
  2.29149073e-02, 2.49049481e+00]

qfrc_actuator:
[-0.00169881, 0.04364486, 0.00768841, 0.00157834, 0.00804237, 0.11952737,
  0.04010536, 0.01728255,-0.00235539, 0.04069024, 0.00758949, 0.00145359,
  0.01338222,-0.00158465, 0.        ,-0.00331561, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.15059555e-04,-9.60519582e-04,-2.10441125e-04,-7.24118275e-05,
 -2.83985799e-04,-6.02198369e-03,-2.32761039e-03,-6.75260313e-04,
 -1.76747891e-05,-8.36900039e-04,-2.28838990e-04,-8.73123473e-05,
 -1.10445618e-04,-4.37008252e-05,-4.40987043e-05,-8.79742084e-05,
 -2.22401101e+00, 1.20652624e+00,-7.55009898e+00,-1.99567084e-02,
 -1.58738955e-01, 7.74851140e-06]


--- Step 1049 ---
qpos:
[ 3.33318914e-03, 8.61798975e-01,-1.92252418e-02,-2.75545869e-02,
 -1.19044623e-04, 7.76358022e-01,-5.79994544e-02,-5.62039874e-03,
  2.21247178e-02, 8.60171299e-01,-1.91076348e-02, 2.26590231e-02,
  1.22978997e+00,-1.01198244e-02, 8.84585406e-01, 6.19137668e-02,
  1.76692082e-02,-4.72128308e-02, 7.56119813e-02, 6.99703018e-01,
 -1.12681400e-01,-6.95646635e-01,-1.17449347e-01]

qacc:
[  0.70752653,-13.0384018 , 34.73194088,-41.27205652, -1.91084139,
 -24.71055973, 26.99867608,-54.60751484,  0.11199734,-11.48401855,
  33.00791654,-45.17563293, -0.4938343 ,  0.67785506,-12.79402743,
  43.00070218, -2.91443017,  1.13256209, -9.52198539,-19.56831789,
   0.09852682,  2.7253306 ]

qfrc_actuator:
[-0.0016254 , 0.04328375, 0.0077261 , 0.00154766, 0.00787489, 0.11755424,
  0.03943405, 0.01706012,-0.00232775, 0.04043487, 0.00763809, 0.00141303,
  0.01335497,-0.00157162, 0.        ,-0.00310536, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.27111759e-04,-9.52579016e-04,-1.91620764e-04,-8.09779743e-05,
 -2.88320985e-04,-5.90794317e-03,-2.24916977e-03,-5.79129475e-04,
  1.97114949e-05,-7.80903231e-04,-1.57522747e-04,-8.64276067e-05,
 -1.04432071e-04,-1.92853674e-05,-3.36186179e-05, 1.98883483e-04,
 -2.22962920e+00, 1.21029673e+00,-7.61254471e+00,-2.06971394e-02,
 -1.59080741e-01, 7.97961326e-05]


--- Step 1050 ---
qpos:
[ 3.25356240e-03, 8.62124001e-01,-1.92389122e-02,-2.75546385e-02,
  3.73289750e-05, 7.78246813e-01,-5.73472416e-02,-5.30673509e-03,
  2.21260616e-02, 8.60438237e-01,-1.91233128e-02, 2.26552795e-02,
  1.23013848e+00,-1.01204509e-02, 8.84857490e-01, 6.19150312e-02,
  1.68059993e-02,-4.68052652e-02, 7.40679125e-02, 6.91257078e-01,
 -1.15657652e-01,-7.04032443e-01,-1.14565609e-01]

qacc:
[ 8.49545120e-01,-9.89230784e+00, 2.14998505e+01,-1.68619591e+01,
 -1.76453390e+00,-2.66784083e+01, 4.07763507e+01,-8.82790009e+01,
  2.44916024e-01,-1.19560978e+01, 2.76960147e+01,-1.58073335e+01,
 -4.01357139e-02,-3.23018295e-01,-1.53319852e+01, 5.24875207e+01,
 -2.92002849e+00, 1.13542829e+00,-9.60004163e+00,-1.96186863e+01,
  1.74710807e-01, 2.96056325e+00]

qfrc_actuator:
[-0.00153192, 0.04293869, 0.00773608, 0.0015474 , 0.00773036, 0.11565929,
  0.03879126, 0.01678397,-0.00229389, 0.04012268, 0.00772709, 0.00144422,
  0.01333143,-0.00158147, 0.        ,-0.00285582, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.52948506e-04,-9.28385776e-04,-2.15603945e-04,-4.97272816e-05,
 -2.67564620e-04,-5.74435900e-03,-2.18353507e-03,-6.23262349e-04,
  4.37024024e-05,-7.91487104e-04,-9.66867982e-05,-9.78212238e-06,
 -9.11787056e-05,-3.64324715e-05, 3.98016197e-06, 2.55701496e-04,
 -2.23375908e+00, 1.21358846e+00,-7.67513600e+00,-2.14448325e-02,
 -1.59320915e-01, 1.52599270e-04]


--- Step 1051 ---
qpos:
[ 3.17560465e-03, 8.62441922e-01,-1.92525320e-02,-2.75540284e-02,
  1.90934748e-04, 7.80095485e-01,-5.67088977e-02,-4.99941552e-03,
  2.21272761e-02, 8.60698992e-01,-1.91384647e-02, 2.26516088e-02,
  1.23048647e+00,-1.01214649e-02, 8.85129933e-01, 6.19159080e-02,
  1.61073244e-02,-4.65105496e-02, 7.25297535e-02, 6.85342384e-01,
 -1.13436814e-01,-7.09906396e-01,-1.16063838e-01]

qacc:
[ 8.81022041e-01,-8.16534230e+00, 1.27087480e+01, 3.85591541e+00,
 -1.60238346e+00,-2.72590294e+01, 4.70722640e+01,-1.05273915e+02,
 -6.53222940e-02,-9.48617537e+00, 2.16618728e+01,-1.66901403e+01,
 -7.73984459e-02,-4.03396659e-01, 1.69491425e+00,-5.17003688e+00,
  4.11334916e+01,-2.82125212e+01, 1.47745365e+00, 2.56235356e+02,
  2.31043143e+03,-3.05379228e+03]

qfrc_actuator:
[-0.00144494, 0.042606  , 0.00774748, 0.00158279, 0.00760066, 0.11379148,
  0.03815319, 0.01647854,-0.00232764, 0.03981478, 0.00775031, 0.00144634,
  0.01329945,-0.00160477, 0.        ,-0.00288701, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.79631646, -6.40230367, -5.79631646,  5.15250157,
        3.15410954, -6.40230367,  3.15410954,  5.78079508,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028010654949180216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.90893489e-15, -1.98178698e-14,  1.00000000e+00,  1.96373981e-28,
        1.00000000e+00,  1.98178698e-14, -1.00000000e+00,  0.00000000e+00,
        9.90893489e-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([-0.03841457, -0.01355475,  0.06168364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.58740193e-04,-9.05935948e-04,-2.11002466e-04,-1.32536309e-05,
 -2.44196749e-04,-5.61281136e-03,-2.13793615e-03,-6.44016234e-04,
 -1.25120535e-05,-7.77116443e-04,-1.54472953e-04,-3.56955899e-05,
 -9.50676122e-05,-5.03245155e-05, 2.60565295e-05,-1.74146878e-05,
 -2.23639778e+00, 1.21640000e+00,-7.73783366e+00,-2.21988765e-02,
 -1.59459199e-01, 2.26109898e-04]


--- Step 1052 ---
qpos:
[ 3.09948265e-03, 8.62753017e-01,-1.92663791e-02,-2.75530253e-02,
  3.41394334e-04, 7.81904010e-01,-5.60840606e-02,-4.69826775e-03,
  2.21287758e-02, 8.60954942e-01,-1.91541250e-02, 2.26475339e-02,
  1.23083382e+00,-1.01227158e-02, 8.85402799e-01, 6.19137604e-02,
  1.55520683e-02,-4.63206561e-02, 7.10015338e-02, 6.81324106e-01,
 -1.06651866e-01,-7.13901645e-01,-1.21520716e-01]

qacc:
[ 9.68242309e-01,-7.57532862e+00, 1.22688136e+01,-1.06972343e-01,
 -1.81751053e+00,-2.79495615e+01, 4.87574475e+01,-1.04540055e+02,
  1.51072927e-01,-5.76066985e+00, 1.30318876e+01,-1.56790696e+01,
 -4.01747319e-01, 2.50960871e-01, 9.76685322e+00,-3.32376875e+01,
  3.58547147e+01,-2.62055119e+01, 2.48481157e+00, 1.57394663e+02,
  1.80632061e+03,-2.76001022e+03]

qfrc_actuator:
[-0.00134482, 0.04228348, 0.00774199, 0.00160338, 0.00742756, 0.11184887,
  0.03750558, 0.01617616,-0.00229505, 0.03965372, 0.00775224, 0.00143129,
  0.01326245,-0.00161812, 0.        ,-0.00304787, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.82372669, -6.37738067, -5.82372669,  5.44292708,
        2.91619752, -6.37738067,  2.91619752,  5.97333657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005346970277600185
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.03817954e-14,  1.03817954e-14,  1.00000000e+00, -1.07781675e-28,
        1.00000000e+00, -1.03817954e-14, -1.00000000e+00,  0.00000000e+00,
        1.03817954e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03562129, -0.01443452,  0.06141872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74674325e-04,-8.80532434e-04,-2.21380135e-04,-2.62096939e-05,
 -2.77905317e-04,-5.60425290e-03,-2.11487796e-03,-6.34047485e-04,
  2.70814810e-05,-6.35153621e-04,-1.80770401e-04,-5.47531488e-05,
 -1.05753013e-04,-4.37766269e-05, 3.28247903e-06,-1.60049967e-04,
 -1.10664590e+00,-1.53687594e-01,-7.78251558e+00, 2.62310598e-02,
 -1.57979693e-01,-1.36953078e-03]


--- Step 1053 ---
qpos:
[ 3.02534966e-03, 8.63057898e-01,-1.92810878e-02,-2.75521730e-02,
  4.88468484e-04, 7.83672865e-01,-5.54728431e-02,-4.40392599e-03,
  2.21307995e-02, 8.61205782e-01,-1.91697163e-02, 2.26439915e-02,
  1.23118037e+00,-1.01235566e-02, 8.85675321e-01, 6.19123886e-02,
  1.51782350e-02,-4.61361579e-02, 6.95214271e-02, 6.80311885e-01,
 -1.03325172e-01,-7.14947184e-01,-1.23895813e-01]

qacc:
[ 1.04794738e+00,-6.11209046e+00, 1.05184958e+01,-7.19215210e+00,
 -1.95191971e+00,-2.83090989e+01, 5.36306205e+01,-1.20557981e+02,
  2.76869157e-01,-5.84678265e+00, 8.80126257e+00, 4.06557472e+00,
 -9.07455127e-01, 1.59330580e+00,-2.80105354e+00, 9.17130616e+00,
  4.53556999e+01,-1.34880590e+00, 1.20282649e+01,-9.69823633e+01,
  1.70344219e+03, 2.62429580e+03]

qfrc_actuator:
[-0.00123765, 0.04200513, 0.00770886, 0.00159735, 0.00724765, 0.10994848,
  0.03685743, 0.01584247,-0.00225851, 0.03940433, 0.00775996, 0.00145964,
  0.0132331 ,-0.00158997, 0.        ,-0.00299969, 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: -0.007504599610429638
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.54771281e-15, -7.39695042e-15,  1.00000000e+00,  4.10361566e-29,
        1.00000000e+00,  7.39695042e-15, -1.00000000e+00,  0.00000000e+00,
        5.54771281e-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([-0.03692275, -0.04047408,  0.06120391])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89334708e-04,-8.24689103e-04,-2.45439753e-04,-5.23503563e-05,
 -2.99462663e-04,-5.55081600e-03,-2.10993195e-03,-6.63887176e-04,
  4.98780976e-05,-6.50219179e-04,-1.49505086e-04,-6.54356394e-06,
 -1.03437342e-04,-3.28609263e-06,-2.26914173e-05, 3.82091695e-05,
 -5.05450284e-01,-5.19993646e-01,-7.65516041e+00, 3.69469058e-02,
 -1.51802460e-01,-1.77029969e-03]


--- Step 1054 ---
qpos:
[ 2.95275507e-03, 8.63356368e-01,-1.92958842e-02,-2.75510919e-02,
  6.32225852e-04, 7.85403875e-01,-5.48752949e-02,-4.11654469e-03,
  2.21327381e-02, 8.61451238e-01,-1.91849753e-02, 2.26401357e-02,
  1.23152624e+00,-1.01241016e-02, 8.85947297e-01, 6.19145706e-02,
  1.49456721e-02,-4.59563996e-02, 6.80975928e-02, 6.81961289e-01,
 -1.03054025e-01,-7.13471811e-01,-1.23558255e-01]

qacc:
[ 8.11270236e-01,-7.75451087e+00, 1.43957802e+01,-5.60060954e+00,
 -1.90862315e+00,-2.60877917e+01, 4.98544318e+01,-1.20702835e+02,
 -4.25139256e-02,-8.68386116e+00, 2.19648949e+01,-2.39576610e+01,
 -5.89138362e-01, 9.87647394e-01,-1.15014389e+01, 3.91431221e+01,
  3.53175805e+01,-1.18500350e+00, 1.40681054e+01,-8.83193216e+01,
  1.47953810e+03, 2.31012845e+03]

qfrc_actuator:
[-0.00118039, 0.04170214, 0.00771314, 0.00161123, 0.00708291, 0.10824878,
  0.03624997, 0.01551086,-0.00229096, 0.03912192, 0.00777079, 0.00144224,
  0.01320838,-0.001573  , 0.        ,-0.00281093, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.69797366, -8.4678015 , -1.69797366, 19.82322006,
       -2.2432018 , -8.4678015 , -2.2432018 ,  9.08617314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009254912225476752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.49851521e-15, -1.79940608e-14,  1.00000000e+00,  8.09465564e-29,
        1.00000000e+00,  1.79940608e-14, -1.00000000e+00,  0.00000000e+00,
        4.49851521e-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([-0.03249463, -0.04022058,  0.06103042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46432010e-04,-8.24033621e-04,-2.00317318e-04,-3.13751480e-05,
 -2.93879841e-04,-5.31926996e-03,-2.05810191e-03,-6.59829135e-04,
 -8.27576187e-06,-6.83012803e-04,-1.43952483e-04,-5.09088834e-05,
 -8.82574615e-05,-6.31856322e-06,-1.03401532e-05, 1.87030391e-04,
 -3.74367767e-02,-4.69121924e-02,-7.79249206e+00, 8.54331619e-03,
 -1.57226230e-01,-1.10327570e-03]


--- Step 1055 ---
qpos:
[ 2.88153969e-03, 8.63648525e-01,-1.93101078e-02,-2.75495759e-02,
  7.73013847e-04, 7.87098282e-01,-5.42907507e-02,-3.83498429e-03,
  2.21348016e-02, 8.61691964e-01,-1.92002890e-02, 2.26356924e-02,
  1.23187155e+00,-1.01244664e-02, 8.86218902e-01, 6.19209690e-02,
  1.48198063e-02,-4.57808750e-02, 6.67328154e-02, 6.85899556e-01,
 -1.05427173e-01,-7.09807931e-01,-1.20828846e-01]

qacc:
[ 7.27762414e-01,-9.04444431e+00, 1.83146481e+01,-7.08168390e+00,
 -1.70417209e+00,-2.39680408e+01, 3.98646806e+01,-9.29604889e+01,
  6.70923205e-02,-7.30558115e+00, 1.94579158e+01,-2.60566207e+01,
 -3.87557971e-01, 5.81756200e-01,-1.32530740e+01, 4.56251919e+01,
  2.66742759e+01,-1.05840767e+00, 1.47642109e+01,-6.56594829e+01,
  1.27616644e+03, 2.01307720e+03]

qfrc_actuator:
[-0.00111792, 0.04142256, 0.00775719, 0.00163674, 0.0069463 , 0.10659476,
  0.03567244, 0.01523661,-0.00227566, 0.03892853, 0.00778319, 0.00141578,
  0.01318646,-0.00156277, 0.        ,-0.00259416, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.22151421, -8.54954267, -1.22151421, 19.06027024,
       -1.48931358, -8.54954267, -1.48931358,  8.84914902,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010350641580947825
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.36306381e-15, -5.36306381e-15,  1.00000000e+00,  2.87624534e-29,
        1.00000000e+00,  5.36306381e-15, -1.00000000e+00,  0.00000000e+00,
        5.36306381e-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([-0.02922995, -0.04002401,  0.06090183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.31298462e-04,-7.89895707e-04,-1.54080490e-04,-1.77361365e-05,
 -2.63645310e-04,-5.13205908e-03,-1.97334576e-03,-5.90558877e-04,
  1.17837275e-05,-6.12962809e-04,-1.49963876e-04,-6.20389858e-05,
 -7.66671188e-05,-1.03751051e-05, 1.21232643e-05, 2.24953461e-04,
 -8.06862057e-02, 1.12770868e-02,-7.84951597e+00, 6.36729220e-03,
 -1.59839626e-01,-9.67477911e-04]


--- Step 1056 ---
qpos:
[ 2.81184221e-03, 8.63934903e-01,-1.93240234e-02,-2.75471354e-02,
  9.10982825e-04, 7.88756667e-01,-5.37191803e-02,-3.55872465e-03,
  2.21375737e-02, 8.61928117e-01,-1.92158369e-02, 2.26316417e-02,
  1.23221629e+00,-1.01249218e-02, 8.86491370e-01, 6.19228791e-02,
  1.47713194e-02,-4.56090011e-02, 6.54252746e-02, 6.91744569e-01,
 -1.10035357e-01,-7.04222164e-01,-1.15986271e-01]

qacc:
[ 8.00140131e-01,-6.59242168e+00, 8.53378950e+00, 1.11899941e+01,
 -1.61420947e+00,-2.22228184e+01, 3.25550938e+01,-7.71148735e+01,
  3.73208157e-01,-4.57892484e+00, 5.89993290e+00, 4.63663523e+00,
 -5.60067778e-01, 6.78727249e-01, 1.48447633e+01,-5.00388682e+01,
  1.93447518e+01,-9.12689399e-01, 1.43091449e+01,-3.21308230e+01,
  1.08944834e+03, 1.73449374e+03]

qfrc_actuator:
[-0.00103503, 0.04117724, 0.00778896, 0.00168669, 0.0068098 , 0.10489329,
  0.03506439, 0.01498069,-0.00221412, 0.03871904, 0.00777904, 0.00143753,
  0.01314493,-0.00157435, 0.        ,-0.00284199, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.2603433 ,  8.54390494, -1.2603433 , 11.5903492 ,
        0.43575343,  8.54390494,  0.43575343,  8.70064325,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010867977382671992
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -5.10777206e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  5.10777206e-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([-0.02677997, -0.03986202,  0.0608055 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44567477e-04,-7.26268823e-04,-1.53089687e-04, 1.00322989e-05,
 -2.50763471e-04,-5.05323263e-03,-1.95186557e-03,-5.59840433e-04,
  6.75720907e-05,-5.91487286e-04,-1.53137050e-04,-1.12339339e-05,
 -8.99558923e-05,-3.04556176e-05, 2.57712941e-05,-2.34873969e-04,
 -4.55994402e-01,-2.09843112e-01,-7.84787813e+00, 2.12771415e-02,
 -1.60508969e-01,-1.16397874e-03]


--- Step 1057 ---
qpos:
[ 2.74366389e-03, 8.64215715e-01,-1.93375841e-02,-2.75445011e-02,
  1.04640981e-03, 7.90379748e-01,-5.31604898e-02,-3.28855890e-03,
  2.21408730e-02, 8.62160067e-01,-1.92318661e-02, 2.26281911e-02,
  1.23256025e+00,-1.01251267e-02, 8.86764660e-01, 6.19161635e-02,
  1.47710306e-02,-4.54768160e-02, 6.41936552e-02, 6.98716449e-01,
 -1.12040552e-01,-6.97407892e-01,-1.13421651e-01]

qacc:
[ 8.00515555e-01,-7.94447362e+00, 1.68422034e+01,-9.97839166e+00,
 -1.45225752e+00,-2.31639275e+01, 4.06391693e+01,-9.96066238e+01,
  2.77629503e-01,-2.97479476e+00, 1.21050753e-02, 1.42368848e+01,
 -1.19009074e+00, 1.98255747e+00, 2.73093519e+01,-9.36615244e+01,
  1.20495037e+01,-9.92219141e+00, 1.89803478e+01, 8.89618234e+01,
  1.09798862e+03,-1.57151300e+03]

qfrc_actuator:
[-0.00095833, 0.04091897, 0.0078134 , 0.00169737, 0.00669216, 0.10323067,
  0.03446097, 0.01468431,-0.00219648, 0.03853714, 0.00776516, 0.00146973,
  0.01309698,-0.00156331, 0.        ,-0.00329055, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.6966265 ,  8.60822214, -0.6966265 , 53.95131344,
        3.66714454,  8.60822214,  3.66714454,  8.93312992,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011142062819619797
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.86829693e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.86829693e-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([-0.02004999, -0.0278187 ,  0.06072269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44725659e-04,-7.02119466e-04,-1.46153455e-04,-2.59240135e-05,
 -2.26591468e-04,-4.96343363e-03,-1.92678148e-03,-5.95483552e-04,
  5.02427728e-05,-5.50254897e-04,-1.57028544e-04, 1.00542742e-06,
 -1.09398993e-04,-1.43930974e-05,-2.21992354e-05,-4.60184734e-04,
 -1.02322499e+00,-6.01223406e-01,-7.79213386e+00, 4.61571833e-02,
 -1.60234074e-01,-1.52455414e-03]


--- Step 1058 ---
qpos:
[ 2.67696019e-03, 8.64491082e-01,-1.93507809e-02,-2.75428196e-02,
  1.17995083e-03, 7.91968244e-01,-5.26139935e-02,-3.02496356e-03,
  2.21443360e-02, 8.62388210e-01,-1.92479121e-02, 2.26243716e-02,
  1.23290338e+00,-1.01248939e-02, 8.87036925e-01, 6.19114810e-02,
  1.47821241e-02,-4.53930006e-02, 6.31816115e-02, 7.05419584e-01,
 -1.11165989e-01,-6.90726699e-01,-1.13674801e-01]

qacc:
[ 7.76836891e-01,-1.01755423e+01, 2.98510693e+01,-4.29055451e+01,
 -1.07376422e+00,-2.51026284e+01, 5.09444059e+01,-1.19791050e+02,
  8.71963022e-02,-5.74000934e+00, 1.47259289e+01,-1.82823792e+01,
 -8.71928243e-01, 1.53857059e+00,-7.60135251e+00, 2.45042916e+01,
  2.84557567e+00,-1.20924192e+01, 5.48939507e+01, 1.59922117e+01,
  1.80951922e+02,-2.01132617e+03]

qfrc_actuator:
[-0.00088594, 0.04065502, 0.00783328, 0.00164935, 0.00662219, 0.1016228 ,
  0.03390092, 0.01436656,-0.00220528, 0.038391  , 0.00778128, 0.00145456,
  0.0130612 ,-0.001539  , 0.        ,-0.00316127, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.62167729,  8.61395926, -0.62167729, 51.5743065 ,
        3.09887048,  8.61395926,  3.09887048,  8.86001194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011600475775448628
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.17787171e-15,  9.57049561e-15,  1.00000000e+00, -6.86957896e-29,
        1.00000000e+00, -9.57049561e-15, -1.00000000e+00,  0.00000000e+00,
        7.17787171e-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([-0.00512662, -0.03284183,  0.06063878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.40513441e-04,-6.94270402e-04,-1.46082191e-04,-8.40442557e-05,
 -1.68666207e-04,-4.85371097e-03,-1.86254108e-03,-6.12727811e-04,
  1.55433953e-05,-4.91612412e-04,-1.18524009e-04,-4.44794012e-05,
 -1.06023623e-04,-2.14840068e-06,-6.81418249e-05, 9.92461050e-05,
 -1.50717549e+00,-2.46197628e-01,-7.77472090e+00, 3.51451966e-02,
 -1.60886310e-01,-1.00818550e-03]


--- Step 1059 ---
qpos:
[ 0.0026113 , 0.86476086,-0.0193636 ,-0.02754206, 0.00131142, 0.79352294,
 -0.05207915,-0.00276745, 0.022148  , 0.86261181,-0.01926281, 0.02261972,
  1.23324598,-0.01012497, 0.88730848, 0.0619106 , 0.01477856,-0.04533961,
  0.06246958, 0.70966156,-0.10856975,-0.68637928,-0.11608861]

qacc:
[ 5.52879525e-01,-1.03356079e+01, 3.00418027e+01,-4.25341698e+01,
 -1.17931372e+00,-2.45810655e+01, 4.85436512e+01,-1.10410367e+02,
  1.06084800e-01,-1.09359595e+01, 3.38021718e+01,-4.67486830e+01,
  5.24402571e-02,-5.77580582e-01,-1.25441054e+01, 4.23453248e+01,
 -3.66350452e+00,-7.60505930e+00, 7.50022233e+01,-1.43117424e+02,
 -1.45522982e+03,-1.62631167e+03]

qfrc_actuator:
[-0.00085222, 0.04037202, 0.00785027, 0.00160269, 0.00651016, 0.10006119,
  0.03337136, 0.01407442,-0.0021943 , 0.03814333, 0.00783289, 0.0014117 ,
  0.01303275,-0.00156028, 0.        ,-0.00295878, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.63455032, -0.17696808, -8.63455032,  8.63673819,
       -0.01827483, -0.17696808, -0.01827483,  9.52802129,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001315483569676132
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07580108, -0.04347555,  0.04934226])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00010065948506345762
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00661409, -0.01924476,  0.04994967])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -5.88039485, -6.32516666, -5.88039485, 17.50945331,
       -8.24915352, -6.32516666, -8.24915352, 16.30545483,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013315483569676129
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  4.16891741e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -4.16891741e-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([ 0.01681685, -0.04026439,  0.06053128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.98799913e-05,-7.11278406e-04,-1.49313260e-04,-8.34749410e-05,
 -1.85708937e-04,-4.73249726e-03,-1.80161748e-03,-5.80442644e-04,
  1.87996204e-05,-5.54254446e-04,-6.77257077e-05,-6.92005140e-05,
 -9.35239734e-05,-4.48377250e-05,-2.17555530e-05, 1.98949493e-04,
 -1.42228065e+00, 3.48961263e-01,-7.73487314e+00, 5.24259176e-03,
 -1.59580993e-01,-3.04029239e-04]


--- Step 1060 ---
qpos:
[ 0.00254662, 0.86502537,-0.0193763 ,-0.0275419 , 0.00144005, 0.79504426,
 -0.05155505,-0.00251495, 0.02215144, 0.86283115,-0.01927759, 0.02261392,
  1.233588  ,-0.01012504, 0.8875801 , 0.0619101 , 0.01476517,-0.04530879,
  0.06201898, 0.71193607,-0.10454959,-0.68392243,-0.1202769 ]

qacc:
[ 5.12931852e-01,-8.53800295e+00, 2.28372193e+01,-2.94517202e+01,
 -1.60556813e+00,-2.43409064e+01, 4.39744405e+01,-8.90737463e+01,
 -1.13723445e-01,-8.29133672e+00, 2.62286259e+01,-4.30216494e+01,
 -4.05705860e-01, 4.69998106e-01,-9.96105908e-01, 3.67334519e+00,
 -2.45712607e+00,-5.64536828e+00, 6.53605851e+01,-1.00799551e+02,
 -1.16708403e+03,-1.33514804e+03]

qfrc_actuator:
[-0.00080636, 0.04013316, 0.00786536, 0.00157494, 0.00633835, 0.09850486,
  0.03288218, 0.01383528,-0.0022248 , 0.03792577, 0.00783361, 0.00135284,
  0.01301402,-0.00155508, 0.        ,-0.00294574, 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: -0.0026719708035503054
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07563612, -0.04327893,  0.04866401])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00034540119583186674
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00676413, -0.01907869,  0.0498273 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -9.306381107501704e-05
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00860758, -0.01695988,  0.04995347])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  7.89369309, -3.50376743,  7.89369309, 14.86615131,
       14.03518722, -3.50376743, 14.03518722, 40.25645901,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014671970803550302
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.78348294e-15,  7.56696588e-15,  1.00000000e+00, -2.86294863e-29,
        1.00000000e+00, -7.56696588e-15, -1.00000000e+00,  0.00000000e+00,
        3.78348294e-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([ 0.01388784, -0.04003494,  0.06045901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.27192626e-05,-6.77160904e-04,-1.55053513e-04,-6.53754198e-05,
 -2.53091831e-04,-4.64443588e-03,-1.72714377e-03,-5.19413562e-04,
 -2.11459649e-05,-5.49637788e-04,-1.26113677e-04,-8.66011011e-05,
 -8.53422858e-05,-2.38730516e-05, 8.99804272e-06, 2.06140164e-05,
 -5.77846376e-01, 4.73506637e-01,-7.76908040e+00,-1.27830555e-02,
 -1.58657686e-01,-2.64750649e-04]


--- Step 1061 ---
qpos:
[ 0.00248295, 0.86528473,-0.01938915,-0.02754173, 0.00156595, 0.79653338,
 -0.0510422 ,-0.00226714, 0.02215439, 0.86304589,-0.01929244, 0.02260821,
  1.23392956,-0.01012513, 0.88785139, 0.06191243, 0.01458362,-0.04545183,
  0.06182074, 0.71204871,-0.10080709,-0.6834676 ,-0.12528611]

qacc:
[ 5.32100459e-01,-6.36135829e+00, 1.27850670e+01,-8.65424173e+00,
 -1.55596687e+00,-2.07158489e+01, 3.18977633e+01,-7.13134390e+01,
 -2.55223511e-01,-5.70367042e+00, 1.11386802e+01,-6.14922972e+00,
 -2.04683575e-01, 1.49130280e-01,-9.07039622e+00, 3.10399524e+01,
 -4.20425559e+01,-4.34624153e+01, 6.30871012e+01,-3.72173687e+02,
 -1.42572151e+03,-4.31947059e+02]

qfrc_actuator:
[-0.00075355, 0.0398872 , 0.00786167, 0.00157634, 0.00620326, 0.09701807,
  0.03236773, 0.01361156,-0.00226209, 0.03767454, 0.00782214, 0.00135603,
  0.01300116,-0.00155193, 0.        ,-0.00279591, 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: -0.0035187008312549534
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07383995, -0.05581753,  0.04824065])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.78232955,  4.00968977, -2.60635068,  4.00968977,  3.44987755,
       -2.04988499, -2.60635068, -2.04988499,  1.62872365,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00036335823599070033
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00682622, -0.01888084,  0.04981832])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  6.77264108, -5.35892803,  6.77264108,  5.35859601,
       -4.14245976, -5.35892803, -4.14245976,  3.40110148,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023950499773175496
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06361835, -0.0844878 ,  0.04880248])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -8.63610959,  0.06624243, -8.63610959,  8.63709179,
        0.09493062,  0.06624243,  0.09493062, 21.01258915,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.028036942314142308
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.58890906, -0.58890906,  0.55350903,  0.39138999,  0.39138999,
        0.83284317, -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([ 0.01183535, -0.04255085,  0.06041716])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.62828222e-05,-6.65464985e-04,-1.66832345e-04,-3.46086926e-05,
 -2.46007904e-04,-4.50667784e-03,-1.72251527e-03,-4.96371117e-04,
 -4.69974916e-05,-5.93433798e-04,-1.45124220e-04,-2.67039625e-05,
 -6.98265019e-05,-2.01215876e-05, 7.32864629e-07, 1.50817195e-04,
 -1.60699910e-01, 4.27163079e-01,-7.79190292e+00,-1.52863375e-02,
 -1.58725654e-01,-4.16155328e-04]


--- Step 1062 ---
qpos:
[ 0.00242016, 0.86553878,-0.01940194,-0.02754155, 0.00168899, 0.79799145,
 -0.05054113,-0.00202377, 0.02215687, 0.86325512,-0.01930643, 0.02260367,
  1.23427071,-0.01012545, 0.88812274, 0.06191552, 0.01426812,-0.04573443,
  0.06182982, 0.71044054,-0.09733372,-0.68459289,-0.13089293]

qacc:
[ 4.64499035e-01,-7.15903539e+00, 1.52823835e+01,-1.12397832e+01,
 -1.61243471e+00,-1.72599814e+01, 2.08241605e+01,-5.62923160e+01,
 -2.44829139e-01,-7.28586350e+00, 1.05029857e+01, 1.23260388e+01,
 -6.55081716e-02,-2.58199986e-01,-2.18775422e+00, 7.78013890e+00,
 -3.34840872e+01,-3.48919002e+01, 5.18306649e+01,-2.87797810e+02,
 -1.13737112e+03,-3.08231251e+02]

qfrc_actuator:
[-0.00071475, 0.03962122, 0.00786469, 0.00157711, 0.00605574, 0.09558518,
  0.03182517, 0.01339876,-0.00228535, 0.03736966, 0.00785674, 0.00141344,
  0.01297584,-0.00156775, 0.        ,-0.00276191, 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: -0.0037782264324360895
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07365443, -0.05589181,  0.04811089])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.41956927,  3.72627167, -2.37644524,  3.72627167,  3.19692094,
       -1.91711542, -2.37644524, -1.91711542,  1.41352783,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00025967232734747103
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00693855, -0.0188284 ,  0.04987016])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  6.80802194, -5.31390762,  6.80802194,  5.39792038,
       -4.14899812, -5.31390762, -4.14899812,  3.32078944,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030193070181513265
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06337209, -0.08455234,  0.04849035])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  8.56787372,  1.08550298,  8.56787372,  8.97935283,
       -2.70721327,  1.08550298, -2.70721327, 30.00439473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.028029395837781586
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-5.84433200e-01, -5.84433200e-01,  5.62917108e-01,  3.98042504e-01,
        3.98042504e-01,  8.26513357e-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([ 0.01099629, -0.04252639,  0.06040018])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.39891214e-05,-6.79942895e-04,-1.58053472e-04,-3.45382989e-05,
 -2.55551131e-04,-4.37282174e-03,-1.72040136e-03,-4.78853867e-04,
 -4.53128207e-05,-6.72825108e-04,-1.08321003e-04, 2.61474953e-05,
 -7.19405263e-05,-3.49457664e-05, 1.26055497e-05, 4.14423149e-05,
  6.84339677e-03, 1.40157828e-01,-7.88468506e+00,-2.15957487e-03,
 -1.62520473e-01,-8.90220458e-04]


--- Step 1063 ---
qpos:
[ 0.00235866, 0.86578738,-0.01941455,-0.0275417 , 0.00180927, 0.79941884,
 -0.05005176,-0.00178464, 0.02215916, 0.86345963,-0.01932019, 0.02259978,
  1.23461129,-0.01012589, 0.88839464, 0.06191465, 0.01399042,-0.04593988,
  0.0619942 , 0.70772355,-0.09276036,-0.68688737,-0.13677952]

qacc:
[ 6.77322462e-01,-8.37337866e+00, 2.08276210e+01,-2.29094329e+01,
 -1.56234414e+00,-1.65502579e+01, 1.80159691e+01,-4.99247650e+01,
 -9.70035527e-02,-5.50717945e+00, 7.79583080e+00, 6.75075027e+00,
 -5.01176591e-01, 5.59306137e-01, 1.27923516e+01,-4.35265473e+01,
  9.44776025e+00, 1.92878273e+01, 3.88263125e+01, 3.17533044e+02,
 -7.09262231e+02,-6.05396992e+02]

qfrc_actuator:
[-0.00063138, 0.03934545, 0.00787158, 0.00155973, 0.00591972, 0.09412533,
  0.03127077, 0.01319417,-0.00228227, 0.03717736, 0.00788258, 0.001449  ,
  0.01293774,-0.00157697, 0.        ,-0.00297398, 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: -0.003551703709683482
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07339315, -0.05619016,  0.04822415])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.10424415,  3.54831863, -2.06258453,  3.54831863,  3.10289181,
       -1.72265288, -2.06258453, -1.72265288,  1.14071892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.4084494938842764e-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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00709329, -0.01889398,  0.04997296])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0031966199096643555
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0630098 , -0.08482211,  0.04840169])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  7.0377253 , -5.00571668,  7.0377253 ,  8.38051736,
       -0.3597039 , -5.00571668, -0.3597039 ,  8.13064239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.015885806734163687
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.44258032e-01,  1.44258032e-01,  9.78968457e-01,  2.10303552e-02,
        9.89540105e-01, -1.42716867e-01, -9.89316605e-01,  3.46944695e-18,
       -1.45782906e-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([ 0.01079408, -0.04280015,  0.0604026 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.22730894e-04,-6.95889961e-04,-1.56045331e-04,-5.29852822e-05,
 -2.48451930e-04,-4.32278061e-03,-1.70332892e-03,-4.64423869e-04,
 -1.81854834e-05,-5.94657764e-04,-1.27085415e-04, 3.20932703e-06,
 -8.93794429e-05,-3.16066160e-05, 4.75132789e-06,-2.09470026e-04,
 -6.94387530e-02,-7.98933230e-02,-7.95643155e+00, 1.17012401e-02,
 -1.66191942e-01,-1.14386027e-03]


--- Step 1064 ---
qpos:
[ 0.00229891, 0.86602997,-0.0194262 ,-0.02754205, 0.00192731, 0.8008157 ,
 -0.04957369,-0.00155029, 0.02216174, 0.86366021,-0.01933377, 0.02259763,
  1.23495126,-0.0101264 , 0.8886665 , 0.06191159, 0.01376326,-0.04609963,
  0.06229456, 0.70423778,-0.08865932,-0.69006393,-0.14142297]

qacc:
[ 9.22012201e-01,-1.10529207e+01, 2.86936741e+01,-2.91962781e+01,
 -1.26464787e+00,-1.85879982e+01, 2.79274666e+01,-7.01743604e+01,
  1.56699746e-01,-2.16384102e+00,-7.12533254e+00, 3.96671560e+01,
 -4.88490686e-01, 5.44411279e-01, 6.55636369e+00,-2.29822248e+01,
  1.26371722e+01, 1.14252345e+01, 3.39933538e+01, 2.84487657e+02,
 -6.66137175e+02, 5.08638845e+02]

qfrc_actuator:
[-0.00052203, 0.03903055, 0.00791616, 0.00154957, 0.00582716, 0.09266138,
  0.03073164, 0.01296054,-0.00224571, 0.03705402, 0.00792121, 0.00154251,
  0.01290265,-0.00158226, 0.        ,-0.00308075, 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: -0.003301506726032577
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06372093, -0.08212959,  0.04834925])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002975491416261279
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07323226, -0.05633191,  0.04851225])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -8.31290828, -2.34143818, -8.31290828,  8.78165558,
       -0.5158362 , -2.34143818, -0.5158362 , 10.46775898,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.015301506726032574
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84225364e-15, -7.25564511e-15,  1.00000000e+00,  1.33667386e-29,
        1.00000000e+00,  7.25564511e-15, -1.00000000e+00,  0.00000000e+00,
        1.84225364e-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([ 0.00900121, -0.04840513,  0.0604136 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67185479e-04,-7.44173874e-04,-1.21998541e-04,-4.67377596e-05,
 -2.02088420e-04,-4.29381674e-03,-1.67471150e-03,-4.90357576e-04,
  2.82215513e-05,-4.86731747e-04,-1.01224823e-04, 6.34114552e-05,
 -9.65382992e-05,-3.07866871e-05,-2.77806404e-05,-1.19372807e-04,
 -1.85223841e-01,-2.55684588e-01,-7.89169419e+00, 2.42427741e-02,
 -1.62915361e-01,-1.44366607e-03]


--- Step 1065 ---
qpos:
[ 0.00224128, 0.86626687,-0.01943736,-0.02754219, 0.00204284, 0.80218216,
 -0.04910578,-0.00132107, 0.02216469, 0.86385729,-0.01934726, 0.02259552,
  1.23529058,-0.01012694, 0.88893794, 0.06190925, 0.01190682,-0.04539513,
  0.06274256, 0.69360894,-0.08753491,-0.70046399,-0.14350779]

qacc:
[ 1.11779627e+00,-8.43954943e+00, 1.83077022e+01,-1.12868676e+01,
 -1.41177647e+00,-2.22944385e+01, 4.29175974e+01,-9.32670553e+01,
  1.90836904e-01,-4.75492389e+00, 1.00400761e+01,-6.78078312e+00,
 -3.98610749e-01, 3.92633053e-01,-2.75836377e+00, 8.76686500e+00,
 -4.07321440e+02, 2.16063008e+02, 3.69112044e+01, 2.88091393e+01,
 -5.33227292e+03, 1.10261020e+03]

qfrc_actuator:
[-0.00039806, 0.03876595, 0.00794698, 0.00156148, 0.00569025, 0.09122483,
  0.03025922, 0.01271174,-0.00222499, 0.03690214, 0.00793195, 0.00154518,
  0.01286939,-0.00158519, 0.        ,-0.00303576, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -3.47705906, -7.90549411, -3.47705906,  1.51543379,
        3.13198559, -7.90549411,  3.13198559,  7.25882812,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002825627257511565
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06361805, -0.08219197,  0.04858719])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -3.489048  , -7.90021018, -3.489048  ,  1.45321376,
        3.17236556, -7.90021018,  3.17236556,  7.23532045,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002117148489679338
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.07315716, -0.05641222,  0.04894143])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.19261748184844057
  efc_address: 6
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.91773842e-01,  4.45886921e-01,  7.69692715e-02,  4.44235332e-01,
        8.95089299e-01, -3.83420867e-02, -8.59906063e-02,  6.93889390e-18,
       -9.96295948e-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([ 0.00958384, -0.04902883,  0.06043659])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02989979e-04,-7.13450533e-04,-1.41274542e-04,-2.54235815e-05,
 -2.26215316e-04,-4.24447081e-03,-1.59899967e-03,-5.03724001e-04,
  3.45354780e-05,-4.46900976e-04,-1.01526873e-04,-2.07317997e-05,
 -9.89699769e-05,-2.98203147e-05,-3.05877676e-05, 3.37253746e-05,
 -3.38512203e-01,-3.22419038e-01,-7.83127917e+00, 3.18051663e-02,
 -1.59073315e-01,-1.71528678e-03]


--- Step 1066 ---
qpos:
[ 2.18566948e-03, 8.66498739e-01,-1.94486691e-02,-2.75422327e-02,
  2.15565225e-03, 8.03519001e-01,-4.86476830e-02,-1.09715260e-03,
  2.21681194e-02, 8.64050371e-01,-1.93605394e-02, 2.25921337e-02,
  1.23562928e+00,-1.01277732e-02, 8.89208702e-01, 6.19110841e-02,
  1.03312247e-02,-4.47587469e-02, 6.33909721e-02, 6.84644409e-01,
 -8.82490295e-02,-7.09287110e-01,-1.42779331e-01]

qacc:
[ 1.05778977e+00,-6.03585198e+00, 1.14783230e+01,-5.90053810e+00,
 -1.52381021e+00,-2.26011458e+01, 4.61882368e+01,-1.00566236e+02,
  2.51675167e-01,-8.51019488e+00, 2.80994103e+01,-4.77047346e+01,
 -1.04499869e-02,-4.82738453e-01,-1.36127475e+01, 4.61892844e+01,
  7.02121726e+01,-1.70284139e+01, 5.01018680e+01, 3.07394040e+02,
  8.74836142e+02, 1.80808092e+03]

qfrc_actuator:
[-0.0003019 , 0.03855134, 0.0079519 , 0.00156856, 0.00554565, 0.0898523 ,
  0.02981246, 0.01245609,-0.00219621, 0.03666327, 0.00792599, 0.00147658,
  0.01283193,-0.00160445, 0.        ,-0.00281297, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.1806425 , -7.55705003, -4.1806425 , 16.4622984 ,
       -4.32939247, -7.55705003, -4.32939247, 11.03143077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014000722435189156
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06287144, -0.03874246,  0.04929996])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.51257794, -3.17695346, -7.89752809, -3.17695346,  1.80484249,
        2.69833334, -7.89752809,  2.69833334,  7.42711432,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009169205413330911
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05635054, -0.07957305,  0.04954154])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.30271882, -5.49663616, -6.22271088, -5.49663616,  3.84148031,
        3.94069488, -6.22271088,  3.94069488,  4.8218298 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008619797008607849
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06172387, -0.08280598,  0.04956901])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.52780352, -8.25814666, -2.52780352,  2.62702818,
        1.83944654, -8.25814666,  1.83944654,  8.07331243,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013400072243518912
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.17825112e-15, -4.14260089e-15,  1.00000000e+00,  2.14514277e-29,
        1.00000000e+00,  4.14260089e-15, -1.00000000e+00,  0.00000000e+00,
        5.17825112e-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([-0.02016373, -0.03895121,  0.0604604 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92268998e-04,-6.49208690e-04,-1.62439462e-04,-2.91890938e-05,
 -2.44727314e-04,-4.13688348e-03,-1.55390086e-03,-5.06004529e-04,
  4.56182855e-05,-5.15198509e-04,-1.12920450e-04,-9.19311376e-05,
 -1.04247779e-04,-4.66116929e-05,-1.39275817e-05, 2.19906527e-04,
 -3.51457750e+00, 3.14298381e-02,-7.71419441e+00, 6.61516643e-02,
 -1.59290684e-01,-1.93899325e-03]


--- Step 1067 ---
qpos:
[ 2.13146493e-03, 8.66725629e-01,-1.94599206e-02,-2.75425631e-02,
  2.26602178e-03, 8.04827686e-01,-4.81999164e-02,-8.78614837e-04,
  2.21715703e-02, 8.64238542e-01,-1.93725966e-02, 2.25890282e-02,
  1.23596723e+00,-1.01287616e-02, 8.89479245e-01, 6.19161999e-02,
  8.99021409e-03,-4.41811804e-02, 6.42030990e-02, 6.76970188e-01,
 -9.04379563e-02,-7.16913803e-01,-1.39881881e-01]

qacc:
[ 7.39255903e-01,-7.33192677e+00, 1.78081918e+01,-1.92252421e+01,
 -1.37218161e+00,-1.93748855e+01, 3.78099940e+01,-9.36769172e+01,
  1.53922128e-02,-9.32055483e+00, 2.26159344e+01,-1.60346942e+01,
 -2.72387834e-01, 2.50728138e-02,-1.02217444e+01, 3.53076742e+01,
  5.86455918e+01,-1.47051424e+01, 4.09293201e+01, 2.35884323e+02,
  6.66216750e+02, 1.41046587e+03]

qfrc_actuator:
[-0.00025868, 0.03831509, 0.00795946, 0.00155501, 0.00543314, 0.08858283,
  0.02934929, 0.01219857,-0.0022161 , 0.03639185, 0.00798086, 0.00149081,
  0.01278664,-0.00161551, 0.        ,-0.00264704, 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: -0.002617340765164178
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0640714 , -0.03812228,  0.04869133])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.64855978, -8.22021338, -2.64855978,  2.58154872,
        1.95086654, -8.22021338,  1.95086654,  8.00779277,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.014617340765164175
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89881156e-15,  3.79762312e-15,  1.00000000e+00, -7.21097068e-30,
        1.00000000e+00, -3.79762312e-15, -1.00000000e+00,  0.00000000e+00,
        1.89881156e-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([-0.0211535 , -0.0383008 ,  0.06044176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34271319e-04,-6.39342086e-04,-1.49225161e-04,-4.78610832e-05,
 -2.20995553e-04,-3.96355845e-03,-1.54222862e-03,-5.01680294e-04,
  2.21864551e-06,-5.91240900e-04,-7.00353329e-05,-1.38088246e-05,
 -1.18675173e-04,-4.29590782e-05, 1.45560822e-05, 1.75585189e-04,
 -2.50931232e+00, 6.23311134e-01,-7.76009069e+00, 2.29063777e-02,
 -1.58780040e-01,-1.65043757e-03]


--- Step 1068 ---
qpos:
[ 2.07841481e-03, 8.66947946e-01,-1.94717955e-02,-2.75430650e-02,
  2.37428630e-03, 8.06108772e-01,-4.77623008e-02,-6.64325421e-04,
  2.21747121e-02, 8.64422409e-01,-1.93846812e-02, 2.25864665e-02,
  1.23630434e+00,-1.01293401e-02, 8.89750382e-01, 6.19185805e-02,
  7.27301185e-03,-4.41017688e-02, 6.45034720e-02, 6.76494403e-01,
 -1.02055642e-01,-7.17670811e-01,-1.29956054e-01]

qacc:
[ 6.06395325e-01,-4.65547637e+00, 8.55243458e+00,-7.16541726e+00,
 -1.17873070e+00,-1.68295630e+01, 2.50278942e+01,-6.20570188e+01,
 -1.60235038e-01,-4.49056247e+00, 5.46270635e+00, 7.15987038e+00,
 -1.11974546e+00, 1.94589347e+00, 9.19272409e+00,-3.07588546e+01,
 -9.40479140e+01,-1.24538735e+02,-1.27938465e+02,-8.27114437e+02,
  3.92839894e+03, 6.57318180e+03]

qfrc_actuator:
[-0.00021191, 0.03810333, 0.00793296, 0.00154719, 0.0053407 , 0.08729682,
  0.02888074, 0.01199538,-0.00224718, 0.03619219, 0.00798236, 0.00151817,
  0.01275799,-0.00158615, 0.        ,-0.00280003, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.84838708, -7.7315389 ,  3.84838708,  1.95453608,
       -3.32589141, -7.7315389 , -3.32589141,  6.98089534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034166580522609832
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06877385, -0.03973663,  0.04829167])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -4.41510173,  7.42250993, -4.41510173, 70.62690247,
       36.87358291,  7.42250993, 36.87358291, 30.56972866,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0831545296906135
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87892102, -0.43946051,  0.18539769, -0.42999828,  0.89826191,
        0.09070291, -0.20639603,  0.        , -0.97846854])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02353589, -0.03821309,  0.06045171])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10208915e-04,-6.07299384e-04,-1.80228919e-04,-4.16122128e-05,
 -1.90585748e-04,-3.87973463e-03,-1.50988664e-03,-4.39369232e-04,
 -2.97109087e-05,-5.49706014e-04,-1.31090182e-04,-9.24064384e-07,
 -1.09780024e-04,-5.17935548e-06, 2.08758608e-05,-1.42578468e-04,
 -1.85188193e+00, 9.75792407e-01,-7.81755726e+00,-4.47388109e-03,
 -1.60786092e-01,-1.43234017e-03]


--- Step 1069 ---
qpos:
[ 2.02678965e-03, 8.67165698e-01,-1.94840102e-02,-2.75436845e-02,
  2.48053999e-03, 8.07362064e-01,-4.73337930e-02,-4.54597388e-04,
  2.21778750e-02, 8.64602380e-01,-1.93971403e-02, 2.25838737e-02,
  1.23664060e+00,-1.01290567e-02, 8.90021559e-01, 6.19194805e-02,
  5.78220707e-03,-4.40275795e-02, 6.49439984e-02, 6.76981172e-01,
 -1.14974822e-01,-7.17189476e-01,-1.18813037e-01]

qacc:
[ 7.48235556e-01,-5.32268456e+00, 1.07251614e+01,-8.86865050e+00,
 -1.12322254e+00,-2.06317620e+01, 3.95412735e+01,-8.35281286e+01,
  1.21733263e-02,-4.16496366e+00, 7.51066689e+00,-4.58162504e+00,
 -1.44520397e+00, 2.88001362e+00, 4.61079436e+00,-1.58643040e+01,
  5.65993645e+01,-1.30556632e+00, 3.50383322e+01,-3.48093084e+01,
  6.17598872e+02, 1.00458824e+03]

qfrc_actuator:
[-0.00012781, 0.03789009, 0.00792218, 0.0015428 , 0.0052432 , 0.08595833,
  0.0284484 , 0.01177254,-0.00223139, 0.03601917, 0.00797036, 0.00151753,
  0.01273404,-0.00153304, 0.        ,-0.00287338, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.54469322, -8.61916969,  0.54469322,  8.4211787 ,
       -0.01359873, -8.61916969, -0.01359873,  8.63550426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030172102516494714
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06682891, -0.03793813,  0.04849139])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.168864  , -8.63471261, -0.168864  ,  1.24601024,
        0.14452879, -8.63471261,  0.14452879,  8.63353717,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.015017210251649468
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.77237667e-15, -7.39300447e-15,  1.00000000e+00,  2.04961931e-29,
        1.00000000e+00,  7.39300447e-15, -1.00000000e+00,  0.00000000e+00,
        2.77237667e-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([-0.0250263 , -0.03769554,  0.06047423])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.36090226e-04,-5.96882115e-04,-1.61448274e-04,-3.77503112e-05,
 -1.82325447e-04,-3.87515307e-03,-1.44985907e-03,-4.53013886e-04,
  1.90522301e-06,-5.11786454e-04,-1.43056683e-04,-2.89982842e-05,
 -9.15727852e-05, 2.79119363e-05,-1.36772108e-05,-8.03269442e-05,
  4.48198150e-02, 8.10707274e-01,-7.42800916e+00,-3.21785612e-02,
 -1.46647476e-01,-3.39825525e-05]


--- Step 1070 ---
qpos:
[ 1.97601674e-03, 8.67378604e-01,-1.94956823e-02,-2.75440381e-02,
  2.58479875e-03, 8.08588075e-01,-4.69133192e-02,-2.49031839e-04,
  2.21807666e-02, 8.64777862e-01,-1.94080723e-02, 2.25812324e-02,
  1.23697614e+00,-1.01283820e-02, 8.90292501e-01, 6.19204742e-02,
  3.75606032e-03,-4.45782616e-02, 6.45999594e-02, 6.86309625e-01,
 -1.28223287e-01,-7.07332491e-01,-1.10537937e-01]

qacc:
[ 4.48662604e-01,-7.37121523e+00, 1.58721621e+01,-8.59014251e+00,
 -1.11200476e+00,-2.21230366e+01, 4.41676770e+01,-8.33542154e+01,
 -1.39394089e-01,-1.02951144e+01, 2.83060891e+01,-2.82837448e+01,
 -8.62309632e-01, 1.52586201e+00,-5.84688537e-01, 1.64332162e+00,
 -1.33835495e+02,-1.56217856e+02,-1.96141327e+02,-1.18866220e+03,
  6.48989686e+03, 2.11759896e+02]

qfrc_actuator:
[-0.00011082, 0.03766003, 0.00795631, 0.00155823, 0.00514341, 0.08470609,
  0.02809407, 0.01157544,-0.0022587 , 0.03581021, 0.00805713, 0.0015182 ,
  0.01269163,-0.00151956, 0.        ,-0.00286361, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.98294178, -8.40563613,  1.98294178,  0.77091276,
       -1.85550872, -8.40563613, -1.85550872,  8.1986376 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024738382217842914
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06057973, -0.00513049,  0.04876308])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.48796261, -8.50721718,  1.48796261,  0.42644435,
       -1.43596345, -8.50721718, -1.43596345,  8.38520513,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002271744198330733
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06793049, -0.03670803,  0.04886413])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  0.88268409, -8.59113762,  0.88268409,  6.8959477 ,
       -0.17881654, -8.59113762, -0.17881654,  8.61799139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023228099859260304
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06979546, -0.03295006,  0.0488386 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  7.95041203,  3.3730884 ,  7.95041203, 11.30321715,
       -6.28580748,  3.3730884 , -6.28580748, 23.45209137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.10551573006387983
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88597235, -0.44298617,  0.13717233, -0.43777027,  0.89652844,
        0.0677786 , -0.15300388,  0.        , -0.98822559])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02563557, -0.02913864,  0.0605155 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.13518645e-05,-6.03721204e-04,-1.11906707e-04,-1.67449582e-05,
 -1.81092095e-04,-3.77368228e-03,-1.36363137e-03,-4.25198794e-04,
 -2.60973687e-05,-5.30107997e-04,-3.88651450e-05,-2.70168532e-05,
 -9.17559273e-05,-1.24456189e-06,-2.05107092e-05, 2.32637690e-06,
  6.87225523e-02, 5.69281275e-01,-7.35658680e+00,-2.57669952e-02,
 -1.43507721e-01,-1.33522484e-05]


--- Step 1071 ---
qpos:
[ 1.92521652e-03, 8.67586888e-01,-1.95067339e-02,-2.75435545e-02,
  2.68725921e-03, 8.09787537e-01,-4.65013891e-02,-4.65147817e-05,
  2.21833510e-02, 8.64948657e-01,-1.94174376e-02, 2.25782915e-02,
  1.23731108e+00,-1.01277823e-02, 8.90563411e-01, 6.19205325e-02,
  1.91966649e-03,-4.51573987e-02, 6.43756018e-02, 6.95924468e-01,
 -1.38888572e-01,-6.96503289e-01,-1.06218015e-01]

qacc:
[-1.22592561e-02,-6.11492569e+00, 9.41781318e+00, 7.44997426e+00,
 -1.00099156e+00,-1.74584520e+01, 2.42234427e+01,-4.38343193e+01,
 -1.58128827e-01,-1.11815053e+01, 3.21493132e+01,-3.63885147e+01,
 -4.16635351e-01, 4.17443835e-01, 2.79589130e+00,-9.81000060e+00,
  4.74382328e+01,-7.11373675e+00, 2.99203280e+01,-5.47763663e+02,
  8.31220040e+02,-2.19291214e+03]

qfrc_actuator:
[-0.00015183, 0.03745749, 0.00799888, 0.00160298, 0.00506077, 0.08346297,
  0.02770035, 0.0114307 ,-0.00227608, 0.03556408, 0.0081304 , 0.00150194,
  0.01265414,-0.00152973, 0.        ,-0.00291146, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.11027357, -8.37457595,  2.11027357,  7.21911365,
       -0.35712676, -8.37457595, -0.35712676,  8.54637279,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018242025237249632
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06081695, -0.00154311,  0.0490879 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  0.58777966, -8.61633866,  0.58777966,  0.88861397,
       -0.52852723, -8.61633866, -0.52852723,  8.60030916,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01382420252372496
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.00775239e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.00775239e-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([-0.02773306, -0.02804169,  0.060541  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.74228281e-06,-5.68788574e-04,-9.80104632e-05, 1.44055978e-05,
 -1.63507398e-04,-3.68804349e-03,-1.37014618e-03,-3.64886130e-04,
 -2.95547411e-05,-5.55827786e-04,-4.32216794e-05,-4.10893182e-05,
 -9.34330803e-05,-3.05166395e-05,-1.35518028e-05,-5.13636389e-05,
 -3.06030011e+00,-2.12408215e+00,-6.57533176e+00, 1.49709016e-01,
 -1.07730661e-01,-5.39128899e-03]


--- Step 1072 ---
qpos:
[ 1.87472527e-03, 8.67790305e-01,-1.95170983e-02,-2.75421727e-02,
  2.78793291e-03, 8.10960851e-01,-4.60984002e-02, 1.51570812e-04,
  2.21856744e-02, 8.65115227e-01,-1.94273949e-02, 2.25759564e-02,
  1.23764548e+00,-1.01273182e-02, 8.90834170e-01, 6.19203270e-02,
  2.16430989e-04,-4.57618961e-02, 6.42243599e-02, 7.05825723e-01,
 -1.47392875e-01,-6.84856341e-01,-1.05153127e-01]

qacc:
[ 1.64028432e-01,-6.49882182e+00, 1.00602784e+01, 7.93611216e+00,
 -9.93665427e-01,-1.86614362e+01, 3.51203521e+01,-7.83266702e+01,
 -1.35340480e-01,-2.68256890e+00,-1.09558621e+00, 1.56363012e+01,
 -2.89602037e-01, 1.68253608e-01, 5.81569832e-01,-2.33967945e+00,
  3.32895810e+01,-6.34009356e+00, 1.82789277e+01,-4.05179121e+02,
  7.25099736e+02,-1.81332623e+03]

qfrc_actuator:
[-0.0001206 , 0.03720217, 0.00802848, 0.00164689, 0.00497129, 0.08219998,
  0.02726896, 0.01121143,-0.00228736, 0.03533314, 0.00808841, 0.00152904,
  0.01263028,-0.00153603, 0.        ,-0.00292187, 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: -0.0006720534675589279
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06273179, -0.00173841,  0.04966397])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  0.30962815, -8.63081151,  0.30962815,  0.62361889,
       -0.28745517, -8.63081151, -0.28745517,  8.62605126,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.012672053467558925
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.38059636e-15,  4.38059636e-15,  1.00000000e+00, -1.91896244e-29,
        1.00000000e+00, -4.38059636e-15, -1.00000000e+00,  0.00000000e+00,
        4.38059636e-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([-0.03082256, -0.02732913,  0.06059806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.94147921e-05,-5.97737583e-04,-1.00954759e-04, 1.61520148e-05,
 -1.62641672e-04,-3.65798789e-03,-1.38851632e-03,-4.34746019e-04,
 -2.51170435e-05,-5.56418983e-04,-1.64798700e-04, 7.55531371e-07,
 -8.74151507e-05,-3.25899484e-05,-1.68551468e-05,-1.61585554e-05,
 -3.60044074e+00,-1.39494656e+00,-6.55633167e+00, 1.23350974e-01,
 -1.09530609e-01,-5.81074022e-03]


--- Step 1073 ---
qpos:
[ 1.82533868e-03, 8.67988926e-01,-1.95272682e-02,-2.75406006e-02,
  2.88678727e-03, 8.12108276e-01,-4.57033456e-02, 3.44979483e-04,
  2.21877979e-02, 8.65277846e-01,-1.94380181e-02, 2.25753116e-02,
  1.23797949e+00,-1.01272737e-02, 8.91104875e-01, 6.19192947e-02,
 -1.29841860e-03,-4.62864286e-02, 6.43548405e-02, 7.12941477e-01,
 -1.52365793e-01,-6.76152903e-01,-1.06378418e-01]

qacc:
[ 5.80376825e-01,-6.48833739e+00, 1.31391266e+01,-6.64594485e+00,
 -1.00982874e+00,-2.16257349e+01, 4.72317225e+01,-9.64993745e+01,
 -1.03506690e-01, 1.17362833e-01,-1.51334197e+01, 4.83625553e+01,
  4.67524092e-02,-5.85127648e-01, 2.40587866e+00,-8.55669447e+00,
  4.70964785e+01, 1.99912389e+01, 7.04306304e+01, 4.11602946e+02,
 -1.63841158e+03,-2.38103824e+03]

qfrc_actuator:
[-2.85930037e-05, 3.69527750e-02, 8.03221157e-03, 1.65438971e-03,
  4.87840180e-03, 8.09885470e-02, 2.69075604e-02, 1.09855357e-02,
 -2.29490241e-03, 3.51659867e-02, 8.06755224e-03, 1.61688712e-03,
  1.26146026e-02,-1.55766315e-03, 0.00000000e+00,-2.96338956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.04655679, -6.16651667,  6.04655679, 12.37967826,
        3.67049433, -6.16651667,  3.67049433, 12.23545428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014446026203492335
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.06095914, -0.04716248,  0.0492777 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00026615247136767967
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02041734, -0.01964256,  0.04986692])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00015152463418485057
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02217495, -0.01744052,  0.04992424])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.71063927, -8.46525192,  1.71063927,  1.21526248,
       -1.49963961, -8.46525192, -1.49963961,  8.3333198 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01344460262034923
  efc_address: 9
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.06444001e-15, -5.16110003e-15,  1.00000000e+00,  1.06547814e-29,
        1.00000000e+00,  5.16110003e-15, -1.00000000e+00,  0.00000000e+00,
        2.06444001e-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([ 0.00527341, -0.04119808,  0.06060349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05537654e-04,-6.08417694e-04,-1.33060866e-04,-2.15572392e-05,
 -1.65768248e-04,-3.59561865e-03,-1.31668731e-03,-4.42004239e-04,
 -1.92685479e-05,-5.16174958e-04,-1.57277241e-04, 5.80834982e-05,
 -7.60310102e-05,-4.69803322e-05,-1.40506639e-05,-4.56264815e-05,
 -4.07955914e+00,-5.88684614e-01,-6.61924938e+00, 9.36980726e-02,
 -1.17437284e-01,-6.14062864e-03]


--- Step 1074 ---
qpos:
[ 1.77706558e-03, 8.68183257e-01,-1.95378100e-02,-2.75393275e-02,
  2.98398875e-03, 8.13230959e-01,-4.53171930e-02, 5.35072166e-04,
  2.21899596e-02, 8.65437141e-01,-1.94488707e-02, 2.25749167e-02,
  1.23831313e+00,-1.01275450e-02, 8.91375256e-01, 6.19194203e-02,
 -2.65306066e-03,-4.67453626e-02, 6.47069078e-02, 7.17803329e-01,
 -1.54535272e-01,-6.69980216e-01,-1.09561583e-01]

qacc:
[ 5.84335080e-01,-5.24370972e+00, 1.17332740e+01,-1.31599782e+01,
 -9.16816901e-01,-1.46291497e+01, 1.87242942e+01,-4.37083004e+01,
  2.09912769e-02,-3.23739805e+00, 4.11260985e+00, 3.02663225e+00,
  6.81324765e-02,-5.30725339e-01,-3.98239959e+00, 1.32182665e+01,
  4.00518816e+01, 1.63996085e+01, 5.53966748e+01, 3.00363142e+02,
 -1.36594602e+03,-1.95843885e+03]

qfrc_actuator:
[ 2.79512115e-05, 3.67620749e-02, 8.02065192e-03, 1.64039388e-03,
  4.80197150e-03, 7.98537574e-02, 2.65019521e-02, 1.08287003e-02,
 -2.28240302e-03, 3.50562766e-02, 8.07743878e-03, 1.63333147e-03,
  1.26038447e-02,-1.57040986e-03, 0.00000000e+00,-2.89862669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002687328720715393
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05905634, -0.04829208,  0.04865634])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.72408516, -8.46252369,  1.72408516,  1.12503125,
       -1.53029725, -8.46252369, -1.53029725,  8.32459343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01468732872071539
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.77952671e-15, -9.44881678e-16,  1.00000000e+00,  3.57120554e-30,
        1.00000000e+00,  9.44881678e-16, -1.00000000e+00,  0.00000000e+00,
        3.77952671e-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([ 0.00375479, -0.0417805 ,  0.06060441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06408906e-04,-5.63825322e-04,-1.55788837e-04,-4.53498222e-05,
 -1.50817161e-04,-3.46882125e-03,-1.33909698e-03,-3.67862605e-04,
  3.55909839e-06,-4.32121812e-04,-1.15276222e-04,-1.02104563e-05,
 -6.74817537e-05,-3.82604754e-05,-1.61990361e-05, 5.93269852e-05,
 -2.25802426e+00, 1.04466860e-01,-7.26888991e+00, 2.66707360e-02,
 -1.42039317e-01,-3.34996292e-03]


--- Step 1075 ---
qpos:
[ 1.72949768e-03, 8.68373712e-01,-1.95487136e-02,-2.75379467e-02,
  3.07914021e-03, 8.14329541e-01,-4.49401557e-02, 7.21335230e-04,
  2.21918411e-02, 8.65593899e-01,-1.94607879e-02, 2.25739819e-02,
  1.23864638e+00,-1.01279844e-02, 8.91645415e-01, 6.19209523e-02,
 -3.91546557e-03,-4.71545437e-02, 6.52134494e-02, 7.20993384e-01,
 -1.54682489e-01,-6.65726896e-01,-1.14234703e-01]

qacc:
[ 3.70357574e-01,-3.88914438e+00, 5.98343407e+00,-7.03741481e-01,
 -1.13684791e+00,-1.42467311e+01, 2.07545979e+01,-5.47553307e+01,
 -1.46270631e-01,-1.48713037e+00, 2.72017723e+00,-8.49832267e+00,
 -8.77461709e-02,-1.57489848e-01,-4.57315027e+00, 1.55257477e+01,
  2.30592888e+01, 1.24382352e+01, 3.86185782e+01, 2.02651455e+02,
 -1.02301848e+03,-1.45208610e+03]

qfrc_actuator:
[ 4.50136321e-05, 3.66080009e-02, 8.01815596e-03, 1.64941906e-03,
  4.68271919e-03, 7.87209026e-02, 2.60739621e-02, 1.06427989e-02,
 -2.31129621e-03, 3.49642328e-02, 8.03459145e-03, 1.60770083e-03,
  1.25853982e-02,-1.57775992e-03, 0.00000000e+00,-2.82500861e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0032394652161623766
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05742311, -0.04918189,  0.04838027])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  2.07699348, -8.3828918 ,  2.07699348,  1.03579917,
       -1.88315956, -8.3828918 , -1.88315956,  8.16978119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.015430902392103634
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.57029521e-01,  3.59740149e-15,  9.87593909e-01,  5.64898233e-16,
        1.00000000e+00, -3.55277180e-15, -9.87593909e-01,  9.86076132e-32,
       -1.57029521e-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([ 0.00342683, -0.04239762,  0.06063091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.73686170e-05,-5.07872343e-04,-1.41102785e-04,-2.16626057e-05,
 -1.87042569e-04,-3.39669523e-03,-1.33518349e-03,-3.90767220e-04,
 -2.69203005e-05,-3.61620862e-04,-1.47810760e-04,-4.85545726e-05,
 -6.79259307e-05,-2.93330795e-05,-4.83541500e-06, 7.39076554e-05,
 -1.16519269e+00, 4.08732791e-01,-7.67861436e+00,-8.51967332e-03,
 -1.56647486e-01,-1.74184842e-03]


--- Step 1076 ---
qpos:
[ 1.68293439e-03, 8.68560570e-01,-1.95598004e-02,-2.75365239e-02,
  3.17198842e-03, 8.15404131e-01,-4.45713009e-02, 9.02404876e-04,
  2.21932199e-02, 8.65747522e-01,-1.94721553e-02, 2.25723621e-02,
  1.23897904e+00,-1.01284307e-02, 8.91915578e-01, 6.19226646e-02,
 -5.08401762e-03,-4.75225847e-02, 6.58457566e-02, 7.22661014e-01,
 -1.53029195e-01,-6.63232385e-01,-1.20274383e-01]

qacc:
[ 5.27042832e-01,-4.15333250e+00, 7.73741763e+00,-4.08046734e+00,
 -1.27546467e+00,-1.94957931e+01, 4.54519038e+01,-1.04647635e+02,
 -2.61418851e-01,-7.08569556e+00, 2.21459592e+01,-3.25724875e+01,
 -4.13636634e-01, 4.74547278e-01,-5.18189971e-01, 1.86497946e+00,
  2.34632147e+01, 1.02850501e+01, 3.14414124e+01, 1.76914504e+02,
 -9.32281692e+02,-1.31496006e+03]

qfrc_actuator:
[ 0.00010936, 0.03645945, 0.00802124, 0.00165422, 0.00455658, 0.07758071,
  0.02568957, 0.01038804,-0.00234697, 0.03481232, 0.00806755, 0.00157527,
  0.01254638,-0.00158189, 0.        ,-0.0028178 , 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: -0.003291549297021551
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05597776, -0.04989703,  0.04835423])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.8132791 , -8.44386142,  1.8132791 ,  0.86084978,
       -1.66975464, -8.44386142, -1.66975464,  8.27779177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01532277711386407
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.06381102,  0.        ,  0.997962  ,  0.        ,  1.        ,
        0.        , -0.997962  ,  0.        , -0.06381102])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00382024, -0.04303822,  0.06067314])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.60429118e-05,-4.66921608e-04,-1.21308251e-04,-2.25181260e-05,
 -2.10265899e-04,-3.36315488e-03,-1.27669361e-03,-4.56781978e-04,
 -4.82669127e-05,-3.90364409e-04,-6.27516453e-05,-5.42012576e-05,
 -8.66567281e-05,-2.45689815e-05, 1.44772667e-06, 9.63955978e-06,
 -5.91173990e-01, 4.84374481e-01,-7.89673479e+00,-2.25017388e-02,
 -1.64650955e-01,-9.50312918e-04]


--- Step 1077 ---
qpos:
[ 1.63780916e-03, 8.68743509e-01,-1.95704206e-02,-2.75350643e-02,
  3.26258094e-03, 8.16455926e-01,-4.42105861e-02, 1.07880041e-03,
  2.21941356e-02, 8.65897906e-01,-1.94824401e-02, 2.25699924e-02,
  1.23931112e+00,-1.01291412e-02, 8.92185661e-01, 6.19247786e-02,
 -6.16741745e-03,-4.78577105e-02, 6.65739604e-02, 7.22979404e-01,
 -1.49815692e-01,-6.62267329e-01,-1.27506961e-01]

qacc:
[ 7.54347055e-01,-6.40633550e+00, 1.51730950e+01,-1.24088520e+01,
 -1.24786588e+00,-1.69737273e+01, 3.65541088e+01,-8.77005823e+01,
 -2.40255500e-01,-8.84495462e+00, 2.84949650e+01,-4.08223575e+01,
 -1.82262258e-01,-1.42808896e-01,-1.32956934e+00, 4.48481947e+00,
  2.12880542e+01, 8.22877045e+00, 2.39741213e+01, 1.56905270e+02,
 -8.14971296e+02,-1.14660440e+03]

qfrc_actuator:
[ 0.0002015 , 0.03626223, 0.00804538, 0.0016565 , 0.00444515, 0.07656992,
  0.02533406, 0.01016587,-0.00236862, 0.0346616 , 0.00812704, 0.00153911,
  0.0125057 ,-0.00160194, 0.        ,-0.00279651, 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: -0.002905698793566773
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05472308, -0.05046352,  0.04854715])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.61841285, -8.48336706,  1.61841285,  0.6973557 ,
       -1.51456284, -8.48336706, -1.51456284,  8.34742318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01490569879356677
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.39292172e-15, -1.86571499e-15,  1.00000000e+00, -2.59879494e-30,
        1.00000000e+00,  1.86571499e-15, -1.00000000e+00,  0.00000000e+00,
       -1.39292172e-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([ 0.00484575, -0.04370324,  0.06072875])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37541140e-04,-4.88555793e-04,-8.93495059e-05,-2.26055916e-05,
 -2.06117650e-04,-3.20504410e-03,-1.23567110e-03,-4.21949264e-04,
 -4.44661118e-05,-3.87845102e-04,-3.18442642e-05,-5.63150138e-05,
 -9.85921719e-05,-4.37871845e-05,-3.62308576e-06, 2.07620102e-05,
 -2.45637737e-01, 4.43916273e-01,-8.02808219e+00,-2.58894976e-02,
 -1.70055677e-01,-5.31637515e-04]


--- Step 1078 ---
qpos:
[ 0.00159375, 0.86892256,-0.01958071,-0.02753324, 0.00335085, 0.81748584,
 -0.04385788, 0.00125201, 0.02219488, 0.86604595,-0.01949344, 0.02256721,
  1.23964251,-0.01012979, 0.8924558 , 0.06192611,-0.00724084,-0.04821086,
  0.06730621, 0.72274612,-0.14644687,-0.66175793,-0.13515847]

qacc:
[ 5.60833205e-01,-5.32635472e+00, 1.00263369e+01,-1.47993283e+00,
 -1.28372758e+00,-1.30774960e+01, 1.81183820e+01,-4.43271832e+01,
 -8.83158661e-02,-1.93099357e+00, 4.13506621e+00,-8.37198117e+00,
 -6.00837453e-01, 8.14886599e-01, 2.47115400e+00,-8.45891783e+00,
  2.49454084e+00,-4.50475902e+00, 1.01136493e+00,-9.48533822e+01,
 -3.06111000e+02,-2.72184118e+02]

qfrc_actuator:
[ 0.00023846, 0.03607308, 0.00806384, 0.00167502, 0.00432565, 0.07559191,
  0.02498135, 0.01001808,-0.00236395, 0.03456622, 0.00809519, 0.00151882,
  0.01247469,-0.00159578, 0.        ,-0.00283809, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.86134881, -7.13821158,  4.86134881,  2.74547851,
       -4.01187988, -7.13821158, -4.01187988,  5.90414602,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002151198622375894
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.05364239, -0.05090902,  0.0489244 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -4.88325311, -7.12324476, -4.88325311,  2.86693195,
        3.95516316, -7.12324476,  3.95516316,  5.92495003,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.018907475736845317
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.68951298e-01, -4.68951298e-01,  7.48444627e-01, -2.48991551e-01,
        8.83224026e-01,  3.97389642e-01, -8.47400665e-01,  2.77555756e-17,
       -5.30953965e-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([ 0.00644608, -0.0443943 ,  0.06079641])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02196818e-04,-4.85902807e-04,-9.55486331e-05,-6.18994922e-06,
 -2.12431896e-04,-3.07321330e-03,-1.19367273e-03,-3.38647329e-04,
 -1.63324112e-05,-3.24738976e-04,-1.18916414e-04,-3.93151863e-05,
 -1.00463628e-04,-2.39181868e-05,-4.39792155e-06,-4.20551434e-05,
 -7.94656277e-02, 3.26244017e-01,-8.08813607e+00,-2.13935061e-02,
 -1.73313167e-01,-4.06581434e-04]


--- Step 1079 ---
qpos:
[ 0.00155043, 0.86909783,-0.01959072,-0.02753157, 0.00343711, 0.81849374,
 -0.04351307, 0.00142276, 0.02219558, 0.86619176,-0.01950466, 0.02256485,
  1.23997333,-0.01013041, 0.89272592, 0.06192659,-0.00830668,-0.04857359,
  0.0680298 , 0.72207897,-0.14291528,-0.6615849 ,-0.14311745]

qacc:
[ 3.83402714e-01,-6.06236835e+00, 1.49963963e+01,-1.52610725e+01,
 -1.10677710e+00,-1.20785807e+01, 1.12878711e+01,-2.52382187e+01,
 -2.59217827e-02,-1.48879912e+00,-7.37857649e-01, 9.94322203e+00,
 -4.78734276e-01, 6.09702846e-01, 2.56737358e+00,-8.98634190e+00,
  1.89417374e+00,-2.39673341e+00,-2.16380581e+00,-5.19549331e+01,
 -2.31604566e+02,-2.18918596e+02]

qfrc_actuator:
[ 0.00025987, 0.03589029, 0.00807882, 0.00166743, 0.00423779, 0.0745175 ,
  0.02459794, 0.00989753,-0.00236134, 0.03448668, 0.00809867, 0.00154351,
  0.01245484,-0.00159186, 0.        ,-0.00288085, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  4.577877  , -7.32323829,  4.577877  ,  2.43403983,
       -3.87717487, -7.32323829, -3.87717487,  6.2126777 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013028967284449064
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0525986 , -0.05138856,  0.04934855])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -4.29796758, -7.49094464, -4.29796758,  2.20734958,
        3.68867951, -7.49094464,  3.68867951,  6.51996501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.017559889236995148
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.46156433, -0.46156433,  0.75757293, -0.24015332,  0.88710674,
        0.39416749, -0.85398171,  0.        , -0.52030303])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.008148  , -0.04513224,  0.0608662 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.97796498e-05,-4.78541573e-04,-9.86383405e-05,-3.20698644e-05,
 -1.83753906e-04,-3.08301105e-03,-1.18881948e-03,-3.02620636e-04,
 -4.94304597e-06,-2.90798803e-04,-8.06727583e-05, 5.69299444e-06,
 -8.60442054e-05,-2.27590894e-05,-1.21183113e-05,-4.69232228e-05,
 -7.68411205e-02, 2.66672859e-01,-8.12451904e+00,-1.61521830e-02,
 -1.75708952e-01,-5.54002090e-04]


--- Step 1080 ---
qpos:
[ 0.00150775, 0.86926905,-0.01960004,-0.02753105, 0.00352173, 0.81947998,
 -0.04317572, 0.0015906 , 0.02219608, 0.86633509,-0.01951542, 0.02256243,
  1.24030364,-0.01013104, 0.89299609, 0.06192519,-0.0093668 ,-0.04893982,
  0.06873481, 0.72107349,-0.13921596,-0.66165152,-0.1512918 ]

qacc:
[ 3.44649097e-01,-9.64987117e+00, 3.14398073e+01,-4.92894132e+01,
 -9.08279104e-01,-1.37582332e+01, 1.97522239e+01,-4.20983685e+01,
 -9.95189126e-02,-4.66170043e+00, 1.20824944e+01,-1.18786811e+01,
 -4.59871787e-01, 5.99548204e-01, 5.78121506e+00,-2.00552384e+01,
  1.43300509e+00,-8.75668306e-01,-4.64735379e+00,-1.77143733e+01,
 -1.71041989e+02,-1.74587160e+02]

qfrc_actuator:
[ 0.0002896 , 0.03567728, 0.00810941, 0.00160905, 0.00416952, 0.07350066,
  0.02425247, 0.00975839,-0.00237778, 0.03436422, 0.00812312, 0.00154126,
  0.01243638,-0.00158927, 0.        ,-0.0029772 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.93114043,  2.44510114, -4.28224548,  2.44510114,  1.21900219,
       -2.11957803, -4.28224548, -2.11957803,  3.72089158,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003949834764907928
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0515824 , -0.0518872 ,  0.04980251])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -3.75367831, -7.77796092, -3.75367831,  1.66986111,
        3.3620649 , -7.77796092,  3.3620649 ,  7.01381626,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01617436163136014
  efc_address: 3
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.4542743 , -0.4542743 ,  0.76633525, -0.23164662,  0.89086186,
        0.39077485, -0.86021782,  0.        , -0.50992676])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00992385, -0.04590616,  0.06093749])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.26426030e-05,-5.06315659e-04,-8.27627265e-05,-8.31599214e-05,
 -1.51353648e-04,-3.02771891e-03,-1.15078658e-03,-3.20710555e-04,
 -1.85411936e-05,-3.04855646e-04,-4.63943415e-05,-1.75824546e-05,
 -7.57499017e-05,-2.05866453e-05,-1.57324760e-05,-1.01663872e-04,
 -8.16241428e-02, 2.19496538e-01,-8.14885426e+00,-1.11353194e-02,
 -1.77396471e-01,-6.99488859e-04]


--- Step 1081 ---
qpos:
[ 0.00146575, 0.86943664,-0.01960962,-0.0275319 , 0.00360479, 0.82044544,
 -0.04284556, 0.00175459, 0.02219639, 0.86647462,-0.01952574, 0.02256018,
  1.24063317,-0.01013098, 0.8932664 , 0.06192061,-0.01037388,-0.04927942,
  0.06948888, 0.71908403,-0.13468478,-0.66278099,-0.15968572]

qacc:
[ 3.51298610e-01,-6.92407677e+00, 2.35547164e+01,-4.44225206e+01,
 -8.52582715e-01,-1.52696907e+01, 3.08767296e+01,-7.07536813e+01,
 -9.89532326e-02,-5.90962715e+00, 1.31088130e+01,-8.22882555e+00,
 -1.30481711e+00, 2.50207947e+00, 9.86141913e+00,-3.40553981e+01,
  1.32577550e+01, 6.65854742e+00, 1.22660636e+01, 2.39181891e+02,
 -6.30524504e+02,-5.02796723e+02]

qfrc_actuator:
[ 0.00032412, 0.03550117, 0.00809557, 0.00153898, 0.00409571, 0.07256232,
  0.02393247, 0.009574  ,-0.00238773, 0.03407513, 0.00810632, 0.00154091,
  0.01239747,-0.00155196, 0.        ,-0.00313983, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.91531654, -8.42130271,  1.91531654,  0.62936955,
       -1.82108739, -8.42130271, -1.82108739,  8.22218083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011485480761213689
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41657935e-15,  2.41657935e-15,  1.00000000e+00, -5.83985575e-30,
        1.00000000e+00, -2.41657935e-15, -1.00000000e+00,  0.00000000e+00,
        2.41657935e-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([ 0.01023181, -0.0530098 ,  0.06100835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.40237268e-05,-4.83762236e-04,-1.32714773e-04,-9.64653364e-05,
 -1.42376244e-04,-2.91057379e-03,-1.10956896e-03,-3.62568916e-04,
 -1.85638583e-05,-4.73212990e-04,-8.71221890e-05,-1.55535927e-05,
 -8.95960172e-05, 1.69067267e-05,-2.35091402e-05,-1.71473170e-04,
 -8.66816959e-02, 1.83468243e-01,-8.16263460e+00,-6.46959870e-03,
 -1.78410873e-01,-8.47495002e-04]


--- Step 1082 ---
qpos:
[ 0.00142501, 0.86960072,-0.01961948,-0.02753292, 0.00368632, 0.82139052,
 -0.04252285, 0.00191433, 0.02219636, 0.86660944,-0.01953481, 0.022558  ,
  1.240962  ,-0.0101307 , 0.89353631, 0.0619161 ,-0.01134266,-0.04959946,
  0.07026868, 0.71631782,-0.12949754,-0.6646942 ,-0.16822839]

qacc:
[ 6.59820371e-01,-4.18543890e+00, 8.90484257e+00,-8.72320360e+00,
 -8.43955031e-01,-1.48325266e+01, 3.17859442e+01,-7.85698584e+01,
 -1.73276459e-01,-9.57592707e+00, 2.47866543e+01,-2.20276074e+01,
 -7.14583194e-01, 1.14164265e+00,-7.45429337e-01, 1.83111070e+00,
  9.57566696e+00, 4.89034100e+00, 6.43411483e+00, 1.96858532e+02,
 -4.76807483e+02,-3.85712855e+02]

qfrc_actuator:
[ 0.00041449, 0.0353484 , 0.00809125, 0.00153362, 0.00401912, 0.07159009,
  0.02357721, 0.00936457,-0.00241146, 0.03379488, 0.00815336, 0.00154151,
  0.01235164,-0.00154776, 0.        ,-0.00312716, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.93515817, -8.41676539,  1.93515817,  0.57585841,
       -1.85324787, -8.41676539, -1.85324787,  8.21027029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.010544537807564314
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.46770912e-15, -6.08701584e-15,  1.00000000e+00, -1.50209845e-29,
        1.00000000e+00,  6.08701584e-15, -1.00000000e+00,  0.00000000e+00,
       -2.46770912e-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([ 0.01203066, -0.0542313 ,  0.0610817 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.20549877e-04,-4.58601707e-04,-1.25111459e-04,-3.27743295e-05,
 -1.41162526e-04,-2.87163030e-03,-1.11675349e-03,-3.81923377e-04,
 -3.23856505e-05,-5.66750691e-04,-6.29721160e-05,-2.31883559e-05,
 -9.65638688e-05,-1.20901203e-05,-3.50411991e-05,-1.07632973e-06,
 -1.06428365e-01,-1.88865800e-03,-8.12427983e+00, 5.57258738e-03,
 -1.76593715e-01,-9.80728801e-04]


--- Step 1083 ---
qpos:
[ 0.0013856 , 0.86976071,-0.01962864,-0.02753261, 0.00376631, 0.82231487,
 -0.04220707, 0.00206993, 0.02219622, 0.86674058,-0.01954307, 0.02255574,
  1.24129025,-0.01013037, 0.89380611, 0.0619107 ,-0.01228505,-0.04990561,
  0.07105538, 0.71295045,-0.12380524,-0.6671543 ,-0.17685887]

qacc:
[ 6.95648248e-01,-4.61801958e+00, 3.01443091e+00, 2.18526317e+01,
 -8.45171209e-01,-1.65404518e+01, 3.66993099e+01,-8.20056254e+01,
 -6.06401005e-02,-7.28500765e+00, 1.92953888e+01,-1.93427648e+01,
 -4.89589811e-01, 6.44685172e-01, 2.52036020e+00,-9.00454413e+00,
  6.59724939e+00, 3.47171392e+00, 1.72408077e+00, 1.58785659e+02,
 -3.47506908e+02,-2.85294138e+02]

qfrc_actuator:
[ 0.00048425, 0.03513995, 0.00812828, 0.00160192, 0.00394148, 0.07056993,
  0.02323945, 0.00915982,-0.00240773, 0.03368216, 0.00821997, 0.00154269,
  0.01232833,-0.00154549, 0.        ,-0.00317104, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.97284657, -8.40801126,  1.97284657,  0.54503847,
       -1.89853969, -8.40801126, -1.89853969,  8.19089236,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009451413725036405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.46832931e-15, -1.17466345e-14,  1.00000000e+00, -1.72479277e-29,
        1.00000000e+00,  1.17466345e-14, -1.00000000e+00,  0.00000000e+00,
       -1.46832931e-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([ 0.01421939, -0.0555279 ,  0.06116368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26971628e-04,-4.95834249e-04,-7.54061295e-05, 4.34717111e-05,
 -1.41743535e-04,-2.89948102e-03,-1.09251682e-03,-3.76149083e-04,
 -1.15639467e-05,-4.46777089e-04,-5.99903761e-05,-2.59155341e-05,
 -8.46476604e-05,-2.12153283e-05,-1.98268456e-05,-4.92624872e-05,
 -1.67109886e-01,-1.51501788e-01,-8.07998174e+00, 1.70139547e-02,
 -1.74349605e-01,-1.21265129e-03]


--- Step 1084 ---
qpos:
[ 0.00134666, 0.8699168 ,-0.01963787,-0.02753181, 0.00384475, 0.82321864,
 -0.04189812, 0.00222145, 0.0221966 , 0.8668687 ,-0.01955142, 0.02255452,
  1.24161783,-0.01012971, 0.89407577, 0.06190478,-0.01319313,-0.05019268,
  0.07186179, 0.70906603,-0.11817179,-0.67020445,-0.18462606]

qacc:
[ 2.53566697e-01,-3.94450360e+00, 4.51763679e+00, 6.97294199e+00,
 -8.45679715e-01,-1.64628142e+01, 3.64927581e+01,-8.11009097e+01,
  2.75435242e-01,-1.60919929e+00,-4.46815992e+00, 2.48752415e+01,
 -8.06511784e-01, 1.39473216e+00, 1.39510347e+00,-5.09642819e+00,
  8.57821449e+00, 4.77191867e+00, 4.92533934e+00, 2.87173157e+02,
 -4.41460721e+02, 2.45133018e+02]

qfrc_actuator:
[ 0.00047007, 0.03493558, 0.00811824, 0.00162423, 0.00386383, 0.06958279,
  0.02291463, 0.00895946,-0.00235211, 0.03356426, 0.00822724, 0.00159761,
  0.01229723,-0.00152653, 0.        ,-0.00319469, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.5946613 , -8.48786382,  1.5946613 ,  0.43350548,
       -1.54111573, -8.48786382, -1.54111573,  8.34682581,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00863351266613055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-4.01858095e-16, -5.22415523e-15,  1.00000000e+00, -2.09936907e-30,
        1.00000000e+00,  5.22415523e-15, -1.00000000e+00,  0.00000000e+00,
       -4.01858095e-16])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00850478, -0.07185564,  0.06123236])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.61061429e-05,-4.98945915e-04,-1.21377701e-04,-9.07794872e-07,
 -1.42100730e-04,-2.87618502e-03,-1.08188301e-03,-3.71947469e-04,
  5.03025776e-05,-3.84271672e-04,-9.42462294e-05, 3.30198417e-05,
 -8.72408176e-05,-3.61191239e-06,-1.91147915e-05,-2.99690371e-05,
 -2.36878834e-01,-2.65804538e-01,-8.04013557e+00, 2.71661984e-02,
 -1.72033200e-01,-1.48845084e-03]


--- Step 1085 ---
qpos:
[ 0.00130784, 0.87006942,-0.01964787,-0.02753145, 0.00392166, 0.82410251,
 -0.04159585, 0.00236993, 0.02219739, 0.86699443,-0.01956073, 0.0225529 ,
  1.24194474,-0.01012904, 0.89434532, 0.06189826,-0.01407606,-0.05046534,
  0.07267383, 0.70478293,-0.11258144,-0.67369397,-0.19168434]

qacc:
[ 5.95131985e-02,-3.35542037e+00, 7.14661988e+00,-1.09545288e+01,
 -8.41997252e-01,-1.38979684e+01, 2.41846693e+01,-5.13744741e+01,
  2.15337027e-01,-1.26871859e+00, 1.61362721e+00,-5.14039402e+00,
 -5.36408364e-01, 6.69506931e-01, 1.70520345e+00,-6.13824532e+00,
  6.28479331e+00, 3.59994302e+00, 1.40952008e+00, 2.39282774e+02,
 -3.35244218e+02, 2.03016396e+02]

qfrc_actuator:
[ 0.00045909, 0.03477062, 0.00808044, 0.00160149, 0.00378678, 0.06867684,
  0.02261802, 0.00881659,-0.00233695, 0.03346185, 0.00818174, 0.00157717,
  0.01225083,-0.00153337, 0.        ,-0.00322395, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.52664993, -8.50035981,  1.52664993,  0.37340941,
       -1.4840123 , -8.50035981, -1.4840123 ,  8.36983759,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007885079788203367
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05600361e-14,  7.04002404e-15,  1.00000000e+00, -7.43429076e-29,
        1.00000000e+00, -7.04002404e-15, -1.00000000e+00,  0.00000000e+00,
        1.05600361e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00938217, -0.07439249,  0.06129718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.06733571e-05,-4.72595304e-04,-1.56942845e-04,-4.85343535e-05,
 -1.41725636e-04,-2.77898342e-03,-1.04716602e-03,-3.12955741e-04,
  3.94422402e-05,-3.38310150e-04,-1.36270321e-04,-3.97019760e-05,
 -1.00102237e-04,-2.66523162e-05,-1.66651668e-05,-3.44183264e-05,
 -3.31993440e-01,-3.71773432e-01,-7.95103289e+00, 3.69967792e-02,
 -1.66164853e-01,-1.78447836e-03]


--- Step 1086 ---
qpos:
[ 0.00126953, 0.87021849,-0.01965805,-0.02753105, 0.00399685, 0.82496739,
 -0.04129972, 0.00251604, 0.0221981 , 0.86711823,-0.01957134, 0.02254998,
  1.24227103,-0.01012844, 0.89461457, 0.06189275,-0.01494154,-0.05072759,
  0.07347973, 0.70018966,-0.10699939,-0.67749627,-0.19820285]

qacc:
[ 2.69531265e-01,-4.07444449e+00, 7.59641742e+00,-4.10695609e+00,
 -9.40212941e-01,-1.27833521e+01, 1.92208628e+01,-3.66045337e+01,
 -4.27648904e-02,-1.60845731e+00, 7.54368894e+00,-2.66546121e+01,
 -3.34304621e-01, 2.57973237e-01,-3.47034243e+00, 1.15281470e+01,
  4.36615124e+00, 2.60441968e+00,-1.53459185e+00, 1.91419210e+02,
 -2.45884422e+02, 1.45678958e+02]

qfrc_actuator:
[ 0.00050347, 0.03461268, 0.00807997, 0.00160572, 0.00369296, 0.06784493,
  0.02235865, 0.0087088 ,-0.00236393, 0.03338704, 0.00812324, 0.00151253,
  0.01222191,-0.00153775, 0.        ,-0.00316752, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.44335485, -8.51489892,  1.44335485,  0.31507108,
       -1.41053676, -8.51489892, -1.41053676,  8.39726449,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007055524662894372
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.39255229e-15, -1.13099002e-14,  1.00000000e+00, -7.22991286e-29,
        1.00000000e+00,  1.13099002e-14, -1.00000000e+00,  0.00000000e+00,
       -6.39255229e-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([ 0.01077289, -0.07631257,  0.06136663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91068086e-05,-4.60131989e-04,-1.20164756e-04,-2.25914922e-05,
 -1.58396251e-04,-2.64032156e-03,-9.83292829e-04,-2.71314740e-04,
 -7.88265294e-06,-2.96731115e-04,-1.47444515e-04,-8.47950280e-05,
 -9.55522911e-05,-3.15228729e-05,-1.61754033e-05, 5.13073413e-05,
 -4.22270962e-01,-4.33162288e-01,-7.88592118e+00, 4.45389008e-02,
 -1.61604571e-01,-2.08665473e-03]


--- Step 1087 ---
qpos:
[ 1.23227433e-03, 8.70364346e-01,-1.96683522e-02,-2.75313477e-02,
  4.07032583e-03, 8.25814494e-01,-4.10103605e-02, 2.65818220e-03,
  2.21987857e-02, 8.67239860e-01,-1.95818317e-02, 2.25465786e-02,
  1.24259667e+00,-1.01276380e-02, 8.94883345e-01, 6.18905890e-02,
 -1.57956074e-02,-5.09825432e-02, 7.42700402e-02, 6.95356849e-01,
 -1.01400968e-01,-6.81506244e-01,-2.04318224e-01]

qacc:
[ 5.48274802e-01,-5.37344391e+00, 1.59203897e+01,-2.54072308e+01,
 -9.34694601e-01,-1.27268275e+01, 2.80699638e+01,-7.29008920e+01,
 -1.09637005e-02,-4.19866726e+00, 1.28280174e+01,-1.97159389e+01,
 -5.03243284e-01, 7.62424741e-01,-1.08120995e+01, 3.68789059e+01,
  2.85099131e+00, 1.82314026e+00,-3.89826502e+00, 1.50060490e+02,
 -1.73795255e+02, 1.00745178e+02]

qfrc_actuator:
[ 0.00058061, 0.03447817, 0.00808388, 0.00157257, 0.00360763, 0.06704673,
  0.02205276, 0.0085161 ,-0.0023626 , 0.03331155, 0.00814642, 0.00149346,
  0.01219817,-0.00152282, 0.        ,-0.00299004, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.35840796, -8.52886303,  1.35840796,  0.26436166,
       -1.33342441, -8.52886303, -1.33342441,  8.42398664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006156504325631855
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.12708341e-15, -9.01666730e-15,  1.00000000e+00, -1.01625361e-29,
        1.00000000e+00,  9.01666730e-15, -1.00000000e+00,  0.00000000e+00,
       -1.12708341e-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([ 0.01237214, -0.07832802,  0.06144091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00261656e-04,-4.20946542e-04,-1.07757944e-04,-5.76507761e-05,
 -1.57552340e-04,-2.51356088e-03,-9.91637578e-04,-3.47217289e-04,
 -2.22607348e-06,-2.78352592e-04,-6.00808503e-05,-3.87089649e-05,
 -8.86068102e-05,-1.21732415e-05,-5.94594090e-06, 1.77302972e-04,
 -5.00225073e-01,-4.68425833e-01,-7.84149752e+00, 5.05474551e-02,
 -1.58130920e-01,-2.37967076e-03]


--- Step 1088 ---
qpos:
[ 1.19632863e-03, 8.70507508e-01,-1.96791088e-02,-2.75324341e-02,
  4.14235844e-03, 8.26643814e-01,-4.07275058e-02, 2.79615687e-03,
  2.21996556e-02, 8.67358766e-01,-1.95906769e-02, 2.25429355e-02,
  1.24292189e+00,-1.01272583e-02, 8.95152721e-01, 6.18848530e-02,
 -1.66429508e-02,-5.12326407e-02, 7.50372668e-02, 6.90340629e-01,
 -9.57692684e-02,-6.85638087e-01,-2.10139183e-01]

qacc:
[ 6.87501778e-01,-3.90495667e+00, 1.20781344e+01,-2.29987607e+01,
 -7.90849525e-01,-1.38855211e+01, 3.29884966e+01,-8.15985820e+01,
  9.72107984e-02,-8.68264949e+00, 2.67675403e+01,-3.15864095e+01,
 -1.21612740e-01,-3.02618387e-01, 1.16869720e+01,-3.96150103e+01,
  1.68156838e+00, 1.21420372e+00,-5.77075087e+00, 1.15045804e+02,
 -1.16398921e+02, 6.61065776e+01]

qfrc_actuator:
[ 0.00065893, 0.03437656, 0.00807266, 0.00153546, 0.00354581, 0.06618637,
  0.02173979, 0.0083105 ,-0.0023443 , 0.03318341, 0.00823546, 0.00148366,
  0.01217224,-0.00154982, 0.        ,-0.00318651, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.27391076, -8.54189254,  1.27391076,  0.22100388,
       -1.25504006, -8.54189254, -1.25504006,  8.44919094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00521700469248719
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.06404258e-14,  5.32021289e-15,  1.00000000e+00, -5.66093304e-29,
        1.00000000e+00, -5.32021289e-15, -1.00000000e+00,  0.00000000e+00,
        1.06404258e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01414187, -0.080417  ,  0.06151908])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.25909998e-04,-3.64993665e-04,-1.14455422e-04,-6.01787188e-05,
 -1.33712405e-04,-2.50928705e-03,-9.75976680e-04,-3.56404997e-04,
  1.74359204e-05,-3.00659621e-04, 2.19483379e-05,-2.47186549e-05,
 -8.20143741e-05,-4.89452051e-05, 1.28487674e-05,-1.88290225e-04,
 -5.62535050e-01,-4.88574403e-01,-7.81309718e+00, 5.54925408e-02,
 -1.55448902e-01,-2.65450739e-03]


--- Step 1089 ---
qpos:
[ 1.16126993e-03, 8.70647995e-01,-1.96900633e-02,-2.75336368e-02,
  4.21321960e-03, 8.27455690e-01,-4.04508404e-02, 2.93152252e-03,
  2.22007249e-02, 8.67475051e-01,-1.95986517e-02, 2.25395863e-02,
  1.24324672e+00,-1.01274970e-02, 8.95421926e-01, 6.18785074e-02,
 -1.74864613e-02,-5.14793469e-02, 7.57767076e-02, 6.85180599e-01,
 -9.01037667e-02,-6.89835594e-01,-2.15721374e-01]

qacc:
[  0.46428623, -3.22077003,  6.84573133, -6.57814766, -0.63878391,
 -11.11466241, 17.20204202,-39.646436  ,  0.10558274, -5.28929101,
  12.59342125, -6.97092505,  0.23964295, -1.07479571,  1.56501286,
  -5.89455225,  0.95824388,  0.84784391, -6.94644279, 93.53629237,
 -79.84964891, 52.57439928]

qfrc_actuator:
[ 0.000684  , 0.03425994, 0.0080705 , 0.00153186, 0.00349853, 0.0653846 ,
  0.02146052, 0.0081877 ,-0.00233379, 0.03304284, 0.00827369, 0.00149713,
  0.01215033,-0.00158366, 0.        ,-0.00321118, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.17438764, -8.55614344,  1.17438764,  0.18236803,
       -1.16036717, -8.55614344, -1.16036717,  8.47709552,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00426204499667894
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.30245343e-14,  1.30245343e-14,  1.00000000e+00, -1.69638494e-28,
        1.00000000e+00, -1.30245343e-14, -1.00000000e+00,  0.00000000e+00,
        1.30245343e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01544261, -0.08380282,  0.06160017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.49550016e-05,-3.50131185e-04,-9.47226664e-05,-2.45572047e-05,
 -1.08392698e-04,-2.44493271e-03,-9.39560851e-04,-2.73004353e-04,
  1.90678563e-05,-3.07960432e-04,-2.28790471e-05, 7.12795008e-07,
 -8.26278964e-05,-6.12024101e-05,-2.18509360e-05,-3.50817692e-05,
 -6.08780284e-01,-5.00093968e-01,-7.79699388e+00, 5.96864096e-02,
 -1.53345029e-01,-2.90751927e-03]


--- Step 1090 ---
qpos:
[ 1.12693010e-03, 8.70785576e-01,-1.97006464e-02,-2.75348878e-02,
  4.28293995e-03, 8.28250790e-01,-4.01802983e-02, 3.06457645e-03,
  2.22023221e-02, 8.67589381e-01,-1.96074814e-02, 2.25368017e-02,
  1.24357091e+00,-1.01275605e-02, 8.95690101e-01, 6.18789052e-02,
 -1.83288136e-02,-5.17241449e-02, 7.64837859e-02, 6.79910697e-01,
 -8.43937969e-02,-6.94044455e-01,-2.21136667e-01]

qacc:
[  0.37683062, -4.97558191, 12.37455548,-11.67272963, -0.62163746,
  -9.80955083, 12.56946862,-30.46077509,  0.27568078,  0.96542357,
  -9.57862979, 22.15946751, -0.31033583,  0.3972668 ,-21.85926118,
  74.31347705,  0.28950944,  0.47703792, -8.09063967, 69.07653227,
 -44.5091837 , 29.47839709]

qfrc_actuator:
[ 0.00071254, 0.03411763, 0.00809146, 0.00153025, 0.00344252, 0.06462477,
  0.02118601, 0.0080792 ,-0.00229252, 0.03294906, 0.00822828, 0.00152413,
  0.0121255 ,-0.001568  , 0.        ,-0.00285027, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.08353818, -8.56812242,  1.08353818,  0.14875611,
       -1.07335614, -8.56812242, -1.07335614,  8.50062534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033340682150816772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.32483735e-15, -3.32993494e-14,  1.00000000e+00,  2.77211668e-28,
        1.00000000e+00,  3.32993494e-14, -1.00000000e+00,  0.00000000e+00,
        8.32483735e-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([ 0.0173551 , -0.08598989,  0.06168147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.88415895e-05,-3.61856658e-04,-6.48514615e-05,-2.05472433e-05,
 -1.05634751e-04,-2.35541784e-03,-9.13930387e-04,-2.53030616e-04,
  5.05958757e-05,-2.73364199e-04,-1.12648269e-04, 1.28716937e-05,
 -8.87206699e-05,-1.41406007e-05,-1.81012780e-05, 3.55190374e-04,
 -6.43146091e-01,-5.06162891e-01,-7.78841270e+00, 6.33572088e-02,
 -1.51562158e-01,-3.14277805e-03]


--- Step 1091 ---
qpos:
[ 1.09361883e-03, 8.70920004e-01,-1.97105899e-02,-2.75347575e-02,
  4.35148155e-03, 8.29028824e-01,-3.99153263e-02, 3.19559895e-03,
  2.22044226e-02, 8.67701131e-01,-1.96160739e-02, 2.25354002e-02,
  1.24389441e+00,-1.01274089e-02, 8.95958300e-01, 6.18818876e-02,
 -1.91719402e-02,-5.19681598e-02, 7.71550216e-02, 6.74557168e-01,
 -7.86328790e-02,-6.98222514e-01,-2.26439436e-01]

qacc:
[  0.53888526, -3.10797465, -0.78087052, 25.94691734, -0.64127742,
 -11.15648887, 15.63742758,-29.35391934,  0.26378876, -1.22465925,
  -6.41984195, 31.87876652, -0.59139884,  0.90828705, -7.73485982,
  27.18641192, -0.19355634,  0.19578919, -8.96065788, 49.43493193,
 -17.6649793 , 12.62641318]

qfrc_actuator:
[ 0.00077847, 0.0339612 , 0.0081258 , 0.00160082, 0.00338171, 0.06378988,
  0.02091676, 0.00798001,-0.00226871, 0.03281273, 0.00824058, 0.00159437,
  0.01208832,-0.00155868, 0.        ,-0.00272669, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.99407042, -8.57896269,  0.99407042,  0.12013193,
       -0.98680159, -8.57896269, -0.98680159,  8.52201994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002417327466539422
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14819262e-14,  4.01867418e-14,  1.00000000e+00, -4.61421204e-28,
        1.00000000e+00, -4.01867418e-14, -1.00000000e+00,  0.00000000e+00,
        1.14819262e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.01935048, -0.0881999 ,  0.06176443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.85377264e-05,-3.76126836e-04,-5.00556992e-05, 5.22511598e-05,
 -1.09217305e-04,-2.37377576e-03,-8.86129151e-04,-2.38558312e-04,
  4.82334181e-05,-3.14533523e-04,-5.84053082e-05, 5.47198632e-05,
 -9.36249976e-05,-1.31000794e-05, 2.86073612e-05, 1.40451952e-04,
 -6.64886845e-01,-5.09527011e-01,-7.78702553e+00, 6.66421851e-02,
 -1.50101063e-01,-3.35800852e-03]


--- Step 1092 ---
qpos:
[ 1.06078647e-03, 8.71051004e-01,-1.97201683e-02,-2.75333866e-02,
  4.41880111e-03, 8.29790015e-01,-3.96565059e-02, 3.32473286e-03,
  2.22065334e-02, 8.67810587e-01,-1.96242862e-02, 2.25348012e-02,
  1.24421753e+00,-1.01277748e-02, 8.96227287e-01, 6.18806630e-02,
 -2.00171906e-02,-5.22122305e-02, 7.77878229e-02, 6.69139964e-01,
 -7.28176693e-02,-7.02337813e-01,-2.31669794e-01]

qacc:
[ 2.51634619e-01,-2.99064388e+00,-1.12899958e+00, 2.45027292e+01,
 -6.64820656e-01,-8.94965539e+00, 7.58896241e+00,-1.80607801e+01,
  6.44535380e-03,-2.44267654e+00, 9.20195927e-01, 1.40518567e+01,
 -2.89203413e-02,-5.14188290e-01, 1.38526450e+01,-4.68005046e+01,
 -5.30927780e-01,-1.39555904e-02,-9.60857306e+00, 3.39821452e+01,
  2.23791291e+00, 7.26870753e-01]

qfrc_actuator:
[ 0.00077748, 0.0337622 , 0.00813225, 0.00166004, 0.00331851, 0.06297022,
  0.02061705, 0.00788707,-0.00229108, 0.03272328, 0.00826901, 0.00163624,
  0.01207038,-0.00158878, 0.        ,-0.00295709, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.90597913, -8.58871228,  0.90597913,  0.09576606,
       -0.90090375, -8.58871228, -0.90090375,  8.54133193,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015231849355367144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -7.28882619e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  7.28882619e-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([ 0.0214044 , -0.09041773,  0.06184841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58297191e-05,-4.20431045e-04,-7.65391702e-05, 4.22138318e-05,
 -1.13289318e-04,-2.36196056e-03,-9.16243487e-04,-2.31822701e-04,
  9.23569278e-07,-2.77615280e-04,-4.26368879e-05, 2.72857494e-05,
 -7.70321714e-05,-5.34827100e-05, 2.25879970e-05,-2.20322482e-04,
 -6.76190543e-01,-5.11246858e-01,-7.79088626e+00, 6.96448877e-02,
 -1.48868848e-01,-3.55588636e-03]


--- Step 1093 ---
qpos:
[ 1.02793801e-03, 8.71178328e-01,-1.97290426e-02,-2.75330370e-02,
  4.48486877e-03, 8.30534846e-01,-3.94040061e-02, 3.45131538e-03,
  2.22083178e-02, 8.67918324e-01,-1.96331391e-02, 2.25336661e-02,
  1.24454018e+00,-1.01284759e-02, 8.96496160e-01, 6.18784043e-02,
 -2.08151373e-02,-5.24666230e-02, 7.83830981e-02, 6.64906553e-01,
 -6.81660124e-02,-7.05283175e-01,-2.36280158e-01]

qacc:
[-6.74567537e-03,-8.92930617e+00, 2.90889883e+01,-4.51729228e+01,
 -6.80880663e-01,-9.20250701e+00, 1.22152444e+01,-3.42434753e+01,
 -1.70180343e-01,-1.58339543e+00, 4.61542805e+00,-1.16078368e+01,
 -1.04819300e-01,-2.88252712e-01, 2.95245616e+00,-1.05782670e+01,
  1.18258874e+01,-2.58044501e+00,-9.38154263e+00,-2.63991672e+02,
  6.49806721e+02, 7.95793637e+02]

qfrc_actuator:
[ 0.00075423, 0.03355696, 0.00815748, 0.00160551, 0.0032544 , 0.06220181,
  0.02031964, 0.00776302,-0.0023231 , 0.03264496, 0.00823587, 0.00160786,
  0.01204268,-0.00160639, 0.        ,-0.00300355, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.3278884 , -8.63013708,  0.3278884 ,  0.38040554,
       -0.31367206, -8.63013708, -0.31367206,  8.62444616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012773234147696183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  8.69179263e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -8.69179263e-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([-0.09287791, -0.03740637,  0.06187402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.64764090e-06,-4.57284280e-04,-7.04877895e-05,-7.45329274e-05,
 -1.16113651e-04,-2.30954744e-03,-9.14788269e-04,-2.63280307e-04,
 -3.13923483e-05,-2.43719198e-04,-9.55771153e-05,-4.13663181e-05,
 -8.63893235e-05,-4.47384739e-05,-2.15742990e-05,-5.75672100e-05,
 -6.79250329e-01,-5.11813781e-01,-7.79847633e+00, 7.24391816e-02,
 -1.47794889e-01,-3.73947105e-03]


--- Step 1094 ---
qpos:
[ 9.95625833e-04, 8.71302410e-01,-1.97377351e-02,-2.75330208e-02,
  4.54967059e-03, 8.31263318e-01,-3.91567595e-02, 3.57496975e-03,
  2.22095577e-02, 8.68023464e-01,-1.96414199e-02, 2.25318814e-02,
  1.24486199e+00,-1.01289690e-02, 8.96764757e-01, 6.18765719e-02,
 -2.15715685e-02,-5.27298016e-02, 7.89418803e-02, 6.61654140e-01,
 -6.44737799e-02,-7.07291563e-01,-2.40407104e-01]

qacc:
[ 2.81294893e-01,-5.47691415e+00, 1.47184742e+01,-1.83949752e+01,
 -6.87211127e-01,-1.29476361e+01, 2.71695732e+01,-5.74372611e+01,
 -2.82797750e-01,-6.36421510e+00, 2.04563066e+01,-3.07027002e+01,
 -7.77270684e-01, 1.16610764e+00,-1.65632664e+00, 5.28876794e+00,
  1.03788859e+01,-2.19654460e+00,-9.12324989e+00,-2.25751772e+02,
  5.27629209e+02, 6.46896878e+02]

qfrc_actuator:
[ 0.00080668, 0.03342059, 0.00817574, 0.00159102, 0.00319026, 0.06143489,
  0.02007949, 0.00762174,-0.00236058, 0.03248489, 0.00825542, 0.00157386,
  0.01198784,-0.00159872, 0.        ,-0.00297664, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.21302819, -8.63373591,  0.21302819,  0.32424998,
       -0.20509251, -8.63373591, -0.20509251,  8.6313032 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001488467132682178
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.72941733e-14, -4.66177167e-14,  1.00000000e+00,  1.73856920e-27,
        1.00000000e+00,  4.66177167e-14, -1.00000000e+00,  0.00000000e+00,
        3.72941733e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09298374, -0.03745974,  0.06185781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13467456e-05,-4.12679338e-04,-8.83323488e-05,-3.81314110e-05,
 -1.17480312e-04,-2.27931177e-03,-8.47411864e-04,-2.78793393e-04,
 -5.23329234e-05,-3.20345732e-04,-4.47656114e-05,-4.87029806e-05,
 -1.17309229e-04,-1.98288229e-05,-2.07135365e-05, 1.99109412e-05,
 -3.77395328e-01,-3.17060624e-01,-7.86020832e+00, 6.05514501e-02,
 -1.52260227e-01,-3.44043964e-03]


--- Step 1095 ---
qpos:
[ 9.64026903e-04, 8.71424075e-01,-1.97471650e-02,-2.75325345e-02,
  4.61320538e-03, 8.31975650e-01,-3.89138045e-02, 3.69549183e-03,
  2.22103033e-02, 8.68125282e-01,-1.96492896e-02, 2.25294610e-02,
  1.24518309e+00,-1.01294025e-02, 8.97033774e-01, 6.18703467e-02,
 -2.22923456e-02,-5.30004618e-02, 7.94642603e-02, 6.59217077e-01,
 -6.15755945e-02,-7.08541202e-01,-2.44152937e-01]

qacc:
[ 3.72841239e-01,-1.65713150e-01,-6.02236731e+00, 1.70995222e+01,
 -6.86719273e-01,-1.57604341e+01, 3.84822127e+01,-7.39886058e+01,
 -2.56530221e-01,-6.84391420e+00, 2.07182410e+01,-2.99336930e+01,
 -7.77217611e-01, 1.11205573e+00, 1.39173145e+01,-4.77133782e+01,
  8.91352912e+00,-1.87038689e+00,-9.10055289e+00,-1.92833568e+02,
  4.31632003e+02, 5.29372661e+02]

qfrc_actuator:
[ 0.00085076, 0.03334434, 0.00815457, 0.00161803, 0.00312661, 0.06069316,
  0.01989291, 0.00747152,-0.00238324, 0.03225959, 0.00825236, 0.00153681,
  0.01195937,-0.00159404, 0.        ,-0.00320855, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.11572836, -8.63558821,  0.11572836,  0.27253428,
       -0.11208643, -8.63558821, -0.11208643,  8.63486153,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015120530425159207
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.83562182e-14,  4.58905456e-14,  1.00000000e+00, -8.42376869e-28,
        1.00000000e+00, -4.58905456e-14, -1.00000000e+00,  0.00000000e+00,
        1.83562182e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09358479, -0.03745106,  0.06185881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.83444603e-05,-3.29669048e-04,-1.19480351e-04, 5.36831769e-06,
 -1.17657432e-04,-2.22349615e-03,-7.79638472e-04,-2.84372428e-04,
 -4.75574861e-05,-4.18193724e-04,-7.71723065e-05,-5.34148169e-05,
 -1.03845707e-04,-2.50834002e-05,-1.16585859e-05,-2.34454882e-04,
 -1.97736374e-01,-1.86018102e-01,-7.89153754e+00, 5.33875019e-02,
 -1.54833078e-01,-3.30232124e-03]


--- Step 1096 ---
qpos:
[ 9.32984477e-04, 8.71543781e-01,-1.97570702e-02,-2.75325012e-02,
  4.67548120e-03, 8.32672327e-01,-3.86751328e-02, 3.81352168e-03,
  2.22106724e-02, 8.68224275e-01,-1.96576240e-02, 2.25273017e-02,
  1.24550349e+00,-1.01295350e-02, 8.97302295e-01, 6.18647309e-02,
 -2.29830019e-02,-5.32774720e-02, 7.99498594e-02, 6.57458858e-01,
 -5.93361065e-02,-7.09171103e-01,-2.47595281e-01]

qacc:
[ 2.90928753e-01,-2.19390607e+00, 5.97471931e+00,-1.16097717e+01,
 -6.81923838e-01,-1.38287744e+01, 2.98211956e+01,-5.46155148e+01,
 -1.95663408e-01,-1.89653702e+00, 2.42611742e-01, 7.09889475e+00,
 -7.35470563e-01, 1.22805623e+00,-2.53182058e+00, 7.88216709e+00,
  7.53020802e+00,-1.58749837e+00,-9.19521539e+00,-1.64350458e+02,
  3.55012118e+02, 4.35346285e+02]

qfrc_actuator:
[ 0.00087166, 0.03328688, 0.00814607, 0.00159825, 0.00306377, 0.05997288,
  0.01970411, 0.00735281,-0.00239684, 0.03213894, 0.00823567, 0.00155143,
  0.0119361 ,-0.00157335, 0.        ,-0.00316505, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.03051469, -8.63630973,  0.03051469,  0.22690319,
       -0.02971316, -8.63630973, -0.02971316,  8.63625865,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013887766121905912
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.99856301e-14,  1.99856301e-14,  1.00000000e+00, -3.99425409e-28,
        1.00000000e+00, -1.99856301e-14, -1.00000000e+00,  0.00000000e+00,
        1.99856301e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09454406, -0.0373928 ,  0.06187234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.33288920e-05,-2.68970071e-04,-9.19608933e-05,-3.80895795e-05,
 -1.16977679e-04,-2.15663462e-03,-7.61994176e-04,-2.48191526e-04,
 -3.62276536e-05,-3.75084863e-04,-1.15143703e-04,-7.14080341e-06,
 -9.19776499e-05,-6.91404302e-06,-3.74538664e-05, 2.75705994e-05,
 -9.54670039e-02,-9.70075374e-02,-7.90569005e+00, 4.91876950e-02,
 -1.56186332e-01,-3.26199731e-03]


--- Step 1097 ---
qpos:
[ 9.02647610e-04, 8.71661291e-01,-1.97667692e-02,-2.75320358e-02,
  4.73632050e-03, 8.33353976e-01,-3.84413024e-02, 3.92878780e-03,
  2.22107789e-02, 8.68321117e-01,-1.96664638e-02, 2.25249013e-02,
  1.24582315e+00,-1.01291295e-02, 8.97569988e-01, 6.18642976e-02,
 -2.36485517e-02,-5.35598410e-02, 8.03981088e-02, 6.56266131e-01,
 -5.76436073e-02,-7.09291526e-01,-2.50793760e-01]

qacc:
[ 3.69263602e-01,-2.58672883e+00, 3.19468807e+00, 5.55458670e+00,
 -7.78547042e-01,-1.20025541e+01, 2.56582597e+01,-5.47163862e+01,
 -1.36577745e-01,-1.92559464e+00, 3.75961825e+00,-5.54134576e+00,
 -7.70022499e-01, 1.45039428e+00,-1.68212680e+01, 5.71820193e+01,
  6.27662072e+00,-1.33968890e+00,-9.33742750e+00,-1.39635528e+02,
  2.93046611e+02, 3.59244745e+02]

qfrc_actuator:
[ 0.00091404, 0.03318794, 0.00816298, 0.00162215, 0.00298416, 0.05927143,
  0.01948018, 0.00721811,-0.00240492, 0.0320819 , 0.00822928, 0.00154316,
  0.01190531,-0.0015433 , 0.        ,-0.00288853, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.04656392, -8.63623811, -0.04656392,  0.18794876,
        0.04555124, -8.63623811,  0.04555124,  8.63611804,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011514835785623179
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.41041871e-14, -1.08468842e-13,  1.00000000e+00,  2.61455326e-27,
        1.00000000e+00,  1.08468842e-13, -1.00000000e+00,  0.00000000e+00,
        2.41041871e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09576969, -0.03729347,  0.06189521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.76315118e-05,-2.72632911e-04,-5.21232591e-05, 8.29425261e-06,
 -1.33477942e-04,-2.09477817e-03,-7.79714760e-04,-2.59959725e-04,
 -2.52848415e-05,-2.93149369e-04,-9.90042099e-05,-2.85978307e-05,
 -8.80942326e-05, 8.53363302e-06,-1.74485031e-05, 2.72502968e-04,
 -4.21287453e-02,-3.60698014e-02,-7.91009742e+00, 4.68540738e-02,
 -1.56761566e-01,-3.27959574e-03]


--- Step 1098 ---
qpos:
[ 8.72663116e-04, 8.71776144e-01,-1.97754597e-02,-2.75309425e-02,
  4.79573218e-03, 8.34021276e-01,-3.82130512e-02, 4.04147331e-03,
  2.22107122e-02, 8.68416002e-01,-1.96760595e-02, 2.25220640e-02,
  1.24614229e+00,-1.01286733e-02, 8.97837923e-01, 6.18637777e-02,
 -2.42934515e-02,-5.38466904e-02, 8.08084063e-02, 6.55543435e-01,
 -5.64045722e-02,-7.08991834e-01,-2.53795011e-01]

qacc:
[ 1.85523522e-01,-5.03328807e+00, 1.02095122e+01, 9.79770234e-01,
 -7.73866962e-01,-8.67843016e+00, 1.43243434e+01,-3.95218597e+01,
 -9.01327883e-02,-1.37357795e+00, 2.98999027e+00,-7.90578517e+00,
 -4.43829727e-01, 5.93343922e-01, 6.40150239e-01,-1.67315839e+00,
  5.16250007e+00,-1.12011491e+00,-9.48797274e+00,-1.17984515e+02,
  2.42000938e+02, 2.96586367e+02]

qfrc_actuator:
[ 0.00091567, 0.03304739, 0.00821238, 0.00165379, 0.00291291, 0.05860467,
  0.01921969, 0.00709284,-0.00240965, 0.03199248, 0.00819377, 0.00152155,
  0.01188069,-0.00154352, 0.        ,-0.00290308, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.12256395, -0.11139476, -8.12180007, -0.11139476,  0.15528168,
        0.10927546, -8.12180007,  0.10927546,  8.12106518,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008269341239462713
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.71288675e-14, -8.39110844e-14,  1.00000000e+00,  5.63285606e-27,
        1.00000000e+00,  8.39110844e-14, -1.00000000e+00,  0.00000000e+00,
        6.71288675e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09719716, -0.03715925,  0.06192516])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.37397190e-05,-3.06037122e-04,-1.38538456e-05, 1.81702820e-05,
 -1.32723595e-04,-2.02923823e-03,-8.05917059e-04,-2.48684844e-04,
 -1.66902160e-05,-2.77244812e-04,-1.09920596e-04,-3.82810254e-05,
 -7.56346093e-05,-1.81140605e-05, 1.91662960e-05,-2.31753566e-06,
 -1.93797656e-02, 5.93169210e-03,-7.90902997e+00, 4.56904941e-02,
 -1.56850813e-01,-3.32971328e-03]


--- Step 1099 ---
qpos:
[ 8.43347833e-04, 8.71888547e-01,-1.97837539e-02,-2.75301561e-02,
  4.85397202e-03, 8.34674819e-01,-3.79905596e-02, 4.15237423e-03,
  2.22105362e-02, 8.68509303e-01,-1.96858067e-02, 2.25202775e-02,
  1.24646100e+00,-1.01282542e-02, 8.98105951e-01, 6.18627757e-02,
 -2.49217543e-02,-5.41372045e-02, 8.11801960e-02, 6.55205913e-01,
 -5.55365250e-02,-7.08348852e-01,-2.56637505e-01]

qacc:
[ 3.50391788e-01,-4.97678913e+00, 1.43392032e+01,-1.84804829e+01,
 -6.34760052e-01,-5.75764635e+00, 1.68385068e+00,-1.32452569e+01,
 -5.65375307e-02, 4.92110408e-01,-9.23119038e+00, 2.88298633e+01,
 -3.07444959e-01, 3.26640321e-01, 1.60642432e+00,-5.39031849e+00,
  4.14923745e+00,-9.16167924e-01,-9.62696193e+00,-9.80202980e+01,
  1.97508998e+02, 2.42109938e+02]

qfrc_actuator:
[ 0.00096394, 0.03291871, 0.00822714, 0.00163646, 0.00286501, 0.05798181,
  0.01895769, 0.00700966,-0.00241236, 0.03197305, 0.00821226, 0.00158099,
  0.01186512,-0.00154386, 0.        ,-0.00292931, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 5.16541392, -0.11230261, -5.16419298, -0.11230261,  0.12603057,
        0.10958845, -5.16419298,  0.10958845,  5.16303077,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004372578329076768
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26952903e-13,  6.34764515e-14,  1.00000000e+00, -8.05851979e-27,
        1.00000000e+00, -6.34764515e-14, -1.00000000e+00,  0.00000000e+00,
        1.26952903e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09877881, -0.0369949 ,  0.0619605 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.41493527e-05,-3.04466199e-04,-5.03268186e-05,-3.07178699e-05,
 -1.09079509e-04,-1.95320000e-03,-7.96555358e-04,-2.04442217e-04,
 -1.05508544e-05,-2.00967358e-04,-5.42946720e-05, 4.28907324e-05,
 -6.51771100e-05,-2.05277170e-05, 2.28330798e-06,-2.53411853e-05,
 -1.52857047e-02, 3.50175702e-02,-7.90499470e+00, 4.52526833e-02,
 -1.56647635e-01,-3.39613330e-03]


--- Step 1100 ---
qpos:
[ 8.15140343e-04, 8.71998457e-01,-1.97920300e-02,-2.75298994e-02,
  4.91112035e-03, 8.35315056e-01,-3.77731849e-02, 4.26162457e-03,
  2.22101092e-02, 8.68601136e-01,-1.96945671e-02, 2.25191180e-02,
  1.24677927e+00,-1.01280787e-02, 8.98373488e-01, 6.18651465e-02,
 -2.55366932e-02,-5.44307193e-02, 8.15130303e-02, 6.55187149e-01,
 -5.49750718e-02,-7.07421455e-01,-2.59350007e-01]

qacc:
[ 5.79034086e-01,-4.43592860e+00, 1.32668538e+01,-2.06217565e+01,
 -5.90455278e-01,-6.68053672e+00, 5.27358235e+00,-1.58776050e+01,
 -1.29703047e-01,-3.40541347e+00, 6.68067122e+00, 3.67353045e+00,
  4.65237561e-02,-4.67651657e-01,-1.09137279e+01, 3.71162548e+01,
  3.34098362e+00,-7.50184518e-01,-9.73882535e+00,-8.20455742e+01,
  1.63119998e+02, 1.99974488e+02]

qfrc_actuator:
[ 0.00103973, 0.03278026, 0.00822133, 0.00160818, 0.00281368, 0.05739044,
  0.0187327 , 0.00693422,-0.00243161, 0.03194278, 0.00828061, 0.00161674,
  0.01183367,-0.00156196, 0.        ,-0.00274907, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.09092268, -0.12074215, -4.08914046, -0.12074215,  0.10351426,
        0.11773825, -4.08914046,  0.11773825,  4.08744616,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.7292120263467936e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.42039847e-11,  4.01274904e-11,  1.00000000e+00, -2.57634478e-21,
        1.00000000e+00, -4.01274904e-11, -1.00000000e+00,  0.00000000e+00,
        6.42039847e-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([-0.1004757 , -0.03680468,  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:
[ 1.06241966e-04,-3.22926857e-04,-7.67485268e-05,-4.38120290e-05,
 -1.01678473e-04,-1.87496161e-03,-7.40985343e-04,-1.92229933e-04,
 -2.41377589e-05,-1.54155722e-04, 2.09838073e-05, 2.59724925e-05,
 -7.54441527e-05,-3.63143081e-05,-7.19125730e-06, 1.77856547e-04,
 -2.18789544e-02, 5.50620293e-02,-7.89955441e+00, 4.52601457e-02,
 -1.56282532e-01,-3.46824499e-03]


--- Step 1101 ---
qpos:
[ 7.87490494e-04, 8.72105854e-01,-1.97997642e-02,-2.75300201e-02,
  4.96700492e-03, 8.35941904e-01,-3.75604756e-02, 4.37010343e-03,
  2.22096319e-02, 8.68691106e-01,-1.97021814e-02, 2.25173965e-02,
  1.24709698e+00,-1.01282929e-02, 8.98641045e-01, 6.18686211e-02,
 -2.61518668e-02,-5.47240541e-02, 8.18066306e-02, 6.55157431e-01,
 -5.44153984e-02,-7.06491877e-01,-2.62062843e-01]

qacc:
[ 2.92208721e-01,-5.61184442e+00, 1.67803876e+01,-2.23282240e+01,
 -6.82983903e-01,-6.24140901e+00,-1.61228077e-01, 4.11116935e+00,
 -2.48848297e-02,-6.81663335e+00, 2.31088911e+01,-3.32974606e+01,
 -3.17533337e-02,-4.96103362e-01,-3.30964605e+00, 1.16083292e+01,
 -5.86508796e-02, 4.49920090e-02,-9.80853302e+00,-1.28505739e+00,
 -3.38218520e+00,-8.40561736e-01]

qfrc_actuator:
[ 0.00104256, 0.03267248, 0.00825664, 0.00159142, 0.00274292, 0.056752  ,
  0.01851383, 0.0068995 ,-0.00242508, 0.03181776, 0.00832453, 0.00158502,
  0.01178739,-0.0015905 , 0.        ,-0.00269716, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 5.34511544e-05,-3.08539791e-04,-4.31188686e-05,-3.42396579e-05,
 -1.17728519e-04,-1.86589645e-03,-7.11281137e-04,-1.45957997e-04,
 -4.87729523e-06,-2.07885661e-04, 1.49180471e-05,-3.72156237e-05,
 -9.98255932e-05,-5.22031676e-05, 1.25897521e-05, 5.99864151e-05,
 -3.40881657e-02, 6.91625601e-02,-7.89354234e+00, 4.55110423e-02,
 -1.55839699e-01,-3.53993436e-03]


--- Step 1102 ---
qpos:
[ 7.60419647e-04, 8.72211367e-01,-1.98073216e-02,-2.75304004e-02,
  5.02142747e-03, 8.36555478e-01,-3.73520023e-02, 4.47759202e-03,
  2.22093603e-02, 8.68779463e-01,-1.97097873e-02, 2.25153544e-02,
  1.24741412e+00,-1.01288455e-02, 8.98908823e-01, 6.18710249e-02,
 -2.67672742e-02,-5.50172088e-02, 8.20609975e-02, 6.55116750e-01,
 -5.38575272e-02,-7.05560129e-01,-2.64775970e-01]

qacc:
[  0.30289008, -3.51799178, 10.02414586,-13.41159671, -0.78964236,
  -7.73691563,  6.31575675, -6.92641302,  0.10778007, -2.81378795,
   8.29403344,-12.67017604, -0.18762022, -0.18630387,  3.56106551,
 -11.98067964, -0.05848995,  0.04504679, -9.8083209 , -1.27580269,
  -3.38977888, -0.83617137]

qfrc_actuator:
[ 0.00107274, 0.03261961, 0.0082806 , 0.00158164, 0.00266112, 0.05612623,
  0.01831797, 0.00685349,-0.00240319, 0.03172562, 0.00831773, 0.00156701,
  0.01175886,-0.0016073 , 0.        ,-0.00275683, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 5.55222886e-05,-2.38169515e-04,-4.70146013e-05,-2.52926921e-05,
 -1.36204942e-04,-1.83966277e-03,-6.80973307e-04,-1.54897822e-04,
  1.97082187e-05,-2.08961508e-04,-4.98221601e-05,-2.72420665e-05,
 -1.00334238e-04,-4.90436884e-05, 6.81765222e-06,-5.60234756e-05,
 -3.39417562e-02, 6.93153148e-02,-7.89337351e+00, 4.61758931e-02,
 -1.55620842e-01,-3.57748419e-03]


--- Step 1103 ---
qpos:
[ 7.34106614e-04, 8.72315174e-01,-1.98155237e-02,-2.75305192e-02,
  5.07480601e-03, 8.37156180e-01,-3.71475130e-02, 4.58290236e-03,
  2.22091408e-02, 8.68866671e-01,-1.97178990e-02, 2.25127411e-02,
  1.24773053e+00,-1.01293069e-02, 8.99177260e-01, 6.18673448e-02,
 -2.73829150e-02,-5.53101831e-02, 8.22761320e-02, 6.55065101e-01,
 -5.33014805e-02,-7.04626224e-01,-2.67489346e-01]

qacc:
[ 3.95613936e-01, 8.58047547e-02,-4.67713572e+00, 1.14797375e+01,
 -5.62959494e-01,-1.03481768e+01, 2.14186248e+01,-4.32960613e+01,
  2.72132578e-02,-1.27960061e+00, 4.77185880e+00,-1.30044792e+01,
 -9.00074109e-01, 1.34303198e+00, 1.93815969e+01,-6.63050906e+01,
 -5.83292566e-02, 4.51003796e-02,-9.80810995e+00,-1.26650473e+00,
 -3.39733152e+00,-8.31740302e-01]

qfrc_actuator:
[ 0.00111908, 0.03252906, 0.00824463, 0.00159384, 0.00262665, 0.05553105,
  0.01813736, 0.00674798,-0.00240782, 0.03168923, 0.00829894, 0.00153946,
  0.01172504,-0.0015992 , 0.        ,-0.00307699, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 7.26922285e-05,-2.36880677e-04,-9.25633301e-05,-2.66901697e-07,
 -9.74276810e-05,-1.78815003e-03,-6.56731656e-04,-2.12371854e-04,
  4.96792652e-06,-1.66729504e-04,-6.96584702e-05,-3.88724752e-05,
 -1.05416012e-04,-2.35576371e-05,-9.05401331e-06,-3.23793553e-04,
 -3.37950603e-02, 6.94670580e-02,-7.89320497e+00, 4.68388703e-02,
 -1.55398218e-01,-3.61489932e-03]


--- Step 1104 ---
qpos:
[ 7.08179128e-04, 8.72417021e-01,-1.98243293e-02,-2.75301179e-02,
  5.12744945e-03, 8.37743904e-01,-3.69471863e-02, 4.68647102e-03,
  2.22092894e-02, 8.68952273e-01,-1.97257559e-02, 2.25094763e-02,
  1.24804624e+00,-1.01296848e-02, 8.99445721e-01, 6.18591886e-02,
 -2.79987885e-02,-5.56029767e-02, 8.24520350e-02, 6.55002477e-01,
 -5.27472810e-02,-7.03690171e-01,-2.70202928e-01]

qacc:
[ 2.01478598e-01, 1.67956795e-01,-6.54377263e+00, 1.79314433e+01,
 -3.95555468e-01,-9.09253293e+00, 1.48945455e+01,-2.88495186e+01,
  1.92591033e-01,-4.17419613e+00, 1.45544171e+01,-2.50551648e+01,
 -7.77488258e-01, 1.13477450e+00, 1.35838076e+01,-4.73967708e+01,
 -5.81688083e-02, 4.51528029e-02,-9.80790016e+00,-1.25716367e+00,
 -3.40484267e+00,-8.27268658e-01]

qfrc_actuator:
[ 0.00112145, 0.03241648, 0.00820897, 0.0016188 , 0.002603  , 0.05488813,
  0.01793184, 0.00666161,-0.00237504, 0.03159769, 0.00830896, 0.00150657,
  0.01169339,-0.00159422, 0.        ,-0.00329947, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 3.69530387e-05,-2.66483002e-04,-9.67232465e-05, 1.14679233e-05,
 -6.87627568e-05,-1.80417665e-03,-6.69863027e-04,-1.91274338e-04,
  3.53192339e-05,-2.02819221e-04,-3.49494072e-05,-4.33174936e-05,
 -1.01001443e-04,-2.26772866e-05,-4.68154684e-05,-2.43207033e-04,
 -3.36480856e-02, 6.96177945e-02,-7.89303672e+00, 4.74999487e-02,
 -1.55171843e-01,-3.65217837e-03]


--- Step 1105 ---
qpos:
[ 6.82369639e-04, 8.72516803e-01,-1.98323627e-02,-2.75298511e-02,
  5.17918937e-03, 8.38318686e-01,-3.67510031e-02, 4.78781989e-03,
  2.22096332e-02, 8.69036553e-01,-1.97333365e-02, 2.25064927e-02,
  1.24836138e+00,-1.01302913e-02, 8.99713582e-01, 6.18510434e-02,
 -2.86148940e-02,-5.58955896e-02, 8.25887071e-02, 6.54928873e-01,
 -5.21949510e-02,-7.02751982e-01,-2.72916672e-01]

qacc:
[  0.06274611, -5.16175093, 15.01150292,-17.05456921, -0.4863709 ,
 -10.08297713, 20.51076748,-42.7979675 ,  0.10240555, -1.93909133,
   3.1918501 ,  2.206768  , -0.21088349, -0.06136036, -0.91542062,
   1.92312846, -0.05800862,  0.04520407, -9.80769154, -1.24777966,
  -3.4123119 , -0.82275658]

qfrc_actuator:
[ 0.00111526, 0.03234488, 0.00826246, 0.00161555, 0.00255044, 0.05425733,
  0.01773089, 0.00655165,-0.0023734 , 0.03156275, 0.00833572, 0.00152404,
  0.01166307,-0.00160888, 0.        ,-0.00328499, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 1.12734027e-05,-2.42372373e-04,-1.37622087e-05,-1.79195739e-05,
 -8.44700344e-05,-1.80246161e-03,-6.69335507e-04,-2.15560810e-04,
  1.87184492e-05,-1.59384001e-04,-2.15381640e-05, 6.61228912e-06,
 -9.69839730e-05,-4.10671593e-05,-5.27722563e-05,-6.03111478e-06,
 -3.35008396e-02, 6.97675294e-02,-7.89286877e+00, 4.81591034e-02,
 -1.54941735e-01,-3.68931994e-03]


--- Step 1106 ---
qpos:
[ 6.56867494e-04, 8.72614736e-01,-1.98397608e-02,-2.75303382e-02,
  5.22995720e-03, 8.38881170e-01,-3.65589293e-02, 4.88694882e-03,
  2.22098950e-02, 8.69119668e-01,-1.97403644e-02, 2.25036986e-02,
  1.24867583e+00,-1.01310163e-02, 8.99981036e-01, 6.18437142e-02,
 -2.92312309e-02,-5.61880214e-02, 8.26861493e-02, 6.54844281e-01,
 -5.16445130e-02,-7.01811669e-01,-2.75630537e-01]

qacc:
[  0.16132564, -5.77147814, 20.20621344,-32.89495243, -0.52331494,
  -9.32810024, 19.05587063,-41.87340736, -0.04193791, -2.69206464,
   6.56628524, -3.3128958 , -0.36053051,  0.23900111, -3.04880731,
   9.8272543 , -0.0578487 ,  0.04525421, -9.8074841 , -1.23835286,
  -3.41973878, -0.81820421]

qfrc_actuator:
[ 0.00113955, 0.03226324, 0.00829731, 0.00157807, 0.00249875, 0.05370995,
  0.01755209, 0.00644647,-0.00239043, 0.03152662, 0.00837239, 0.00153554,
  0.01162292,-0.00161729, 0.        ,-0.00323755, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.94599232e-05,-2.23007691e-04,-1.82181648e-05,-4.88180645e-05,
 -9.08780058e-05,-1.71863554e-03,-6.47463965e-04,-2.11134738e-04,
 -7.90057813e-06,-1.31347840e-04, 7.37608085e-07, 3.94910358e-06,
 -1.08288075e-04,-3.75935791e-05,-2.74783608e-05, 3.97631134e-05,
 -3.33533297e-02, 6.99162681e-02,-7.89270110e+00, 4.88163094e-02,
 -1.54707911e-01,-3.72632264e-03]


--- Step 1107 ---
qpos:
[ 6.31766655e-04, 8.72710847e-01,-1.98472666e-02,-2.75308795e-02,
  5.27973160e-03, 8.39431517e-01,-3.63704997e-02, 4.98396417e-03,
  2.22100127e-02, 8.69200842e-01,-1.97465705e-02, 2.25018343e-02,
  1.24898954e+00,-1.01315642e-02, 9.00248254e-01, 6.18372924e-02,
 -2.98477985e-02,-5.64802720e-02, 8.27443624e-02, 6.54748698e-01,
 -5.10959896e-02,-7.00869242e-01,-2.78344478e-01]

qacc:
[  0.20988357, -2.21866341,  4.64616678, -4.07661917, -0.53425388,
 -10.19419347, 22.00463562,-43.84548675, -0.07393985, -2.94806206,
   2.86149563, 13.3475729 , -0.66076359,  0.97359101, -3.05444166,
  10.2548746 , -0.05768906,  0.04530322, -9.80727782, -1.22888345,
  -3.42712287, -0.81361168]

qfrc_actuator:
[ 0.00116414, 0.03215844, 0.00828529, 0.00157398, 0.00244801, 0.05314616,
  0.0173882 , 0.00634504,-0.0024007 , 0.03138363, 0.00839688, 0.00157895,
  0.01159287,-0.00160423, 0.        ,-0.00318888, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 3.84815654e-05,-2.37542298e-04,-6.26935324e-05,-1.53504385e-05,
 -9.29070334e-05,-1.68312710e-03,-6.12252153e-04,-2.02916974e-04,
 -1.39093424e-05,-2.18021828e-04,-3.00475239e-06, 3.77779816e-05,
 -1.03951034e-04,-1.81310097e-05,-1.19358756e-05, 4.65132836e-05,
 -3.32055634e-02, 7.00640156e-02,-7.89253373e+00, 4.94715418e-02,
 -1.54470386e-01,-3.76318511e-03]


--- Step 1108 ---
qpos:
[ 6.06927023e-04, 8.72804558e-01,-1.98540669e-02,-2.75311045e-02,
  5.32851328e-03, 8.39969871e-01,-3.61864720e-02, 5.07763506e-03,
  2.22098146e-02, 8.69279862e-01,-1.97531127e-02, 2.25016482e-02,
  1.24930252e+00,-1.01317145e-02, 9.00515271e-01, 6.18321433e-02,
 -3.04645963e-02,-5.67723412e-02, 8.27633472e-02, 6.54642117e-01,
 -5.05494032e-02,-6.99924713e-01,-2.81058452e-01]

qacc:
[ 1.37516800e-01,-4.48876066e+00, 1.00734802e+01,-3.97425463e+00,
 -5.34202391e-01,-1.04200663e+01, 2.82833271e+01,-7.03221588e+01,
 -1.63971887e-01, 1.54656285e+00,-1.67305561e+01, 4.79000303e+01,
 -8.18544482e-01, 1.43371441e+00,-4.09224498e+00, 1.39898151e+01,
 -5.75297164e-02, 4.53511364e-02,-9.80707273e+00,-1.21937159e+00,
 -3.43446374e+00,-8.08979151e-01]

qfrc_actuator:
[ 0.00117095, 0.03202271, 0.00831665, 0.00158953, 0.00239825, 0.05254177,
  0.01716342, 0.00617564,-0.00242457, 0.03123103, 0.0083603 , 0.00165845,
  0.01156891,-0.00157853, 0.        ,-0.00312216, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.50184339e-05,-2.84314309e-04,-2.66211192e-05, 2.78040412e-06,
 -9.28896188e-05,-1.69590616e-03,-6.61044268e-04,-2.67964781e-04,
 -3.04103943e-05,-2.75389201e-04,-8.12524144e-05, 7.06738521e-05,
 -9.07272675e-05,-8.23526734e-07,-4.87019187e-06, 6.67599227e-05,
 -3.30575479e-02, 7.02107773e-02,-7.89236666e+00, 5.01247759e-02,
 -1.54229180e-01,-3.79990597e-03]


--- Step 1109 ---
qpos:
[ 5.82539681e-04, 8.72896113e-01,-1.98604794e-02,-2.75314983e-02,
  5.37631301e-03, 8.40496615e-01,-3.60074640e-02, 5.16817047e-03,
  2.22095051e-02, 8.69356887e-01,-1.97597725e-02, 2.25020346e-02,
  1.24961476e+00,-1.01312697e-02, 9.00782040e-01, 6.18291523e-02,
 -3.10816235e-02,-5.70642288e-02, 8.27431045e-02, 6.54524533e-01,
 -5.00047764e-02,-6.98978093e-01,-2.83772417e-01]

qacc:
[ 2.36857161e-01,-4.28095118e+00, 1.18386064e+01,-1.37936663e+01,
 -5.28613944e-01,-7.76400515e+00, 1.86608023e+01,-5.63700288e+01,
 -5.74131173e-02,-1.13001252e+00,-2.21556475e+00, 1.37823830e+01,
 -9.67913460e-01, 1.83917800e+00,-6.82532285e+00, 2.34737251e+01,
 -5.73706774e-02, 4.53979640e-02,-9.80686881e+00,-1.20981746e+00,
 -3.44176095e+00,-8.04306768e-01]

qfrc_actuator:
[ 0.00120256, 0.03192297, 0.00833777, 0.001581  , 0.00234948, 0.05198874,
  0.01692208, 0.00602078,-0.00242088, 0.03114465, 0.00835892, 0.00168746,
  0.01153798,-0.00154553, 0.        ,-0.00300981, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 4.33765434e-05,-2.66192166e-04,-4.14437952e-05,-2.16893922e-05,
 -9.19230702e-05,-1.66420458e-03,-6.88367550e-04,-2.56887432e-04,
 -1.07642818e-05,-2.55942743e-04,-6.63830490e-05, 1.56671009e-05,
 -8.57527764e-05, 1.27549980e-05, 3.82894462e-07, 1.14349899e-04,
 -3.29092905e-02, 7.03565585e-02,-7.89219988e+00, 5.07759870e-02,
 -1.53984308e-01,-3.83648386e-03]


--- Step 1110 ---
qpos:
[ 5.58663353e-04, 8.72985679e-01,-1.98669625e-02,-2.75316383e-02,
  5.42295586e-03, 8.41012145e-01,-3.58332368e-02, 5.25674273e-03,
  2.22089839e-02, 8.69432142e-01,-1.97662330e-02, 2.25023669e-02,
  1.24992644e+00,-1.01307124e-02, 9.01048952e-01, 6.18258400e-02,
 -3.16988796e-02,-5.73559346e-02, 8.26836352e-02, 6.54395941e-01,
 -4.94621316e-02,-6.98029393e-01,-2.86486328e-01]

qacc:
[  0.26713774, -1.90604644,  1.91778412,  4.03870119, -0.62248125,
  -5.49951042,  6.393403  ,-24.48124463, -0.10951941, -3.00732087,
   7.55653972, -7.50981517, -0.53082537,  0.7768465 ,  1.20757555,
  -3.85956523, -0.05721195,  0.04544372, -9.80666607, -1.20022123,
  -3.44901409, -0.79959468]

qfrc_actuator:
[ 0.00123101, 0.03182781, 0.00833502, 0.0015939 , 0.00228394, 0.0514887 ,
  0.01670868, 0.00592903,-0.00243622, 0.03108097, 0.00837859, 0.00168661,
  0.01150822,-0.00154402, 0.        ,-0.00303127, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 4.90221287e-05,-2.55551697e-04,-6.42261996e-05,-4.79923803e-07,
 -1.08274157e-04,-1.59832143e-03,-6.56713812e-04,-1.93112232e-04,
 -2.03835746e-05,-2.21615661e-04,-4.13853190e-05,-1.39085386e-05,
 -7.84192465e-05,-1.50431774e-05, 8.03609411e-06,-1.61391894e-05,
 -3.27607983e-02, 7.05013648e-02,-7.89203339e+00, 5.14251504e-02,
 -1.53735790e-01,-3.87291743e-03]


--- Step 1111 ---
qpos:
[ 5.35488964e-04, 8.73072723e-01,-1.98729610e-02,-2.75309039e-02,
  5.46844932e-03, 8.41516752e-01,-3.56636525e-02, 5.34414332e-03,
  2.22080858e-02, 8.69506255e-01,-1.97732675e-02, 2.25023109e-02,
  1.25023769e+00,-1.01304199e-02, 9.01315566e-01, 6.18246451e-02,
 -3.23163639e-02,-5.76474585e-02, 8.25849400e-02, 6.54256338e-01,
 -4.89214914e-02,-6.97078625e-01,-2.89200142e-01]

qacc:
[ 3.67230639e-01,-2.88479387e+00, 1.76814405e+00, 1.44215744e+01,
 -6.18060220e-01,-3.87322716e+00,-2.18883440e+00,-2.63258544e+00,
 -1.96465325e-01,-7.02481376e-01, 1.95751950e+00,-6.92219230e+00,
  1.45886876e-02,-4.19926071e-01,-6.83866960e+00, 2.32744774e+01,
 -5.70535600e-02, 4.54884317e-02,-9.80646452e+00,-1.19058309e+00,
 -3.45622270e+00,-7.94843059e-01]

qfrc_actuator:
[ 0.00127508, 0.03168281, 0.00835375, 0.00163705, 0.00222665, 0.05098919,
  0.01649607, 0.00587524,-0.00246285, 0.03104922, 0.00835734, 0.00166825,
  0.0114845 ,-0.00156116, 0.        ,-0.00291836, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 6.73515309e-05,-3.03177226e-04,-4.25970180e-05, 2.98528275e-05,
 -1.07618767e-04,-1.55135811e-03,-6.36078139e-04,-1.49972396e-04,
 -3.62768859e-05,-1.66545723e-04,-7.31321193e-05,-2.96608329e-05,
 -7.43509874e-05,-3.73589773e-05,-3.87037900e-06, 1.11720486e-04,
 -3.26120785e-02, 7.06452015e-02,-7.89186721e+00, 5.20722419e-02,
 -1.53483642e-01,-3.90920533e-03]


--- Step 1112 ---
qpos:
[ 5.13016441e-04, 8.73157670e-01,-1.98788140e-02,-2.75300371e-02,
  5.51323509e-03, 8.42010131e-01,-3.54971593e-02, 5.42943481e-03,
  2.22072174e-02, 8.69579605e-01,-1.97804948e-02, 2.25019573e-02,
  1.25054851e+00,-1.01303427e-02, 9.01582342e-01, 6.18227797e-02,
 -3.29340758e-02,-5.79388003e-02, 8.24470198e-02, 6.54105719e-01,
 -4.83828783e-02,-6.96125801e-01,-2.91913815e-01]

qacc:
[ 3.66775579e-01,-2.90426737e+00, 5.77842227e+00,-2.18590639e+00,
 -3.78886670e-01,-1.05292261e+01, 2.49226666e+01,-4.82389455e+01,
  1.56677602e-02,-1.08274883e+00, 3.65225644e+00,-7.93223730e+00,
 -1.67934307e-01,-6.07641379e-02, 2.26848213e+00,-7.57940301e+00,
 -5.68955037e-02, 4.55321065e-02,-9.80626416e+00,-1.18090323e+00,
 -3.46338637e+00,-7.90052052e-01]

qfrc_actuator:
[ 0.00131037, 0.03159802, 0.0083671 , 0.00164437, 0.00221027, 0.05045869,
  0.01635671, 0.00577321,-0.00244273, 0.03105447, 0.00836551, 0.00165749,
  0.01146442,-0.0015714 , 0.        ,-0.00295792, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 6.73595942e-05,-2.63789992e-04,-5.40904309e-05,-6.67481025e-06,
 -6.64280611e-05,-1.54966483e-03,-5.48955357e-04,-1.94625521e-04,
  2.84306955e-06,-1.05959214e-04,-3.67911579e-05,-2.11034107e-05,
 -7.32317764e-05,-3.38938796e-05, 6.27951100e-06,-3.48457544e-05,
 -3.24631380e-02, 7.07880743e-02,-7.89170132e+00, 5.27172370e-02,
 -1.53227884e-01,-3.94534622e-03]


--- Step 1113 ---
qpos:
[ 4.91003250e-04, 8.73241017e-01,-1.98852289e-02,-2.75297975e-02,
  5.55721051e-03, 8.42492607e-01,-3.53333764e-02, 5.51309195e-03,
  2.22066787e-02, 8.69651435e-01,-1.97867508e-02, 2.25014909e-02,
  1.25085896e+00,-1.01304408e-02, 9.01849560e-01, 6.18167756e-02,
 -3.35520147e-02,-5.82299597e-02, 8.22698752e-02, 6.53944079e-01,
 -4.78463149e-02,-6.95170932e-01,-2.94627303e-01]

qacc:
[  0.2396552 , -1.83660123,  6.1216699 ,-14.89045409, -0.43374808,
 -10.18488354, 22.3166004 ,-38.26488375,  0.17288845, -4.95150687,
  15.2185675 ,-17.60455918, -0.32166341,  0.26566891, 13.15560493,
 -45.06017678, -0.0567378 ,  0.04557477, -9.80606498, -1.17118183,
  -3.47050467, -0.78522183]

qfrc_actuator:
[ 0.00132235, 0.03153218, 0.00834186, 0.00161282, 0.0021652 , 0.04996753,
  0.01624386, 0.00569689,-0.00241258, 0.03095773, 0.00840892, 0.00165136,
  0.01145185,-0.00157744, 0.        ,-0.00317579, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 4.40757927e-05,-2.26706243e-04,-8.72135932e-05,-4.49539070e-05,
 -7.60372937e-05,-1.49298347e-03,-5.12784795e-04,-1.66663838e-04,
  3.16500438e-05,-1.66173712e-04, 1.57493594e-05,-1.24575294e-05,
 -6.43656463e-05,-2.87237187e-05,-6.65424758e-06,-2.20314296e-04,
 -3.23139838e-02, 7.09299889e-02,-7.89153573e+00, 5.33601115e-02,
 -1.52968534e-01,-3.98133877e-03]


--- Step 1114 ---
qpos:
[ 4.69557000e-04, 8.73322412e-01,-1.98913011e-02,-2.75292669e-02,
  5.60033791e-03, 8.42964391e-01,-3.51727056e-02, 5.59516009e-03,
  2.22064881e-02, 8.69721676e-01,-1.97925728e-02, 2.25003089e-02,
  1.25116888e+00,-1.01303103e-02, 9.02116304e-01, 6.18115527e-02,
 -3.41701798e-02,-5.85209367e-02, 8.20535073e-02, 6.53771415e-01,
 -4.73118236e-02,-6.94214029e-01,-2.97340563e-01]

qacc:
[  0.29646214, -2.93751983,  5.50618004,  0.4053445 , -0.45412019,
  -8.6929676 , 17.20859578,-31.8815179 ,  0.1821338 , -4.78199893,
  17.02726362,-28.93722954, -0.54087997,  0.89618108, -3.02825738,
   9.64375809, -0.05658045,  0.04561643, -9.80586699, -1.16141908,
  -3.47757716, -0.78035255]

qfrc_actuator:
[ 0.00135583, 0.03144254, 0.00836513, 0.00162969, 0.00212106, 0.04945088,
  0.0160945 , 0.00561861,-0.00239447, 0.03085412, 0.00841913, 0.00161242,
  0.01142783,-0.00156317, 0.        ,-0.00312409, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 5.44113748e-05,-2.38202056e-04,-3.64375057e-05, 3.14810259e-06,
 -7.95884698e-05,-1.47781483e-03,-5.32035728e-04,-1.64368563e-04,
  3.34172636e-05,-1.95466139e-04,-2.31094332e-05,-4.58475771e-05,
 -6.96516729e-05,-5.23422456e-06,-3.34623739e-05, 3.72001043e-05,
 -3.21646227e-02, 7.10709508e-02,-7.89137045e+00, 5.40008412e-02,
 -1.52705610e-01,-4.01718166e-03]


--- Step 1115 ---
qpos:
[ 4.48675605e-04, 8.73402047e-01,-1.98973969e-02,-2.75288861e-02,
  5.64260963e-03, 8.43425467e-01,-3.50151261e-02, 5.67493946e-03,
  2.22069468e-02, 8.69790994e-01,-1.97992975e-02, 2.24979853e-02,
  1.25147818e+00,-1.01301820e-02, 9.02382321e-01, 6.18109429e-02,
 -3.47577027e-02,-5.87864162e-02, 8.18554896e-02, 6.53177723e-01,
 -4.64805129e-02,-6.93998922e-01,-2.99272319e-01]

qacc:
[ 2.95041225e-01,-2.56743317e+00, 6.41093494e+00,-7.66969708e+00,
 -4.58031825e-01,-1.02115298e+01, 2.55464776e+01,-5.23544976e+01,
  3.37971428e-01,-1.04762733e+00, 6.78553365e+00,-2.44235816e+01,
 -2.26018109e-01, 1.26472132e-01,-1.49881342e+01, 5.09065095e+01,
  7.66058141e+00, 6.37438488e+00, 4.58758711e+00, 4.68615927e+02,
 -3.62983875e+02, 7.22930576e+01]

qfrc_actuator:
[ 0.00138415, 0.03135737, 0.00836356, 0.00162166, 0.00207783, 0.04892308,
  0.01594249, 0.00550427,-0.00234823, 0.03081806, 0.00837407, 0.00155446,
  0.01138098,-0.00157255, 0.        ,-0.00287843, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 4.85031854,  1.2868377 , -4.67649855,  1.2868377 ,  0.63069881,
       -1.16111781, -4.67649855, -1.16111781,  4.53081237,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003783562149188152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.46716636e-13,  7.33583182e-14,  1.00000000e+00, -1.07628857e-26,
        1.00000000e+00, -7.33583182e-14, -1.00000000e+00,  0.00000000e+00,
        1.46716636e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00856647, -0.1001616 ,  0.0619687 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.42179969e-05,-2.27574058e-04,-5.57154908e-05,-1.95318638e-05,
 -8.03402634e-05,-1.48405751e-03,-5.33738377e-04,-2.00384888e-04,
  6.23896201e-05,-1.53705581e-04,-9.03666757e-05,-6.81246074e-05,
 -9.02115464e-05,-2.55968065e-05,-1.45375780e-05, 2.42691958e-04,
 -3.20150616e-02, 7.12109659e-02,-7.89120546e+00, 5.46394021e-02,
 -1.52439131e-01,-4.05287358e-03]


--- Step 1116 ---
qpos:
[ 4.28508252e-04, 8.73480507e-01,-1.99040174e-02,-2.75289926e-02,
  5.68365180e-03, 8.43876981e-01,-3.48618298e-02, 5.75333136e-03,
  2.22080012e-02, 8.69859245e-01,-1.98065583e-02, 2.24949765e-02,
  1.25178692e+00,-1.01303828e-02, 9.02648229e-01, 6.18128986e-02,
 -3.53192002e-02,-5.90308653e-02, 8.16667215e-02, 6.52234316e-01,
 -4.54003059e-02,-6.94405831e-01,-3.00549082e-01]

qacc:
[ 3.72259269e-01,-1.09040641e+00, 3.68784547e+00,-1.04109373e+01,
 -6.59773997e-01,-3.52457427e+00, 8.77215250e-02,-1.02198230e+01,
  3.10275930e-01,-1.32151776e+00, 5.55873640e+00,-1.57744367e+01,
 -2.96563180e-02,-4.58095018e-01,-7.91099548e+00, 2.74344128e+01,
  6.50632719e+00, 5.25758227e+00, 2.31236818e+00, 3.93517631e+02,
 -3.02473184e+02, 6.07605151e+01]

qfrc_actuator:
[ 0.00142691, 0.03132873, 0.00834731, 0.00159903, 0.00199999, 0.04851716,
  0.0157546 , 0.00544063,-0.00232106, 0.03076925, 0.00835026, 0.0015213 ,
  0.01134177,-0.00159598, 0.        ,-0.0027513 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 7.13986332,  1.83818668, -6.89918241,  1.83818668,  0.75493264,
       -1.70117179, -6.89918241, -1.70117179,  6.68661087,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006861107628783059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61813964e-13,  8.09069821e-14,  1.00000000e+00, -1.30918795e-26,
        1.00000000e+00, -8.09069821e-14, -1.00000000e+00,  0.00000000e+00,
        1.61813964e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00715383, -0.09977401,  0.06194352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.85695896e-05,-1.70014551e-04,-7.13381998e-05,-3.47890571e-05,
 -1.15319059e-04,-1.36726899e-03,-5.72242444e-04,-1.50682093e-04,
  5.72278515e-05,-1.57914939e-04,-6.95252146e-05,-4.42922707e-05,
 -9.91266257e-05,-4.84563499e-05, 1.70241022e-05, 1.38025601e-04,
 -5.40296615e-03, 1.51058721e-02,-7.87045431e+00, 5.65243878e-02,
 -1.50290382e-01,-4.01030432e-03]


--- Step 1117 ---
qpos:
[ 4.08843348e-04, 8.73557838e-01,-1.99106630e-02,-2.75287224e-02,
  5.72345603e-03, 8.44319409e-01,-3.47127489e-02, 5.83060652e-03,
  2.22093196e-02, 8.69926126e-01,-1.98131227e-02, 2.24908540e-02,
  1.25209522e+00,-1.01311961e-02, 9.02914411e-01, 6.18143626e-02,
 -3.58588139e-02,-5.92579422e-02, 8.14795572e-02, 6.50998259e-01,
 -4.41125031e-02,-6.95333315e-01,-3.01275513e-01]

qacc:
[ 2.62278874e-01,-6.45753128e-01,-1.44717473e+00, 8.82427183e+00,
 -6.64058530e-01,-2.52921523e+00,-3.69207876e+00,-2.21133962e+00,
  1.38388366e-01,-6.04488165e+00, 2.36315836e+01,-4.30139194e+01,
  1.82976033e-01,-9.83821589e-01, 1.86711969e+00,-5.99202521e+00,
  5.47096286e+00, 4.34305469e+00, 4.00973526e-01, 3.30363508e+02,
 -2.52673461e+02, 5.15998279e+01]

qfrc_actuator:
[ 0.00144246, 0.03129861, 0.00835828, 0.0016213 , 0.00193761, 0.0481165 ,
  0.01556537, 0.00538967,-0.00232329, 0.03071331, 0.00839246, 0.00146751,
  0.01132314,-0.00162752, 0.        ,-0.00278387, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.39042484,  2.06945558, -8.1312104 ,  2.06945558,  0.78035717,
       -1.93682075, -8.1312104 , -1.93682075,  7.89748906,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008820900828791015
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.29313857e-14,  9.43970786e-14,  1.00000000e+00, -5.94053896e-27,
        1.00000000e+00, -9.43970786e-14, -1.00000000e+00,  0.00000000e+00,
        6.29313857e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00611638, -0.09957324,  0.06192735])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.82462230e-05,-1.43145349e-04,-3.46779700e-05, 1.17314038e-05,
 -1.16136940e-04,-1.30226349e-03,-5.52376421e-04,-1.33335501e-04,
  2.53493320e-05,-1.62048853e-04,-9.82494985e-07,-6.39095284e-05,
 -8.89678135e-05,-6.30661397e-05, 1.77200268e-05,-2.39502972e-05,
 -1.19068138e-02,-1.16062958e-02,-7.85333420e+00, 5.80111785e-02,
 -1.48693319e-01,-4.04485903e-03]


--- Step 1118 ---
qpos:
[ 3.89408848e-04, 8.73633894e-01,-1.99176571e-02,-2.75281490e-02,
  5.76250215e-03, 8.44752835e-01,-3.45670511e-02, 5.90588801e-03,
  2.22107450e-02, 8.69991364e-01,-1.98185162e-02, 2.24871548e-02,
  1.25240303e+00,-1.01324126e-02, 9.03180888e-01, 6.18134373e-02,
 -3.63801609e-02,-5.94706385e-02, 8.12876456e-02, 6.49515128e-01,
 -4.26525412e-02,-6.96696507e-01,-3.01537454e-01]

qacc:
[ 1.20321591e-01,-8.59639874e-02,-3.41355479e+00, 1.01460258e+01,
 -4.05823203e-01,-6.54137041e+00, 1.44806843e+01,-3.69617904e+01,
  5.70952459e-02,-4.56928486e+00, 1.13556628e+01,-4.69200171e+00,
 -1.26923972e-01,-3.02966516e-01, 7.64665257e+00,-2.61263092e+01,
  4.56667017e+00, 3.59513706e+00,-1.18684830e+00, 2.77710355e+02,
 -2.12033504e+02, 4.45083371e+01]

qfrc_actuator:
[ 0.00144159, 0.03121479, 0.00833203, 0.00163432, 0.00192051, 0.04770458,
  0.01541248, 0.00529335,-0.00232531, 0.03063606, 0.0084555 , 0.00149081,
  0.01130089,-0.00164574, 0.        ,-0.00291021, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63460647,  2.00534073, -8.39851401,  2.00534073,  0.72189505,
       -1.88934405, -8.39851401, -1.88934405,  8.1834816 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009901682786810917
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.12124681e-13,  5.60623405e-14,  1.00000000e+00, -6.28597205e-27,
        1.00000000e+00, -5.60623405e-14, -1.00000000e+00,  0.00000000e+00,
        1.12124681e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00536967, -0.0995122 ,  0.06191802])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.21017313e-05,-1.72251778e-04,-6.02149810e-05, 5.81836883e-06,
 -7.12605898e-05,-1.27205816e-03,-4.99447071e-04,-1.74865435e-04,
  1.02553534e-05,-1.72323794e-04, 2.67687875e-05, 1.49970675e-05,
 -8.99857309e-05,-5.01895059e-05,-7.22408247e-07,-1.26848899e-04,
 -3.75394862e-02,-1.96994856e-02,-7.83924974e+00, 5.92113345e-02,
 -1.47497827e-01,-4.12409591e-03]


--- Step 1119 ---
qpos:
[ 3.70342092e-04, 8.73708375e-01,-1.99242125e-02,-2.75277869e-02,
  5.80092422e-03, 8.45177696e-01,-3.44247003e-02, 5.97934869e-03,
  2.22120193e-02, 8.70055301e-01,-1.98240893e-02, 2.24848475e-02,
  1.25271023e+00,-1.01333368e-02, 9.03446666e-01, 6.18163622e-02,
 -3.68863450e-02,-5.96714006e-02, 8.10857515e-02, 6.47821289e-01,
 -4.10507430e-02,-6.98425012e-01,-3.01404903e-01]

qacc:
[ 1.92458053e-01,-3.74126323e+00, 1.12095960e+01,-1.44068383e+01,
 -3.33845411e-01,-5.70787056e+00, 1.16198803e+01,-3.14883841e+01,
 -7.83137057e-02, 1.64612388e+00,-1.42423545e+01, 3.95787751e+01,
 -5.21618773e-01, 8.69862187e-01,-1.26237378e+01, 4.27371713e+01,
  3.79070868e+00, 2.98356612e+00,-2.49561228e+00, 2.34067894e+02,
 -1.79067366e+02, 3.91465906e+01]

qfrc_actuator:
[ 0.00146646, 0.03113483, 0.00835479, 0.00162397, 0.00189508, 0.04732496,
  0.01526449, 0.00520665,-0.00234492, 0.0305646 , 0.00844151, 0.00155928,
  0.01128713,-0.00162045, 0.        ,-0.00270017, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.84571267, -8.43683125,  1.84571267,  0.63626869,
       -1.75016854, -8.43683125, -1.75016854,  8.25348194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010298904009578003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.39000569e-14, -2.69500285e-14,  1.00000000e+00,  1.45260807e-27,
        1.00000000e+00,  2.69500285e-14, -1.00000000e+00,  0.00000000e+00,
        5.39000569e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00485065, -0.09955608,  0.06191392])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.52967752e-05,-1.90151214e-04,-2.05514735e-05,-1.97972252e-05,
 -5.87183489e-05,-1.21344909e-03,-4.83110161e-04,-1.62914177e-04,
 -1.45706940e-05,-1.63138298e-04,-4.62175936e-05, 6.22158325e-05,
 -7.94546060e-05,-4.26016483e-06,-2.02690273e-05, 2.01527283e-04,
 -7.33183529e-02,-1.64163159e-02,-7.82786373e+00, 6.02018546e-02,
 -1.46596436e-01,-4.22698650e-03]


--- Step 1120 ---
qpos:
[ 3.51497800e-04, 8.73781077e-01,-1.99300614e-02,-2.75275459e-02,
  5.83873329e-03, 8.45593702e-01,-3.42850374e-02, 6.05186002e-03,
  2.22129112e-02, 8.70117962e-01,-1.98297250e-02, 2.24823303e-02,
  1.25301690e+00,-1.01337616e-02, 9.03712268e-01, 6.18217255e-02,
 -3.73800030e-02,-5.98622326e-02, 8.08695756e-02, 6.45945795e-01,
 -3.93330513e-02,-7.00460687e-01,-3.00934821e-01]

qacc:
[ 1.16976684e-01,-4.57402758e+00, 1.34070501e+01,-1.53246398e+01,
 -3.27170163e-01,-6.14012380e+00, 8.92286209e+00,-1.45484649e+01,
 -1.98821178e-01,-1.94325043e+00, 5.36708213e+00,-7.95970783e+00,
 -7.14406832e-01, 1.40795962e+00,-7.57980764e+00, 2.62368456e+01,
  3.13156175e+00, 2.48252313e+00,-3.57044921e+00, 1.97972517e+02,
 -1.52395036e+02, 3.51774769e+01]

qfrc_actuator:
[ 0.00147104, 0.03104026, 0.00838856, 0.00161774, 0.00186483, 0.04689688,
  0.01513852, 0.00516183,-0.00237485, 0.03049693, 0.00843546, 0.00154718,
  0.0112785 ,-0.00158732, 0.        ,-0.00257763, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.64663096, -8.47793509,  1.64663096,  0.54147182,
       -1.5722342 , -8.47793509, -1.5722342 ,  8.3309957 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010171709561796888
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.45740624e-14, -8.18610936e-14,  1.00000000e+00,  4.46749243e-27,
        1.00000000e+00,  8.18610936e-14, -1.00000000e+00,  0.00000000e+00,
        5.45740624e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.0045114 , -0.09967871,  0.06191387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13322811e-05,-2.07649592e-04,-9.23294269e-06,-1.55660432e-05,
 -5.77124005e-05,-1.22501028e-03,-4.46463189e-04,-1.17687009e-04,
 -3.68179425e-05,-1.67237695e-04,-4.37375376e-05,-1.95527186e-05,
 -5.73380928e-05, 1.47267679e-05, 9.87044810e-06, 1.30418786e-04,
 -1.13643977e-01,-6.49595659e-03,-7.81893285e+00, 6.10353384e-02,
 -1.45912713e-01,-4.34030599e-03]


--- Step 1121 ---
qpos:
[ 3.32679601e-04, 8.73851979e-01,-1.99357058e-02,-2.75270001e-02,
  5.87590624e-03, 8.46000295e-01,-3.41474963e-02, 6.12293768e-03,
  2.22132481e-02, 8.70178787e-01,-1.98348486e-02, 2.24793738e-02,
  1.25332319e+00,-1.01340750e-02, 9.03978398e-01, 6.18241618e-02,
 -3.78633601e-02,-6.00447799e-02, 8.06355958e-02, 6.43911871e-01,
 -3.75216873e-02,-7.02755643e-01,-3.00173501e-01]

qacc:
[ 1.43567411e-02,-2.32187615e+00, 3.54453073e+00, 2.71619274e+00,
 -3.38867865e-01,-9.45026232e+00, 2.17046597e+01,-3.62146636e+01,
 -2.88023815e-01,-4.75789195e+00, 1.53012619e+01,-2.23728325e+01,
 -5.25481231e-01, 8.41959938e-01, 9.64390387e+00,-3.25482671e+01,
  2.57518801e+00, 2.07117101e+00,-4.45096110e+00, 1.68152546e+02,
 -1.30861150e+02, 3.23174848e+01]

qfrc_actuator:
[ 0.00146344, 0.03093775, 0.00839299, 0.00163174, 0.00183192, 0.04640793,
  0.01502644, 0.00508876,-0.00241069, 0.03037877, 0.00845187, 0.00152331,
  0.01125699,-0.00158533, 0.        ,-0.0027385 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.61407602,  1.40261105, -8.49911689,  1.40261105,  0.44195634,
       -1.34864663, -8.49911689, -1.34864663,  8.39150858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009649453076348152
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.75277695e-14,  5.75277695e-14,  1.00000000e+00, -3.30944426e-27,
        1.00000000e+00, -5.75277695e-14, -1.00000000e+00,  0.00000000e+00,
        5.75277695e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00431491, -0.09986019,  0.06191696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45709700e-06,-2.22817738e-04,-4.06416337e-05, 4.38125552e-06,
 -5.99159198e-05,-1.28259202e-03,-4.28782899e-04,-1.44276432e-04,
 -5.34052747e-05,-2.22982339e-04,-2.46319237e-05,-3.30147386e-05,
 -5.25097603e-05,-7.79070065e-06, 1.39386431e-05,-1.53527847e-04,
 -1.55135159e-01, 7.03345334e-03,-7.81224484e+00, 6.17474853e-02,
 -1.45392348e-01,-4.45598998e-03]


--- Step 1122 ---
qpos:
[ 3.14272464e-04, 8.73921264e-01,-1.99413165e-02,-2.75263044e-02,
  5.91222860e-03, 8.46397953e-01,-3.40131388e-02, 6.19223491e-03,
  2.22130987e-02, 8.70237369e-01,-1.98398202e-02, 2.24769222e-02,
  1.25362914e+00,-1.01348410e-02, 9.04244324e-01, 6.18266858e-02,
 -3.83382878e-02,-6.02203959e-02, 8.03809334e-02, 6.41738074e-01,
 -3.56357246e-02,-7.05270531e-01,-2.99158515e-01]

qacc:
[   0.21477374,  -1.92050371,   3.11788542,   0.60569991,  -0.45449469,
   -6.56837609,  13.80956222, -32.96985973,  -0.25243195,  -2.34978086,
    1.94541691,   8.19929679,   0.15858338,  -0.77269423,  -0.5840304 ,
    1.56626449,   2.10737304,   1.73283716,  -5.17067349, 143.53533677,
 -113.52028079,  30.33718324]

qfrc_actuator:
[ 0.00150189, 0.03086672, 0.00839778, 0.00163973, 0.00177994, 0.04597533,
  0.01486994, 0.00499959,-0.00243199, 0.03023139, 0.00844571, 0.00154594,
  0.01122242,-0.00161958, 0.        ,-0.00272772, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.39698057,  1.09266208, -8.3255854 ,  1.09266208,  0.34223269,
       -1.05711696, -8.3255854 , -1.05711696,  8.25824298,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008837152823919989
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.28156515e-14,  9.42234773e-14,  1.00000000e+00, -5.91870912e-27,
        1.00000000e+00, -9.42234773e-14, -1.00000000e+00,  0.00000000e+00,
        6.28156515e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([ 0.00423219, -0.10008514,  0.06192248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94629033e-05,-2.05417399e-04,-4.65750883e-05,-2.96206912e-06,
 -8.00400849e-05,-1.25568018e-03,-4.83733407e-04,-1.62721693e-04,
 -4.68445442e-05,-2.79971401e-04,-5.68230052e-05, 1.14995293e-05,
 -6.80824465e-05,-4.71535425e-05,-1.73254670e-05, 2.45521000e-06,
 -1.95841793e-01, 2.22851019e-02,-7.80759715e+00, 6.23625318e-02,
 -1.44996445e-01,-4.56932188e-03]


--- Step 1123 ---
qpos:
[ 2.96375058e-04, 8.73989182e-01,-1.99469418e-02,-2.75258945e-02,
  5.94767246e-03, 8.46787704e-01,-3.38825709e-02, 6.25946982e-03,
  2.22127721e-02, 8.70294095e-01,-1.98447632e-02, 2.24760995e-02,
  1.25393451e+00,-1.01358651e-02, 9.04509908e-01, 6.18309574e-02,
 -3.87539272e-02,-6.04139912e-02, 8.00928499e-02, 6.40721558e-01,
 -3.47446255e-02,-7.06501631e-01,-2.98536668e-01]

qacc:
[ 2.66035104e-01,-2.35396586e+00, 6.97702752e+00,-1.08942318e+01,
 -4.70034845e-01,-4.10520103e+00, 8.18036415e+00,-3.20002625e+01,
 -9.14668944e-02, 8.20004674e-01,-1.33617253e+01, 4.28784972e+01,
 -1.32755541e-01,-2.29267874e-01,-5.77934957e+00, 1.94899038e+01,
  1.48220741e+01,-4.49483223e+00,-8.35525757e+00,-6.29266538e+02,
  6.78222871e+02, 4.20658975e+02]

qfrc_actuator:
[ 0.00153208, 0.03081511, 0.00840288, 0.0016264 , 0.00173473, 0.04565083,
  0.01470646, 0.00490169,-0.00242667, 0.03017413, 0.00846166, 0.0016312 ,
  0.01117471,-0.00163955, 0.        ,-0.00263355, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.61731092, -8.61427328,  0.61731092,  0.93539619,
       -0.55186214, -8.61427328, -0.55186214,  8.59681642,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013651657411076351
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.06625727e-14, -2.03312864e-14,  1.00000000e+00,  8.26722410e-28,
        1.00000000e+00,  2.03312864e-14, -1.00000000e+00,  0.00000000e+00,
        4.06625727e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10928881, -0.03934537,  0.06188069])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.89558389e-05,-1.77764884e-04,-4.36474330e-05,-2.38827277e-05,
 -8.26596023e-05,-1.14441896e-03,-4.92468622e-04,-1.72543711e-04,
 -1.70817374e-05,-2.26406200e-04,-4.88891782e-05, 7.14495392e-05,
 -9.95108173e-05,-4.40276189e-05,-1.18464864e-05, 9.10968357e-05,
 -2.34724815e-01, 3.81227836e-02,-7.80479442e+00, 6.28969348e-02,
 -1.44696850e-01,-4.67772432e-03]


--- Step 1124 ---
qpos:
[ 2.78980433e-04, 8.74055858e-01,-1.99523018e-02,-2.75253401e-02,
  5.98227230e-03, 8.47169418e-01,-3.37546188e-02, 6.32492314e-03,
  2.22123974e-02, 8.70349037e-01,-1.98492482e-02, 2.24762635e-02,
  1.25423907e+00,-1.01362889e-02, 9.04776042e-01, 6.18309351e-02,
 -3.91168816e-02,-6.06228313e-02, 7.97725419e-02, 6.40681514e-01,
 -3.46950913e-02,-7.06671067e-01,-2.98227182e-01]

qacc:
[ 2.62549796e-01,-2.08578865e+00, 4.44447391e+00,-1.45707097e+00,
 -4.50557610e-01,-6.97108931e+00, 1.69706602e+01,-3.77200183e+01,
 -2.41521727e-02,-1.60864818e+00,-1.85404807e+00, 1.95116713e+01,
 -1.31314391e+00, 2.42181608e+00, 1.38465268e+01,-4.71068514e+01,
  1.31712430e+01,-3.81121555e+00,-8.05613561e+00,-5.21455187e+02,
  5.64862763e+02, 3.61415809e+02]

qfrc_actuator:
[ 0.00155705, 0.03077555, 0.00842595, 0.00163617, 0.00169396, 0.04528722,
  0.01459392, 0.00481729,-0.00242324, 0.03010045, 0.00849095, 0.00168171,
  0.0111511 ,-0.00159771, 0.        ,-0.00286385, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.56259387, -8.61801978,  0.56259387,  0.85132614,
       -0.50821587, -8.61801978, -0.50821587,  8.60318674,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019251240627132168
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.88351033e-14,  1.44175517e-14,  1.00000000e+00, -4.15731591e-28,
        1.00000000e+00, -1.44175517e-14, -1.00000000e+00,  0.00000000e+00,
        2.88351033e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10834178, -0.03995438,  0.06183324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.82955438e-05,-1.50510494e-04,-2.03171049e-05, 8.70304685e-08,
 -7.94537099e-05,-1.12330584e-03,-4.19862314e-04,-1.54744065e-04,
 -4.68502206e-06,-2.08627488e-04,-2.14303273e-05, 4.04320161e-05,
 -9.34186114e-05, 1.11893839e-05, 4.67059562e-07,-2.27730509e-04,
 -5.65793188e-02, 1.28530666e-02,-7.83866299e+00, 6.07544749e-02,
 -1.47122736e-01,-4.32433643e-03]


--- Step 1125 ---
qpos:
[ 2.62235298e-04, 8.74121478e-01,-1.99571538e-02,-2.75250624e-02,
  6.01588669e-03, 8.47543400e-01,-3.36298658e-02, 6.38918311e-03,
  2.22118392e-02, 8.70402532e-01,-1.98537166e-02, 2.24763259e-02,
  1.25454304e+00,-1.01360412e-02, 9.05042282e-01, 6.18271595e-02,
 -3.94341910e-02,-6.08445111e-02, 7.94199111e-02, 6.41468762e-01,
 -3.53595860e-02,-7.05951340e-01,-2.98161421e-01]

qacc:
[ 3.39032666e-01,-3.38338529e+00, 1.12049399e+01,-1.60243973e+01,
 -5.26474161e-01,-3.73327584e+00, 3.52437697e+00,-1.33786019e+01,
 -9.49882780e-02,-2.16474472e+00, 5.37598492e+00,-6.09640502e+00,
 -1.19692943e+00, 2.35405306e+00, 1.15558954e+01,-4.00529607e+01,
  1.14112485e+01,-3.20989799e+00,-8.08069180e+00,-4.33084649e+02,
  4.74903539e+02, 3.13001691e+02]

qfrc_actuator:
[ 0.00159644, 0.03074364, 0.00845952, 0.00162397, 0.00163841, 0.04492119,
  0.01444128, 0.00475929,-0.00243876, 0.03003533, 0.00849229, 0.00167585,
  0.01114199,-0.00155505, 0.        ,-0.0030527 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.51283806, -8.62112371,  0.51283806,  0.75198226,
       -0.46901205, -8.62112371, -0.46901205,  8.60846388,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002276619597332573
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.87662948e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.87662948e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10786117, -0.04039209,  0.06180298])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.24076785e-05,-1.21747736e-04,-4.68970241e-07,-1.94384764e-05,
 -9.27500129e-05,-1.09793886e-03,-4.45948495e-04,-1.24560163e-04,
 -1.76807204e-05,-1.85736061e-04,-4.33873171e-05,-1.48260963e-05,
 -6.30882006e-05, 2.42767334e-05,-3.18087493e-05,-2.03019957e-04,
 -1.23923015e-03, 1.30085702e-03,-7.84849627e+00, 6.01405264e-02,
 -1.47827327e-01,-4.20692857e-03]


--- Step 1126 ---
qpos:
[ 2.45927250e-04, 8.74185903e-01,-1.99617408e-02,-2.75255906e-02,
  6.04836031e-03, 8.47910044e-01,-3.35085574e-02, 6.45288699e-03,
  2.22112854e-02, 8.70454851e-01,-1.98591634e-02, 2.24773872e-02,
  1.25484649e+00,-1.01355232e-02, 9.05307668e-01, 6.18264633e-02,
 -3.97128132e-02,-6.10769134e-02, 7.90341570e-02, 6.42957958e-01,
 -3.66299933e-02,-7.04479388e-01,-2.98281914e-01]

qacc:
[ 2.28237711e-01,-3.98068492e+00, 1.52942914e+01,-2.87727835e+01,
 -6.09593411e-01,-1.21927864e+00,-7.37818923e+00, 8.66158217e+00,
  2.07963738e-03, 3.23185216e+00,-1.80008663e+01, 3.77219809e+01,
 -4.52969380e-01, 7.76518040e-01,-1.05328481e+01, 3.50759595e+01,
  9.67179305e+00,-2.68064975e+00,-8.28083253e+00,-3.59812623e+02,
  4.01998928e+02, 2.72081147e+02]

qfrc_actuator:
[ 0.00160863, 0.03066337, 0.00846356, 0.0015812 , 0.00157447, 0.04459212,
  0.01428396, 0.00473501,-0.00242998, 0.02997573, 0.00844161, 0.00172563,
  0.01110963,-0.0015477 , 0.        ,-0.00287821, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.46876079, -8.62363266,  0.46876079,  0.64908243,
       -0.43417019, -8.62363266, -0.43417019,  8.61276315,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002458199352646309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  3.3873057e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -3.3873057e-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([-0.10773875, -0.04069763,  0.06178605])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.19862053e-05,-1.50736682e-04,-2.23044583e-05,-4.84696163e-05,
 -1.07359347e-04,-1.05066681e-03,-4.47465603e-04,-9.00525056e-05,
  3.73258607e-07,-1.74290824e-04,-9.52801424e-05, 3.99586238e-05,
 -6.53623607e-05,-1.52444168e-06,-4.19070202e-05, 1.58016288e-04,
 -2.03492975e-02,-3.13325679e-03,-7.84400557e+00, 6.04323962e-02,
 -1.47478406e-01,-4.22863335e-03]


--- Step 1127 ---
qpos:
[ 2.30153457e-04, 8.74249013e-01,-1.99661926e-02,-2.75262584e-02,
  6.07995121e-03, 8.48268388e-01,-3.33895253e-02, 6.51582966e-03,
  2.22111609e-02, 8.70505744e-01,-1.98653420e-02, 2.24780146e-02,
  1.25514942e+00,-1.01350964e-02, 9.05573182e-01, 6.18244295e-02,
 -3.99593274e-02,-6.13181719e-02, 7.86141611e-02, 6.45042004e-01,
 -3.84130854e-02,-7.02366325e-01,-2.98541109e-01]

qacc:
[ 2.78833265e-01,-2.40281100e+00, 6.63316603e+00,-8.29660896e+00,
 -4.70299583e-01,-6.16949957e+00, 9.29783901e+00,-1.27341511e+01,
  2.23553920e-01,-7.31107137e-01, 1.70673157e+00,-6.99844354e+00,
 -3.66976393e-01, 3.47155797e-01, 4.24430425e+00,-1.45394192e+01,
  8.02702340e+00,-2.21402356e+00,-8.56045247e+00,-2.98395991e+02,
  3.41713245e+02, 2.36457979e+02]

qfrc_actuator:
[ 0.00163995, 0.03059016, 0.00846765, 0.00157398, 0.00154155, 0.04414591,
  0.01416087, 0.00469529,-0.00238899, 0.02988424, 0.00839621, 0.00170122,
  0.01106867,-0.00156142, 0.        ,-0.00295261, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.43095052, -8.62560482,  0.43095052,  0.55036407,
       -0.40399088, -8.62560482, -0.40399088,  8.61617954,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025018479871472543
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.21880592e-14, -4.43761184e-14,  1.00000000e+00,  9.84619942e-28,
        1.00000000e+00,  4.43761184e-14, -1.00000000e+00,  0.00000000e+00,
        2.21880592e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10790008, -0.04089821,  0.06177976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.13260272e-05,-1.65620184e-04,-3.19133773e-05,-1.54722826e-05,
 -8.31758329e-05,-1.14000377e-03,-4.02381995e-04,-1.02825027e-04,
  4.12529123e-05,-2.08111326e-04,-9.21133486e-05,-3.44726854e-05,
 -8.07746619e-05,-2.83190499e-05,-3.90229514e-06,-7.14900555e-05,
 -8.28500003e-02,-4.06702749e-03,-7.83063992e+00, 6.12292661e-02,
 -1.46512531e-01,-4.32793707e-03]


--- Step 1128 ---
qpos:
[ 2.15077060e-04, 8.74311021e-01,-1.99703834e-02,-2.75270458e-02,
  6.11098002e-03, 8.48617879e-01,-3.32726203e-02, 6.57716128e-03,
  2.22113126e-02, 8.70554617e-01,-1.98709252e-02, 2.24776379e-02,
  1.25545195e+00,-1.01351054e-02, 9.05838762e-01, 6.18205082e-02,
 -4.01949354e-02,-6.15147859e-02, 7.82341042e-02, 6.46627294e-01,
 -3.99632178e-02,-7.01109134e-01,-2.97862495e-01]

qacc:
[ 3.63801432e-01,-2.43051606e+00, 7.05808735e+00,-8.73403184e+00,
 -2.98571850e-01,-9.05942339e+00, 2.21363713e+01,-4.01194485e+01,
  1.44840946e-01,-6.39654175e+00, 2.31746886e+01,-4.00188018e+01,
 -1.29886853e-02,-4.93386288e-01, 5.78637760e+00,-2.01241821e+01,
  2.72653143e+00, 1.11611094e+01, 9.98476510e+00, 5.22655610e+02,
 -4.34431385e+02, 1.29762814e+02]

qfrc_actuator:
[ 0.00168249, 0.03055728, 0.00848956, 0.00157   , 0.00152745, 0.04366882,
  0.01404076, 0.00461124,-0.00238236, 0.02977434, 0.00842515, 0.00165108,
  0.01104387,-0.00158752, 0.        ,-0.00304889, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  5.0999261 , -6.96975829,  5.0999261 , 19.15243987,
        7.69484528, -6.96975829,  7.69484528, 14.26685191,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028962397053074115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.91666288e-14, -2.87499431e-14,  1.00000000e+00,  5.51039487e-28,
        1.00000000e+00,  2.87499431e-14, -1.00000000e+00,  0.00000000e+00,
        1.91666288e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00338809, -0.09684857,  0.06174607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.70202759e-05,-1.34149201e-04,-1.72052935e-05,-1.25602967e-05,
 -5.30927290e-05,-1.21184865e-03,-4.12638161e-04,-1.49661114e-04,
  2.65179067e-05,-2.47926593e-04,-2.69414599e-05,-6.29880953e-05,
 -7.99380421e-05,-4.94183497e-05,-1.51309926e-05,-1.02009213e-04,
 -1.68473201e-01,-3.40095538e-03,-7.81163885e+00, 6.22644705e-02,
 -1.45221073e-01,-4.46520848e-03]


--- Step 1129 ---
qpos:
[ 2.00657816e-04, 8.74372065e-01,-1.99746594e-02,-2.75275252e-02,
  6.14190548e-03, 8.48958939e-01,-3.31579844e-02, 6.63660332e-03,
  2.22118214e-02, 8.70601854e-01,-1.98754933e-02, 2.24772731e-02,
  1.25575398e+00,-1.01354145e-02, 9.06103977e-01, 6.18174476e-02,
 -4.04232999e-02,-6.16733038e-02, 7.78838999e-02, 6.47788861e-01,
 -4.13692128e-02,-7.00587340e-01,-2.96370645e-01]

qacc:
[ 3.42579765e-01,-4.02413287e-01,-1.71129282e+00, 7.87823292e+00,
 -5.37093611e-02,-8.68075791e+00, 2.27679691e+01,-4.56530369e+01,
  1.87089369e-01,-4.97223244e+00, 1.45416307e+01,-1.47542274e+01,
 -5.31255739e-02,-3.52479660e-01,-3.14119666e+00, 1.01987935e+01,
  1.81088439e+00, 9.52401385e+00, 7.46313487e+00, 4.32742435e+02,
 -3.81085515e+02, 1.34602094e+02]

qfrc_actuator:
[ 0.00171362, 0.03051341, 0.00848647, 0.00158576, 0.00154242, 0.04328358,
  0.01394097, 0.00451948,-0.00236085, 0.02974332, 0.00849764, 0.00165725,
  0.01101812,-0.00160291, 0.        ,-0.00299744, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.20982925,  6.88799361, -5.20982925,  6.33184414,
       -1.7430552 ,  6.88799361, -1.7430552 ,  7.31797972,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003403491192143268
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.63100617e-14, -8.15503083e-15,  1.00000000e+00,  1.33009056e-28,
        1.00000000e+00,  8.15503083e-15, -1.00000000e+00,  0.00000000e+00,
        1.63100617e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00503395, -0.09602452,  0.06170414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.31563196e-05,-1.24357277e-04,-3.37842121e-05, 9.08410995e-06,
 -9.97766118e-06,-1.16404486e-03,-4.09958678e-04,-1.61682285e-04,
  3.43072854e-05,-1.79027584e-04, 1.54503848e-05,-6.67422887e-06,
 -8.52753911e-05,-4.25696943e-05,-2.31576897e-05, 4.26989060e-05,
 -6.74871499e-02,-2.76928573e-02,-7.83305382e+00, 6.07760018e-02,
 -1.46786661e-01,-4.21860045e-03]


--- Step 1130 ---
qpos:
[ 1.86064369e-04, 8.74431976e-01,-1.99792120e-02,-2.75267427e-02,
  6.17293602e-03, 8.49292426e-01,-3.30459733e-02, 6.69472546e-03,
  2.22128168e-02, 8.70648315e-01,-1.98797518e-02, 2.24755385e-02,
  1.25605528e+00,-1.01355490e-02, 9.06368856e-01, 6.18163192e-02,
 -4.06471369e-02,-6.17994370e-02, 7.75546152e-02, 6.48585915e-01,
 -4.26981509e-02,-7.00696940e-01,-2.94171680e-01]

qacc:
[-9.04573071e-02, 1.87718937e+00,-1.41759947e+01, 3.72596342e+01,
  5.70861067e-02,-5.38708895e+00, 1.02588092e+01,-2.33395150e+01,
  2.53683166e-01,-4.70685678e+00, 2.10809949e+01,-4.47150252e+01,
 -6.09514223e-01, 8.74776763e-01,-6.29779231e+00, 2.13838629e+01,
  1.13186811e+00, 8.09619317e+00, 5.22989071e+00, 3.58680552e+02,
 -3.35399776e+02, 1.34963211e+02]

qfrc_actuator:
[ 0.00166667, 0.0304455 , 0.00846863, 0.00164847, 0.00155684, 0.04297433,
  0.0138366 , 0.00445954,-0.00233061, 0.02974231, 0.0085246 , 0.00159008,
  0.01097584,-0.00159409, 0.        ,-0.00289485, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.34365751,  6.78469611, -5.34365751,  6.33316748,
       -1.81400777,  6.78469611, -1.81400777,  7.20764287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0037508517783117826
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.47996121e-14, -1.47996121e-14,  1.00000000e+00,  2.19028517e-28,
        1.00000000e+00,  1.47996121e-14, -1.00000000e+00,  0.00000000e+00,
        1.47996121e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00622893, -0.09545574,  0.06167429])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.67842244e-05,-1.45401783e-04,-4.78041378e-05, 5.63160831e-05,
  9.64157623e-06,-1.06105241e-03,-4.04655994e-04,-1.27945881e-04,
  4.67847446e-05,-9.92977411e-05,-8.67448933e-06,-7.44983935e-05,
 -1.03322673e-04,-1.82938908e-05,-9.64788403e-06, 1.01128891e-04,
 -1.86744446e-02,-1.91619017e-02,-7.85294452e+00, 5.90071992e-02,
 -1.48557764e-01,-4.08802693e-03]


--- Step 1131 ---
qpos:
[ 1.70416424e-04, 8.74490539e-01,-1.99838190e-02,-2.75255490e-02,
  6.20340889e-03, 8.49619085e-01,-3.29369218e-02, 6.75227670e-03,
  2.22138593e-02, 8.70693352e-01,-1.98833998e-02, 2.24730739e-02,
  1.25635584e+00,-1.01355607e-02, 9.06633461e-01, 6.18177384e-02,
 -4.08684037e-02,-6.18981638e-02, 7.72383278e-02, 6.49065666e-01,
 -4.40001574e-02,-7.01347852e-01,-2.91357063e-01]

qacc:
[-5.48745540e-01,-7.80963270e-01,-1.52829214e+00, 9.70820433e+00,
 -2.97111677e-01,-1.92809103e+00,-3.80713953e+00, 3.68089083e+00,
  2.53658493e-02,-5.08674687e+00, 1.84906489e+01,-3.10531296e+01,
 -5.26396476e-01, 6.97102862e-01,-8.06690082e+00, 2.76991872e+01,
  6.42552651e-01, 6.85159011e+00, 3.24935633e+00, 2.97272083e+02,
 -2.95892962e+02, 1.31989539e+02]

qfrc_actuator:
[ 0.00157343, 0.03036372, 0.00845991, 0.00166728, 0.00149977, 0.04269544,
  0.01371299, 0.00443662,-0.00234867, 0.02963481, 0.00854229, 0.00155129,
  0.01093967,-0.00158885, 0.        ,-0.002763  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.5188795 ,  6.64294708, -5.5188795 ,  6.39667417,
       -1.86070672,  6.64294708, -1.86070672,  7.09051116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0039641452573056235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.40033091e-14, -2.10049636e-14,  1.00000000e+00,  2.94138997e-28,
        1.00000000e+00,  2.10049636e-14, -1.00000000e+00,  0.00000000e+00,
        1.40033091e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00707268, -0.09508741,  0.0616539 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.01437068e-04,-1.71896902e-04,-4.31073598e-05, 1.19423846e-05,
 -5.26726568e-05,-9.70353544e-04,-4.00713266e-04,-8.56505522e-05,
  4.49565275e-06,-1.69056671e-04,-6.78629560e-06,-4.48506279e-05,
 -1.02375223e-04,-2.13315230e-05, 2.42473242e-06, 1.35250266e-04,
 -2.74985938e-03, 1.08554566e-02,-7.87136784e+00, 5.69912424e-02,
 -1.50474124e-01,-4.02942524e-03]


--- Step 1132 ---
qpos:
[ 1.54674034e-04, 8.74547847e-01,-1.99881936e-02,-2.75252082e-02,
  6.23275353e-03, 8.49939074e-01,-3.28301744e-02, 6.80902249e-03,
  2.22146235e-02, 8.70737556e-01,-1.98870289e-02, 2.24701277e-02,
  1.25665580e+00,-1.01357937e-02, 9.06897976e-01, 6.18210476e-02,
 -4.10884575e-02,-6.19738239e-02, 7.69280152e-02, 6.49266129e-01,
 -4.53122244e-02,-7.02461855e-01,-2.88006317e-01]

qacc:
[-4.86487560e-02,-4.06508678e+00, 1.56775825e+01,-2.98694636e+01,
 -6.01054543e-01,-4.03102514e+00, 4.98495799e+00,-1.03386545e+01,
 -1.44602422e-01,-2.14308845e+00, 8.07908711e+00,-1.58319835e+01,
 -1.73474822e-01,-1.32875764e-01,-5.83663623e+00, 2.02344766e+01,
  3.03254797e-01, 5.76667244e+00, 1.49368191e+00, 2.46060459e+02,
 -2.61488526e+02, 1.26646222e+02]

qfrc_actuator:
[ 0.00161314, 0.03030978, 0.00847431, 0.00162458, 0.00141816, 0.04240153,
  0.01361474, 0.0044002 ,-0.00237769, 0.02962417, 0.008554  , 0.00152945,
  0.01090719,-0.00160352, 0.        ,-0.00266823, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.74180865,  6.45123324, -5.74180865,  6.49581953,
       -1.90515429,  6.45123324, -1.90515429,  6.94071399,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004065613627792175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.0480728e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.0480728e-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([-0.00763734, -0.09487951,  0.06164107])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.11690262e-06,-1.59767102e-04,-2.64077168e-05,-5.13951324e-05,
 -1.06359719e-04,-9.31837217e-04,-3.54601394e-04,-9.42993839e-05,
 -2.68000207e-05,-1.09532551e-04,-2.59133624e-05,-3.02568881e-05,
 -9.86674291e-05,-4.17030039e-05, 1.13272896e-05, 1.01506949e-04,
 -7.11506792e-03, 5.41811296e-02,-7.88853173e+00, 5.47713785e-02,
 -1.52471351e-01,-4.01313093e-03]


--- Step 1133 ---
qpos:
[ 1.39568154e-04, 8.74603828e-01,-1.99923097e-02,-2.75260664e-02,
  6.26093232e-03, 8.50252737e-01,-3.27256901e-02, 6.86448142e-03,
  2.22154414e-02, 8.70781697e-01,-1.98917701e-02, 2.24676107e-02,
  1.25695515e+00,-1.01362037e-02, 9.07163030e-01, 6.18211167e-02,
 -4.13081866e-02,-6.20302015e-02, 7.66174641e-02, 6.49218198e-01,
 -4.66612453e-02,-7.03970934e-01,-2.84188992e-01]

qacc:
[ 3.32031511e-01,-4.94725469e+00, 2.01408745e+01,-4.03039254e+01,
 -6.21058187e-01,-4.68091918e+00, 9.99515370e+00,-2.40008383e+01,
  2.72820941e-02, 3.90422630e+00,-1.58566110e+01, 2.51096245e+01,
 -4.62597079e-01, 4.05653341e-01, 1.05960187e+01,-3.58764560e+01,
  8.11676549e-02, 4.82063583e+00,-5.96243796e-02, 2.03146304e+02,
 -2.31391410e+02, 1.19727608e+02]

qfrc_actuator:
[ 0.00167882, 0.0302375 , 0.00848455, 0.00156383, 0.00135814, 0.04211895,
  0.01351447, 0.00433837,-0.00235975, 0.02965385, 0.00850921, 0.00155331,
  0.01087693,-0.00161211, 0.        ,-0.00284461, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.016659  ,  6.19569135, -6.016659  ,  6.61651065,
       -1.96148677,  6.19569135, -1.96148677,  6.73155651,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040745409815911085
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36239030e-14,  6.81195152e-15,  1.00000000e+00, -9.28053669e-29,
        1.00000000e+00, -6.81195152e-15, -1.00000000e+00,  0.00000000e+00,
        1.36239030e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.00797655, -0.09480192,  0.06163436])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.11740801e-05,-1.70555707e-04,-2.81779517e-05,-6.95809836e-05,
 -1.09923878e-04,-8.89650615e-04,-3.43203400e-04,-1.16601854e-04,
  5.15434611e-06,-3.92222861e-05,-7.19641511e-05, 1.76300732e-05,
 -9.87981541e-05,-3.87548166e-05, 1.11305096e-05,-1.70515573e-04,
 -2.35148398e-02, 1.04940644e-01,-7.90466067e+00, 5.23931239e-02,
 -1.54490042e-01,-4.01921562e-03]


--- Step 1134 ---
qpos:
[ 1.25050726e-04, 8.74658459e-01,-1.99968462e-02,-2.75272517e-02,
  6.28844764e-03, 8.50560012e-01,-3.26238572e-02, 6.91878811e-03,
  2.22163941e-02, 8.70825846e-01,-1.98980561e-02, 2.24664542e-02,
  1.25725380e+00,-1.01364430e-02, 9.07428116e-01, 6.18190942e-02,
 -4.14742368e-02,-6.20982029e-02, 7.62801512e-02, 6.50049402e-01,
 -4.88457796e-02,-7.04417814e-01,-2.80794245e-01]

qacc:
[ 3.06617172e-01,-1.28206365e+00, 3.36285153e+00,-7.35632048e+00,
 -3.53207621e-01,-3.40423303e+00, 4.75247551e+00,-1.57584119e+01,
  6.93083606e-02, 7.12393467e+00,-3.11317763e+01, 5.71446585e+01,
 -7.58582131e-01, 1.15377845e+00, 6.39999823e+00,-2.22384283e+01,
  1.34197233e+01,-2.90594281e+00,-6.69045948e+00,-5.50379678e+02,
  5.45380276e+02, 3.06618561e+02]

qfrc_actuator:
[ 0.00170614, 0.03015478, 0.00845669, 0.0015462 , 0.00134705, 0.04179222,
  0.01337837, 0.00427987,-0.00234934, 0.02965405, 0.00843164, 0.00162164,
  0.01084804,-0.00159923, 0.        ,-0.00294852, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.41687488, -8.51934519,  1.41687488,  2.51760828,
       -1.01762642, -8.51934519, -1.01762642,  8.46711949,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00435874840419144
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.54711427e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.54711427e-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([-0.10503478, -0.04391064,  0.06160684])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.65507972e-05,-1.88129298e-04,-6.93580045e-05,-2.73411178e-05,
 -6.26637186e-05,-9.08627693e-04,-3.69619182e-04,-1.11500196e-04,
  1.29687489e-05,-3.68446159e-05,-9.42266171e-05, 6.44437510e-05,
 -9.71981638e-05,-1.65822546e-05,-2.06230202e-05,-1.13548640e-04,
 -4.65447891e-02, 1.58960457e-01,-7.91994682e+00, 4.98994216e-02,
 -1.56480117e-01,-4.03440449e-03]


--- Step 1135 ---
qpos:
[ 1.11041645e-04, 8.74712141e-01,-2.00019040e-02,-2.75286850e-02,
  6.31565776e-03, 8.50860180e-01,-3.25236947e-02, 6.97267244e-03,
  2.22172882e-02, 8.70869262e-01,-1.99044266e-02, 2.24661190e-02,
  1.25755172e+00,-1.01362609e-02, 9.07692853e-01, 6.18174836e-02,
 -4.15938022e-02,-6.21758752e-02, 7.59151705e-02, 6.51630513e-01,
 -5.17443440e-02,-7.03971730e-01,-2.77712081e-01]

qacc:
[ 2.64695140e-01,-3.08206014e-01, 3.25062368e-01,-3.08432392e+00,
 -1.61189965e-01,-5.58741187e+00, 8.08172492e+00,-7.49959580e+00,
 -3.02492161e-02, 9.54685622e-01,-8.28027090e+00, 2.31687340e+01,
 -8.73437751e-01, 1.53425338e+00,-1.71087589e+00, 5.34375582e+00,
  1.16212036e+01,-2.41774087e+00,-6.91693779e+00,-4.49228369e+02,
  4.61747656e+02, 2.76985976e+02]

qfrc_actuator:
[ 0.00172798, 0.03013736, 0.00844204, 0.00153629, 0.00134755, 0.04142385,
  0.01329307, 0.00425924,-0.0023613 , 0.029601  , 0.00842405, 0.00166228,
  0.01081998,-0.00157376, 0.        ,-0.00292004, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.3964603 , -8.52271526,  1.3964603 ,  2.42209659,
       -1.01821743, -8.52271526, -1.01821743,  8.46952711,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00469277152600385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.36581521e-14,  3.54872281e-14,  1.00000000e+00, -8.39562240e-28,
        1.00000000e+00, -3.54872281e-14, -1.00000000e+00,  0.00000000e+00,
        2.36581521e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10439482, -0.04438534,  0.06157607])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.88600442e-05,-1.39316261e-04,-6.33713311e-05,-2.09684336e-05,
 -2.89606112e-05,-9.65931332e-04,-3.25736698e-04,-7.52363790e-05,
 -5.65774708e-06,-9.13447772e-05,-2.48739266e-05, 3.70024416e-05,
 -9.05319909e-05, 7.86671097e-07,-2.69999279e-05, 1.83843340e-05,
  3.82935078e-03, 5.20603970e-02,-7.89241882e+00, 5.15080559e-02,
 -1.54158760e-01,-3.81645240e-03]


--- Step 1136 ---
qpos:
[ 9.72822400e-05, 8.74764847e-01,-2.00069009e-02,-2.75302654e-02,
  6.34223753e-03, 8.51153698e-01,-3.24255586e-02, 7.02584199e-03,
  2.22178928e-02, 8.70911019e-01,-1.99095293e-02, 2.24656073e-02,
  1.25784902e+00,-1.01355495e-02, 9.07957400e-01, 6.18161751e-02,
 -4.16739401e-02,-6.22615823e-02, 7.55210395e-02, 6.53851918e-01,
 -5.52529703e-02,-7.02766259e-01,-2.74853351e-01]

qacc:
[ 1.30369586e-01,-1.76327308e+00, 5.03438076e+00,-6.95728578e+00,
 -3.34806718e-01,-4.59215402e+00, 6.64281045e+00,-1.08871076e+01,
 -1.49346833e-01,-6.09298242e+00, 1.92922073e+01,-2.31518033e+01,
 -9.04194152e-01, 1.71346069e+00,-1.14106486e+00, 3.69969505e+00,
  9.85686220e+00,-2.00870434e+00,-7.28757982e+00,-3.66294151e+02,
  3.93866277e+02, 2.50494179e+02]

qfrc_actuator:
[ 0.00172864, 0.03010601, 0.00845333, 0.00153107, 0.00130164, 0.04112253,
  0.01320283, 0.00422556,-0.00238656, 0.02948123, 0.00847535, 0.0016508 ,
  0.01080312,-0.00154105, 0.        ,-0.00290256, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.37633459, -8.5259885 ,  1.37633459,  2.23186935,
       -1.03386569, -8.5259885 , -1.03386569,  8.46946861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004856582840384101
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  2.28601686e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -2.28601686e-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([-0.10407342, -0.04472539,  0.06155761])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39857096e-05,-1.24424781e-04,-2.63719221e-05,-1.38591570e-05,
 -5.95845607e-05,-9.20114000e-04,-3.35778801e-04,-8.85007265e-05,
 -2.78999225e-05,-1.75372458e-04, 3.03629794e-05,-1.55875613e-05,
 -7.12868725e-05, 1.28609609e-05,-1.42620779e-05, 1.41536879e-05,
 -1.78248222e-02,-2.75852372e-02,-7.85672363e+00, 5.33398743e-02,
 -1.51529211e-01,-3.74438451e-03]


--- Step 1137 ---
qpos:
[ 8.37014096e-05, 8.74816296e-01,-2.00116466e-02,-2.75315297e-02,
  6.36793225e-03, 8.51441045e-01,-3.23298510e-02, 7.07814623e-03,
  2.22182009e-02, 8.70951511e-01,-1.99140437e-02, 2.24649584e-02,
  1.25814600e+00,-1.01350618e-02, 9.08221447e-01, 6.18180683e-02,
 -4.17212964e-02,-6.23539381e-02, 7.50960593e-02, 6.56618799e-01,
 -5.92808219e-02,-7.00909212e-01,-2.72146677e-01]

qacc:
[ 9.35785798e-02,-1.71076932e+00, 2.35881805e+00, 3.62609998e+00,
 -4.70815010e-01,-3.14988768e+00, 3.04992579e+00,-9.60526198e+00,
 -1.53510618e-01,-3.59723153e+00, 1.09793576e+01,-1.33632577e+01,
  1.16767662e-01,-5.14440763e-01,-1.04119681e+01, 3.53376293e+01,
  8.19542353e+00,-1.66217450e+00,-7.71229621e+00,-2.97654589e+02,
  3.37536132e+02, 2.25704111e+02]

qfrc_actuator:
[ 0.00173438, 0.0300312 , 0.00846207, 0.0015464 , 0.00124609, 0.04084608,
  0.01309289, 0.00418451,-0.00240178, 0.02942916, 0.00850741, 0.00164422,
  0.01078766,-0.00155753, 0.        ,-0.00273195, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.35999836, -8.52860958,  1.35999836,  1.9877655 ,
       -1.06020595, -8.52860958, -1.06020595,  8.46729993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004881810822395138
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.27420329e-14, -2.27420329e-14,  1.00000000e+00,  5.17200062e-28,
        1.00000000e+00,  2.27420329e-14, -1.00000000e+00,  0.00000000e+00,
        2.27420329e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10400355, -0.0449609 ,  0.06154894])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.71410134e-05,-1.51594040e-04,-2.10421538e-05, 8.76153715e-06,
 -8.35864845e-05,-8.72096495e-04,-3.47635209e-04,-9.44961903e-05,
 -2.85614057e-05,-1.45474033e-04,-1.24429184e-06,-1.33974235e-05,
 -5.55144544e-05,-2.96611527e-05,-9.47891643e-06, 1.68531119e-04,
 -8.11751401e-02,-8.95310669e-02,-7.81702197e+00, 5.52054455e-02,
 -1.48835273e-01,-3.75447859e-03]


--- Step 1138 ---
qpos:
[ 7.01118841e-05, 8.74866418e-01,-2.00159170e-02,-2.75326081e-02,
  6.39294338e-03, 8.51722063e-01,-3.22357009e-02, 7.12949699e-03,
  2.22188265e-02, 8.70991119e-01,-1.99180546e-02, 2.24648816e-02,
  1.25844267e+00,-1.01347745e-02, 9.08485460e-01, 6.18212860e-02,
 -4.17768688e-02,-6.24005157e-02, 7.47137581e-02, 6.58914481e-01,
 -6.34326631e-02,-6.99812825e-01,-2.68458590e-01]

qacc:
[-3.76968372e-03,-2.69832817e+00, 6.29438239e+00,-2.86866812e+00,
 -3.62778891e-01,-5.96706433e+00, 1.31705871e+01,-2.25349862e+01,
  1.65853918e-01,-1.39717000e+00, 8.71297631e-01, 8.87522892e+00,
 -1.97012278e-03,-2.88637846e-01,-4.05165210e+00, 1.40956426e+01,
 -2.05403138e+00, 1.14445764e+01, 1.06697589e+01, 3.92774918e+02,
 -4.60829599e+02, 2.78998788e+02]

qfrc_actuator:
[ 0.0017254 , 0.02996648, 0.00848682, 0.00155592, 0.00122076, 0.04055121,
  0.01302561, 0.00413948,-0.0023576 , 0.02941799, 0.00854585, 0.00167612,
  0.01077303,-0.00156748, 0.        ,-0.00266777, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  6.49006587, -5.69787871,  6.49006587, 20.38898226,
       13.38660806, -5.69787871, 13.38660806, 23.88413787,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005228981427101501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.32700680e-14, -2.12321088e-14,  1.00000000e+00,  2.81751527e-28,
        1.00000000e+00,  2.12321088e-14, -1.00000000e+00,  0.00000000e+00,
        1.32700680e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01244121, -0.09257406,  0.06151718])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.71894408e-07,-1.54591170e-04,-9.20203869e-06, 2.40543262e-06,
 -6.46222580e-05,-8.66187418e-04,-2.96661340e-04,-9.69351904e-05,
  3.05234242e-05,-9.42710747e-05, 7.49987299e-06, 2.53117655e-05,
 -5.46114709e-05,-2.79795963e-05, 1.07233705e-05, 7.14895251e-05,
 -1.66514913e-01,-1.39439461e-01,-7.77565232e+00, 5.69707634e-02,
 -1.46236194e-01,-3.80573475e-03]


--- Step 1139 ---
qpos:
[ 5.67022217e-05, 8.74915253e-01,-2.00195531e-02,-2.75339270e-02,
  6.41755921e-03, 8.51997242e-01,-3.21435927e-02, 7.17882918e-03,
  2.22200607e-02, 8.71029911e-01,-1.99210272e-02, 2.24647939e-02,
  1.25873877e+00,-1.01340033e-02, 9.08749522e-01, 6.18249177e-02,
 -4.18398059e-02,-6.24090723e-02, 7.43625662e-02, 6.60799661e-01,
 -6.77410608e-02,-6.99357312e-01,-2.63921024e-01]

qacc:
[ 9.44632785e-02,-3.96734252e+00, 1.26907415e+01,-1.69177865e+01,
 -2.09758180e-01,-6.15825183e+00, 1.92882244e+01,-4.66724821e+01,
  3.17660606e-01,-3.99852373e+00, 1.27409662e+01,-1.39884170e+01,
 -8.23380047e-01, 1.56205009e+00,-1.13149123e+00, 4.16822372e+00,
 -1.84117492e+00, 9.50522223e+00, 7.77730749e+00, 3.18666081e+02,
 -4.02736527e+02, 2.59224352e+02]

qfrc_actuator:
[ 0.00174321, 0.0299084 , 0.00852084, 0.0015442 , 0.00121373, 0.04028344,
  0.01293076, 0.00403924,-0.00231378, 0.02939598, 0.00860572, 0.0016772 ,
  0.01074827,-0.00153794, 0.        ,-0.0026491 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.81084033,  5.31029479, -6.81084033,  7.62049378,
       -1.30292717,  5.31029479, -1.30292717,  6.96526452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005520303684617089
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.00558148e-14, -1.50837221e-14,  1.00000000e+00,  1.51679116e-28,
        1.00000000e+00,  1.50837221e-14, -1.00000000e+00,  0.00000000e+00,
        1.00558148e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01346535, -0.09202503,  0.06148924])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72674635e-05,-1.47435814e-04, 7.01890356e-07,-1.86760913e-05,
 -3.74486469e-05,-8.25201147e-04,-3.16743300e-04,-1.50165533e-04,
  5.85482572e-05,-7.29944510e-05, 4.19250350e-05,-2.26465119e-06,
 -6.38003121e-05, 1.20271325e-05, 7.64996814e-06, 2.28041784e-05,
 -6.87508496e-02,-9.18354911e-02,-7.81370655e+00, 5.15770261e-02,
 -1.50244876e-01,-3.53193898e-03]


--- Step 1140 ---
qpos:
[ 4.37281196e-05, 8.74962926e-01,-2.00227840e-02,-2.75353776e-02,
  6.44203117e-03, 8.52267003e-01,-3.20536446e-02, 7.22651704e-03,
  2.22212988e-02, 8.71068212e-01,-1.99233590e-02, 2.24647040e-02,
  1.25903439e+00,-1.01333673e-02, 9.09013697e-01, 6.18277425e-02,
 -4.19092096e-02,-6.23862417e-02, 7.40321106e-02, 6.62322652e-01,
 -7.22249859e-02,-6.99436938e-01,-2.58650781e-01]

qacc:
[ 2.27396648e-01,-2.94007773e+00, 8.80704291e+00,-1.08770949e+01,
 -7.61081165e-02,-4.50701218e+00, 1.26224111e+01,-3.36463268e+01,
  2.61287758e-03,-2.44354006e+00, 7.77877508e+00,-8.47718653e+00,
 -2.79759553e-01, 1.74811798e-01, 2.61437985e+00,-8.87986164e+00,
 -1.61665236e+00, 7.84681792e+00, 5.18408061e+00, 2.56559550e+02,
 -3.51441628e+02, 2.37540555e+02]

qfrc_actuator:
[ 0.0017769 , 0.02985479, 0.00854233, 0.00153784, 0.00121765, 0.04005171,
  0.01283823, 0.00396057,-0.00234161, 0.02938549, 0.00864221, 0.00167789,
  0.0107068 ,-0.00155632, 0.        ,-0.00269285, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.91880238,  5.16884421, -6.91880238,  7.70552171,
       -1.24598673,  5.16884421, -1.24598673,  6.96853701,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005646895167233365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.83038459e-15, -1.96607692e-14,  1.00000000e+00,  1.93272922e-28,
        1.00000000e+00,  1.96607692e-14, -1.00000000e+00,  0.00000000e+00,
        9.83038459e-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([-0.01411241, -0.09171832,  0.06147226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.18668536e-05,-1.37794038e-04,-9.85992290e-06,-1.30762750e-05,
 -1.37400810e-05,-7.72496183e-04,-3.10207392e-04,-1.28549851e-04,
  3.67711978e-07,-4.36216251e-05, 2.62216398e-05,-1.08756753e-06,
 -7.70308262e-05,-3.01183726e-05, 4.95564439e-07,-4.27957886e-05,
 -1.05400094e-02,-1.97877817e-02,-7.84847421e+00, 4.57658077e-02,
 -1.54224591e-01,-3.33193351e-03]


--- Step 1141 ---
qpos:
[ 3.15926905e-05, 8.75009247e-01,-2.00259450e-02,-2.75361559e-02,
  6.46635771e-03, 8.52531643e-01,-3.19660992e-02, 7.27354617e-03,
  2.22223609e-02, 8.71106209e-01,-1.99253313e-02, 2.24653078e-02,
  1.25932950e+00,-1.01331413e-02, 9.09278041e-01, 6.18283429e-02,
 -4.19841517e-02,-6.23377104e-02, 7.37131267e-02, 6.63522586e-01,
 -7.68930997e-02,-6.99958299e-01,-2.52752070e-01]

qacc:
[ 4.37133232e-01,-5.95086190e-01,-3.29793468e+00, 1.57958194e+01,
 -7.71014361e-02,-1.40828182e+00,-2.01565376e+00,-1.77657614e+00,
 -9.12296951e-02, 2.06991210e-02,-3.58641201e+00, 1.52407670e+01,
 -1.32185447e-01,-3.08489913e-01, 6.96191064e+00,-2.40022509e+01,
 -1.38460808e+00, 6.42516338e+00, 2.86791744e+00, 2.04254491e+02,
 -3.05783930e+02, 2.14813677e+02]

qfrc_actuator:
[ 0.00183755, 0.02976875, 0.00853852, 0.00157019, 0.0012103 , 0.03982577,
  0.01273028, 0.00393079,-0.0023588 , 0.02938193, 0.00866465, 0.00171384,
  0.01066598,-0.00158527, 0.        ,-0.00280851, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.06041378,  4.97366405, -7.06041378,  7.75958396,
       -1.24464123,  4.97366405, -1.24464123,  6.86952092,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005636873431944987
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.46196548e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.46196548e-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([-0.01445859, -0.09160775,  0.06146406])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.06394623e-05,-1.66749929e-04,-3.42690268e-05, 2.57897013e-05,
 -1.38798401e-05,-7.34800966e-04,-3.13129964e-04,-7.67468181e-05,
 -1.69444007e-05,-2.34686856e-05, 1.63469164e-05, 3.49189962e-05,
 -9.39981894e-05,-5.18763192e-05,-9.97027160e-06,-1.19253124e-04,
  2.17812053e-02, 6.54163927e-02,-7.87979316e+00, 3.97081941e-02,
 -1.58030752e-01,-3.17347528e-03]


--- Step 1142 ---
qpos:
[ 2.00979584e-05, 8.75054209e-01,-2.00291123e-02,-2.75361897e-02,
  6.49046732e-03, 8.52790503e-01,-3.18805860e-02, 7.31920882e-03,
  2.22234131e-02, 8.71144531e-01,-1.99272902e-02, 2.24662787e-02,
  1.25962388e+00,-1.01326752e-02, 9.09542180e-01, 6.18285429e-02,
 -4.20636935e-02,-6.22683645e-02, 7.33973860e-02, 6.64431730e-01,
 -8.17464281e-02,-7.00839026e-01,-2.46318205e-01]

qacc:
[ 3.34016636e-01,-2.42778742e-01,-4.87329374e+00, 1.87496045e+01,
 -1.14681686e-01,-4.76971062e+00, 1.16932013e+01,-2.78470604e+01,
 -5.26824320e-03, 1.14816751e+00,-5.01909516e+00, 1.11113671e+01,
 -7.58069125e-01, 1.19012540e+00, 9.45758527e-01,-3.66073463e+00,
 -1.14991178e+00, 5.20365656e+00, 8.10813090e-01, 1.60083154e+02,
 -2.64978894e+02, 1.91806282e+02]

qfrc_actuator:
[ 0.00186054, 0.0296994 , 0.00853745, 0.00160726, 0.00119625, 0.03949866,
  0.01261418, 0.00385899,-0.00235168, 0.02943579, 0.00867869, 0.00173476,
  0.01063622,-0.00156699, 0.        ,-0.00282356, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.24345708,  4.70309541, -7.24345708,  7.7887377 ,
       -1.30546833,  4.70309541, -1.30546833,  6.62575083,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005515036868598569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.51635449e-15,  1.00654180e-14,  1.00000000e+00, -2.53281598e-29,
        1.00000000e+00, -1.00654180e-14, -1.00000000e+00,  0.00000000e+00,
        2.51635449e-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([-0.0145595 , -0.09165922,  0.06146306])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.15963551e-05,-1.69586655e-04,-3.91559073e-05, 2.91844277e-05,
 -2.06474762e-05,-8.13133951e-04,-3.11997963e-04,-1.16219922e-04,
 -9.48833472e-07, 4.47248862e-05, 1.21341856e-05, 2.11013143e-05,
 -9.82106500e-05,-1.26562563e-05,-2.31565581e-05,-2.42038015e-05,
  3.74058993e-02, 1.55587455e-01,-7.90782581e+00, 3.35502846e-02,
 -1.61557416e-01,-3.03521518e-03]


--- Step 1143 ---
qpos:
[ 8.72791770e-06, 8.75098313e-01,-2.00327313e-02,-2.75365043e-02,
  6.51428505e-03, 8.53043350e-01,-3.17964716e-02, 7.36294031e-03,
  2.22245014e-02, 8.71183202e-01,-1.99304949e-02, 2.24675763e-02,
  1.25991755e+00,-1.01317548e-02, 9.09805743e-01, 6.18318671e-02,
 -4.20972449e-02,-6.22053277e-02, 7.30558745e-02, 6.66100512e-01,
 -8.74463303e-02,-7.00767836e-01,-2.39974346e-01]

qacc:
[ 6.49104872e-02,-4.52415521e-01, 1.14885286e+00,-4.65205060e+00,
 -1.54051003e-01,-8.00354889e+00, 2.51653497e+01,-5.19395643e+01,
  1.79355980e-02, 4.60994306e+00,-1.71517705e+01, 2.45427765e+01,
 -7.58582196e-01, 1.36406775e+00,-1.02384403e+01, 3.46839938e+01,
  1.14975946e+01,-1.57728446e+00,-6.44269557e+00,-3.98976718e+02,
  4.81854115e+02, 3.99230171e+02]

qfrc_actuator:
[ 0.00184304, 0.02967613, 0.00852033, 0.00159356, 0.0011783 , 0.03920232,
  0.01254704, 0.00376297,-0.00234783, 0.02941707, 0.00859913, 0.0017467 ,
  0.01061313,-0.00153859, 0.        ,-0.0026549 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.84270911, -8.43748778,  1.84270911, 14.61999051,
        1.30679701, -8.43748778,  1.30679701,  8.92176218,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005722535755078889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94008928e-14,  1.94008928e-14,  1.00000000e+00, -3.76394640e-28,
        1.00000000e+00, -1.94008928e-14, -1.00000000e+00,  0.00000000e+00,
        1.94008928e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10176088, -0.04680899,  0.06143783])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19687128e-05,-1.25936510e-04,-5.62729911e-05,-2.18050948e-05,
 -2.77293342e-05,-8.27464263e-04,-2.80376591e-04,-1.44523947e-04,
  3.48243997e-06, 8.81713782e-06,-6.83839028e-05, 1.46331040e-05,
 -8.51465725e-05, 4.15817274e-06,-1.76539959e-05, 1.63345953e-04,
  4.25467777e-02, 2.44916453e-01,-7.93284346e+00, 2.74116257e-02,
 -1.64732862e-01,-2.90330651e-03]


--- Step 1144 ---
qpos:
[-1.90774260e-06, 8.75141753e-01,-2.00372208e-02,-2.75373233e-02,
  6.53756438e-03, 8.53290805e-01,-3.17141838e-02, 7.40546326e-03,
  2.22256274e-02, 8.71221586e-01,-1.99354912e-02, 2.24691279e-02,
  1.26021064e+00,-1.01305252e-02, 9.10069687e-01, 6.18327866e-02,
 -4.20918463e-02,-6.21475019e-02, 7.26869309e-02, 6.68404777e-01,
 -9.38659609e-02,-6.99879290e-01,-2.33651907e-01]

qacc:
[ 3.81928718e-01, 5.15808713e-01,-9.86744038e-01,-5.85425808e+00,
 -2.85516009e-01,-4.50321830e+00, 1.08245382e+01,-2.48602509e+01,
  1.86086130e-02, 5.14817658e+00,-1.99784819e+01, 2.74493418e+01,
 -8.22457067e-01, 1.41601436e+00, 7.86751313e+00,-2.66091859e+01,
  9.73748784e+00,-1.30274846e+00,-6.85803045e+00,-3.17502007e+02,
  4.09467133e+02, 3.57047802e+02]

qfrc_actuator:
[ 0.00190802, 0.02964505, 0.00847627, 0.00156789, 0.00114043, 0.03898025,
  0.01247395, 0.00370677,-0.00234597, 0.02933691, 0.00848241, 0.00175315,
  0.01058874,-0.00152219, 0.        ,-0.00278769, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.8512884 , -8.43560953,  1.8512884 , 29.85125632,
        4.65584431, -8.43560953,  4.65584431,  9.65814049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0058754045433726115
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44805601e-15,  9.44805601e-15,  1.00000000e+00, -8.92657624e-29,
        1.00000000e+00, -9.44805601e-15, -1.00000000e+00,  0.00000000e+00,
        9.44805601e-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([-0.10127477, -0.04710605,  0.06141658])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.06288996e-05,-1.15044726e-04,-7.80591173e-05,-3.34987587e-05,
 -5.09881146e-05,-7.55734832e-04,-2.86305786e-04,-1.04750504e-04,
  3.60873606e-06,-8.96170432e-05,-1.23092250e-04, 4.69172074e-06,
 -7.45175057e-05,-1.73138908e-06, 6.43698344e-06,-1.26794685e-04,
  3.54573196e-02, 9.42715201e-02,-7.86316879e+00, 3.04969722e-02,
 -1.60196811e-01,-2.71044525e-03]


--- Step 1145 ---
qpos:
[-1.19311350e-05, 8.75184009e-01,-2.00417930e-02,-2.75380871e-02,
  6.56006691e-03, 8.53532779e-01,-3.16335079e-02, 7.44731148e-03,
  2.22267790e-02, 8.71259040e-01,-1.99404901e-02, 2.24703589e-02,
  1.26050317e+00,-1.01288414e-02, 9.10333926e-01, 6.18297769e-02,
 -4.20542904e-02,-6.20940006e-02, 7.22886271e-02, 6.71238252e-01,
 -1.00894975e-01,-6.98280552e-01,-2.27296468e-01]

qacc:
[ 3.19044287e-01,-1.21810783e+00, 1.84298142e+00, 1.11308634e-01,
 -4.11940068e-01,-4.12628340e+00, 7.05048236e+00,-1.21227574e+01,
  1.36462600e-02,-1.88181104e+00, 6.27874265e+00,-1.11381606e+01,
 -9.90803912e-01, 1.83263252e+00, 1.23499265e+01,-4.24588016e+01,
  8.03934786e+00,-1.08111709e+00,-7.34005380e+00,-2.50244702e+02,
  3.49804936e+02, 3.19448669e+02]

qfrc_actuator:
[ 0.00193307, 0.02957391, 0.00846991, 0.00157086, 0.00109096, 0.03871575,
  0.01239828, 0.00367452,-0.00234533, 0.02929138, 0.00848646, 0.00173849,
  0.01056891,-0.00149528, 0.        ,-0.00299056, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.97155842,  3.32280502, -7.97155842,  8.98726924,
        0.84183829,  3.32280502,  0.84183829, 10.65597149,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00588016261859807
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.44041089e-15,  9.44041089e-15,  1.00000000e+00, -8.91213578e-29,
        1.00000000e+00, -9.44041089e-15, -1.00000000e+00,  0.00000000e+00,
        9.44041089e-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([-0.10105743, -0.04730753,  0.06140564])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.88720774e-05,-1.53973554e-04,-4.11926600e-05,-5.35871352e-06,
 -7.35094841e-05,-7.57423208e-04,-2.73368096e-04,-7.71478841e-05,
  2.44117107e-06,-1.21730771e-04,-2.97195254e-05,-2.27158568e-05,
 -6.51134264e-05, 1.01291140e-05,-1.74193977e-05,-2.10560490e-04,
 -1.52963846e-02,-3.19700802e-02,-7.79141971e+00, 3.34471961e-02,
 -1.55896110e-01,-2.60295433e-03]


--- Step 1146 ---
qpos:
[-2.14672331e-05, 8.75224841e-01,-2.00460265e-02,-2.75388084e-02,
  6.58198761e-03, 8.53769596e-01,-3.15543562e-02, 7.48942345e-03,
  2.22281271e-02, 8.71295667e-01,-1.99446498e-02, 2.24713308e-02,
  1.26079513e+00,-1.01265557e-02, 9.10597676e-01, 6.18273527e-02,
 -4.19910814e-02,-6.20440766e-02, 7.18589739e-02, 6.74510251e-01,
 -1.08437507e-01,-6.96057635e-01,-2.20864203e-01]

qacc:
[ 2.54328983e-01,-2.74236610e+00, 6.86532914e+00,-5.62619852e+00,
 -3.08232696e-01,-2.01094534e+00,-3.83038369e+00, 1.46247604e+01,
  1.03033829e-01,-3.96842742e+00, 1.36600689e+01,-1.88793875e+01,
 -8.99198366e-01, 1.78119539e+00,-2.43388291e+00, 7.58769016e+00,
  6.41324610e+00,-8.94324602e-01,-7.83736049e+00,-1.94342360e+02,
  3.00363229e+02, 2.86416662e+02]

qfrc_actuator:
[ 0.00195175, 0.02949728, 0.00848572, 0.00157292, 0.0010705 , 0.03849905,
  0.01233932, 0.0036921 ,-0.00232767, 0.02928514, 0.00854415, 0.0017294 ,
  0.01054651,-0.00146233, 0.        ,-0.00294895, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.43392519,  4.39585408, -7.43392519,  8.71564608,
        0.13407628,  4.39585408,  0.13407628,  8.86310297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005764594432653328
  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([-0.101058  , -0.04743445,  0.06140308])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.68451258e-05,-1.72389230e-04,-2.15301303e-05,-6.11739128e-06,
 -5.51024950e-05,-7.06562406e-04,-2.54389180e-04,-2.63994005e-05,
  1.88938634e-05,-8.22609479e-05, 2.78472625e-05,-1.58301703e-05,
 -5.96447657e-05, 2.07716819e-05,-3.68590764e-05, 2.63933824e-05,
 -8.89940225e-02,-1.39262288e-01,-7.72089912e+00, 3.60903540e-02,
 -1.52000882e-01,-2.53780310e-03]


--- Step 1147 ---
qpos:
[-3.06172435e-05, 8.75264805e-01,-2.00502993e-02,-2.75392013e-02,
  6.60322773e-03, 8.54001402e-01,-3.14764194e-02, 7.53205641e-03,
  2.22296737e-02, 8.71331723e-01,-1.99486941e-02, 2.24711654e-02,
  1.26108664e+00,-1.01241253e-02, 9.10860850e-01, 6.18280558e-02,
 -4.19078530e-02,-6.19971325e-02, 7.13962178e-02, 6.78137265e-01,
 -1.16404260e-01,-6.93285275e-01,-2.14325513e-01]

qacc:
[ 2.01233354e-01,-3.58230488e-01,-1.76582087e+00, 8.13945572e+00,
 -3.60460430e-01,-2.15393011e+00,-4.12871941e+00, 1.87736777e+01,
  1.03437532e-01,-3.41556051e+00, 1.58862999e+01,-3.53329401e+01,
 -3.03514801e-01, 4.41902645e-01,-1.02750442e+01, 3.47518759e+01,
  5.00488182e+00,-7.44983146e-01,-8.27570996e+00,-1.47463169e+02,
  2.56247396e+02, 2.52545260e+02]

qfrc_actuator:
[ 0.00196647, 0.02948909, 0.0084967 , 0.00159217, 0.00103205, 0.0382774 ,
  0.01229095, 0.00372114,-0.00231773, 0.0292495 , 0.00854442, 0.00167045,
  0.01051727,-0.00146158, 0.        ,-0.00278134, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.33386756,  4.56082925, -7.33386756,  8.52976574,
       -0.17141069,  4.56082925, -0.17141069,  8.36073322,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005551945161737522
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.99850496e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.99850496e-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([-0.1012413 , -0.04750206,  0.06140748])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.71228813e-05,-1.10198355e-04,-2.77637668e-05, 1.09540421e-05,
 -6.44380586e-05,-6.76843783e-04,-2.29147791e-04,-1.10932392e-05,
  1.90800107e-05,-7.74018534e-05,-1.40911414e-05,-6.18661452e-05,
 -6.06375830e-05,-8.19484127e-06,-1.71959873e-05, 1.63613678e-04,
 -1.72494637e-01,-2.31320298e-01,-7.65346152e+00, 3.83263657e-02,
 -1.48598845e-01,-2.48769381e-03]


--- Step 1148 ---
qpos:
[-4.00087530e-05, 8.75304076e-01,-2.00545111e-02,-2.75397371e-02,
  6.62381803e-03, 8.54228114e-01,-3.13987220e-02, 7.57291011e-03,
  2.22313707e-02, 8.71366941e-01,-1.99531825e-02, 2.24710591e-02,
  1.26137789e+00,-1.01222409e-02, 9.11124363e-01, 6.18266971e-02,
 -4.18367990e-02,-6.19119045e-02, 7.09712805e-02, 6.81236080e-01,
 -1.24743196e-01,-6.91081336e-01,-2.06792470e-01]

qacc:
[-1.25419125e-01,-1.38106034e+00, 4.19598127e+00,-6.25449498e+00,
 -3.43519720e-01,-9.71173453e+00, 3.23812408e+01,-5.90606069e+01,
  7.83023612e-02, 2.55276703e-01,-2.76499069e+00, 5.11112503e+00,
  1.77833292e-01,-8.39438282e-01, 6.70534437e+00,-2.27769040e+01,
 -3.04363248e+00, 9.57096801e+00, 9.45469483e+00, 2.48665829e+02,
 -4.73596845e+02, 3.76503227e+02]

qfrc_actuator:
[ 0.00192548, 0.0294687 , 0.00850502, 0.00158593, 0.0010009 , 0.03803694,
  0.01228475, 0.00363244,-0.0023125 , 0.02917852, 0.00851062, 0.00167133,
  0.01049458,-0.0014977 , 0.        ,-0.00289596, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   7.25206154,   4.68981665,   7.25206154,
        23.96097051, -23.69708675,   4.68981665, -23.69708675,
        45.2801696 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005832758572975216
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.13785131e-15, -9.51713508e-15,  1.00000000e+00,  6.79318951e-29,
        1.00000000e+00,  9.51713508e-15, -1.00000000e+00,  0.00000000e+00,
        7.13785131e-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([-0.01722999, -0.08898239,  0.06137443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32564334e-05,-8.81493351e-05,-1.77498022e-05,-1.17593431e-05,
 -6.15422529e-05,-6.73035354e-04,-1.77161387e-04,-1.26386889e-04,
  1.44568400e-05,-1.20630747e-04,-5.39060132e-05,-4.17008963e-06,
 -6.09159972e-05,-5.11385289e-05, 6.89686097e-06,-1.08507973e-04,
 -2.56669814e-01,-3.09750984e-01,-7.59039215e+00, 4.00387994e-02,
 -1.45737472e-01,-2.43403486e-03]


--- Step 1149 ---
qpos:
[-4.91787066e-05, 8.75342717e-01,-2.00580706e-02,-2.75407398e-02,
  6.64419749e-03, 8.54450226e-01,-3.13221483e-02, 7.61167955e-03,
  2.22327965e-02, 8.71401014e-01,-1.99573748e-02, 2.24712974e-02,
  1.26166895e+00,-1.01210969e-02, 9.11388206e-01, 6.18213079e-02,
 -4.17758104e-02,-6.17959703e-02, 7.05722735e-02, 6.83858183e-01,
 -1.33449606e-01,-6.89321287e-01,-1.98407034e-01]

qacc:
[ 1.15902535e-01,-3.61719915e+00, 1.36541192e+01,-2.23050436e+01,
 -1.11133182e-01,-7.22055279e+00, 2.57298761e+01,-5.66327941e+01,
 -1.40503058e-01,-1.63106897e+00, 2.16358888e+00, 4.17283657e+00,
  2.99530534e-01,-1.17606317e+00, 1.26255502e+01,-4.35318880e+01,
 -2.51631840e+00, 7.67656518e+00, 6.48258031e+00, 1.85535126e+02,
 -4.07090649e+02, 3.40365542e+02]

qfrc_actuator:
[ 0.00195804, 0.02945893, 0.00854716, 0.00156473, 0.00100986, 0.03782279,
  0.01223233, 0.00352844,-0.00234564, 0.02912235, 0.00852791, 0.00168962,
  0.01048115,-0.00153755, 0.        ,-0.00310498, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.42920181,  4.40383212, -7.42920181,  7.70406885,
       -1.57276796,  4.40383212, -1.57276796,  5.98312657,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005939248180633891
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33662366e-15, -1.86929893e-14,  1.00000000e+00,  4.36784809e-29,
        1.00000000e+00,  1.86929893e-14, -1.00000000e+00,  0.00000000e+00,
        2.33662366e-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([-0.01794469, -0.08856062,  0.06135363])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.13039811e-05,-6.41007044e-05, 2.10830663e-05,-2.58651836e-05,
 -2.00644889e-05,-6.38671819e-04,-2.20118331e-04,-1.41956153e-04,
 -2.61365826e-05,-1.35728026e-04,-1.46479874e-05, 1.11301055e-05,
 -6.17322568e-05,-6.32809544e-05,-1.47844579e-05,-2.15549495e-04,
 -1.23753358e-01,-1.88005029e-01,-7.63205971e+00, 2.85272967e-02,
 -1.50304527e-01,-1.97993461e-03]


--- Step 1150 ---
qpos:
[-5.81877273e-05, 8.75380659e-01,-2.00610797e-02,-2.75416292e-02,
  6.66407419e-03, 8.54667789e-01,-3.12474642e-02, 7.64962827e-03,
  2.22335131e-02, 8.71433492e-01,-1.99604708e-02, 2.24703731e-02,
  1.26195958e+00,-1.01203843e-02, 9.11651119e-01, 6.18201361e-02,
 -4.17228827e-02,-6.16558539e-02, 7.01885048e-02, 6.86045397e-01,
 -1.42508085e-01,-6.87895065e-01,-1.89297487e-01]

qacc:
[ 8.43360309e-02,-2.22711714e+00, 6.12328873e+00,-4.53006816e+00,
 -2.66496470e-01,-2.41971104e+00, 3.37012544e+00,-1.12087785e+01,
 -3.67772130e-01,-7.55893419e+00, 2.88057934e+01,-4.95085218e+01,
  2.71770172e-01,-9.90601768e-01,-1.41248241e+01, 4.73793320e+01,
 -2.01523965e+00, 6.04556197e+00, 3.80956818e+00, 1.33292811e+02,
 -3.47285775e+02, 3.03546758e+02]

qfrc_actuator:
[ 0.00196336, 0.02942024, 0.00857348, 0.00157045, 0.00097171, 0.03759047,
  0.01213543, 0.00348729,-0.00240144, 0.02902245, 0.00857529, 0.00162929,
  0.01045197,-0.00156147, 0.        ,-0.00287076, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.57206555,  4.15338418, -7.57206555,  7.75838909,
       -1.60064192,  4.15338418, -1.60064192,  5.71822146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005884492712610517
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.43346418e-15, -1.88669284e-14,  1.00000000e+00,  1.77980493e-28,
        1.00000000e+00,  1.88669284e-14, -1.00000000e+00,  0.00000000e+00,
        9.43346418e-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([-0.01829698, -0.08839267,  0.06134384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54686579e-05,-7.21458749e-05, 1.45188101e-05, 3.14615007e-06,
 -4.76618223e-05,-6.47040927e-04,-2.63299590e-04,-7.94143568e-05,
 -6.83041227e-05,-1.79119235e-04, 1.76941583e-05,-6.64884399e-05,
 -8.10187259e-05,-4.97644110e-05,-3.60208233e-05, 2.19087534e-04,
 -2.83832232e-02,-5.40370360e-02,-7.66697576e+00, 1.69473123e-02,
 -1.54126284e-01,-1.57045861e-03]


--- Step 1151 ---
qpos:
[-6.74195294e-05, 8.75417845e-01,-2.00643145e-02,-2.75410011e-02,
  6.68301571e-03, 8.54880688e-01,-3.11742592e-02, 7.68676476e-03,
  2.22333587e-02, 8.71465068e-01,-1.99635034e-02, 2.24687149e-02,
  1.26224935e+00,-1.01192807e-02, 9.11913943e-01, 6.18203599e-02,
 -4.16765978e-02,-6.14969252e-02, 6.98134034e-02, 6.87805474e-01,
 -1.51899976e-01,-6.86734226e-01,-1.79572075e-01]

qacc:
[-1.15747939e-01, 2.75858012e+00,-1.76720502e+01, 4.48139362e+01,
 -4.95615556e-01,-3.69836777e+00, 7.67526280e+00,-1.59412880e+01,
 -4.52810351e-01,-2.87796820e+00, 1.16319178e+01,-2.37721901e+01,
 -9.04610389e-01, 1.50320078e+00,-4.29618557e+00, 1.49493434e+01,
 -1.66070668e+00, 4.70305468e+00, 2.16684146e+00, 9.21431064e+01,
 -3.13396286e+02, 2.66620033e+02]

qfrc_actuator:
[ 0.00193456, 0.02936452, 0.00855464, 0.00164517, 0.00090567, 0.03736677,
  0.01206629, 0.00344791,-0.00245253, 0.02900373, 0.00858655, 0.00159415,
  0.01040272,-0.00154035, 0.        ,-0.0028033 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.8910936 ,  3.50961802, -7.8910936 ,  7.8509787 ,
       -1.7658748 ,  3.50961802, -1.7658748 ,  4.66593631,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005717018566279139
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.70980776e-15, -9.70980776e-15,  1.00000000e+00,  9.42803667e-29,
        1.00000000e+00,  9.70980776e-15, -1.00000000e+00,  0.00000000e+00,
        9.70980776e-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([-0.0180338 , -0.08764805,  0.06134166])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14606122e-05,-9.37806014e-05,-3.21058876e-05, 7.21519790e-05,
 -8.85510329e-05,-6.49199530e-04,-2.40354220e-04,-7.82648057e-05,
 -8.38697234e-05,-1.18820802e-04,-2.60877318e-05,-4.35338639e-05,
 -1.09162586e-04,-6.64013056e-06, 5.72358904e-06, 7.45551112e-05,
  4.06799941e-02, 8.17311461e-02,-7.69576898e+00, 5.55405555e-03,
 -1.57134890e-01,-1.18417443e-03]


--- Step 1152 ---
qpos:
[-7.68990303e-05, 8.75454442e-01,-2.00675227e-02,-2.75395221e-02,
  6.70083594e-03, 8.55089041e-01,-3.11025247e-02, 7.72242383e-03,
  2.22326582e-02, 8.71496593e-01,-1.99670962e-02, 2.24665802e-02,
  1.26253838e+00,-1.01179377e-02, 9.12176992e-01, 6.18193790e-02,
 -4.16474358e-02,-6.13296051e-02, 6.94954445e-02, 6.88426151e-01,
 -1.61033809e-01,-6.86459049e-01,-1.70033883e-01]

qacc:
[-1.28642364e-01, 9.00851356e-01,-7.92335683e+00, 2.30194939e+01,
 -5.94323907e-01,-4.93577291e+00, 1.51213117e+01,-3.50025060e+01,
 -2.84429815e-01, 5.18229280e-01, 6.88531238e-02,-7.38609406e+00,
 -8.26790467e-01, 1.29465411e+00, 4.01395840e+00,-1.34623904e+01,
 -4.28072213e+00, 2.09784513e+00, 1.42855963e+01, 1.74447053e+01,
 -6.58442070e+02,-3.22586526e+02]

qfrc_actuator:
[ 0.0019211 , 0.02935216, 0.00856252, 0.00168885, 0.00084127, 0.0371502 ,
  0.01199642, 0.00337441,-0.00246485, 0.02905143, 0.00857672, 0.00157417,
  0.01036811,-0.00152835, 0.        ,-0.00287027, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -7.70178075,  -3.90760159,  -7.70178075,
        26.24121746, -34.69870741,  -3.90760159, -34.69870741,
        77.02661032,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005624326498251772
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.97396617e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.97396617e-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([-0.00954261, -0.07137977,  0.06133269])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38529347e-05,-6.91650111e-05,-1.32049996e-05, 3.99037415e-05,
 -1.06161239e-04,-6.38381777e-04,-2.38622993e-04,-1.11650534e-04,
 -5.25714631e-05,-2.67349902e-05,-3.93046984e-05,-2.68578726e-05,
 -1.01458602e-04,-1.37693893e-05, 5.51620754e-06,-6.33111127e-05,
  9.39173158e-02, 2.20576077e-01,-7.71965992e+00,-5.89440470e-03,
 -1.59357988e-01,-8.00006500e-04]


--- Step 1153 ---
qpos:
[-8.65411861e-05, 8.75490225e-01,-2.00704725e-02,-2.75382102e-02,
  6.71821464e-03, 8.55292743e-01,-3.10327797e-02, 7.75731006e-03,
  2.22316255e-02, 8.71527935e-01,-1.99714049e-02, 2.24645942e-02,
  1.26282689e+00,-1.01167973e-02, 9.12439655e-01, 6.18206217e-02,
 -4.16282421e-02,-6.12075212e-02, 6.92750143e-02, 6.88629994e-01,
 -1.67461149e-01,-6.86400962e-01,-1.63092656e-01]

qacc:
[-8.42096880e-02,-2.14165614e+00, 6.77902889e+00,-9.48311490e+00,
 -2.33862281e-01,-2.17626972e+00, 2.10533778e+00,-8.88034615e+00,
 -1.73173336e-01, 2.06274980e+00,-8.33553070e+00, 1.21894902e+01,
 -9.79341221e-02,-2.09705593e-01,-7.28315195e+00, 2.46541270e+01,
 -2.49205168e+00,-1.13090383e+01, 2.43821917e+01, 2.51471671e+01,
  2.21423284e+02,-1.87589517e+03]

qfrc_actuator:
[ 0.00191696, 0.02929496, 0.00856851, 0.00167845, 0.00084944, 0.03690413,
  0.01189118, 0.00333469,-0.00247163, 0.02903196, 0.0085371 , 0.00158108,
  0.01034763,-0.00153958, 0.        ,-0.00274956, 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: -0.006014746346864441
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.92188183e-15, -3.69167031e-14,  1.00000000e+00,  2.55533056e-28,
        1.00000000e+00,  3.69167031e-14, -1.00000000e+00,  0.00000000e+00,
        6.92188183e-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([-0.05898893, -0.03932069,  0.06128529])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.56747803e-05,-9.77149956e-05,-8.78976470e-06,-1.30944044e-05,
 -4.19031505e-05,-6.62769937e-04,-2.72647196e-04,-7.79898761e-05,
 -3.19865405e-05,-4.44093805e-05,-5.11329615e-05, 3.84024590e-06,
 -8.45080172e-05,-3.65710137e-05,-1.05297232e-05, 1.16509973e-04,
  1.48241627e-01, 4.97224713e-01,-7.73887174e+00,-2.34381128e-02,
 -1.60011727e-01,-2.85759100e-04]


--- Step 1154 ---
qpos:
[-9.60624290e-05, 8.75525170e-01,-2.00732685e-02,-2.75373685e-02,
  6.73536653e-03, 8.55491938e-01,-3.09653318e-02, 7.79282396e-03,
  2.22305826e-02, 8.71558130e-01,-1.99761119e-02, 2.24641901e-02,
  1.26311482e+00,-1.01155317e-02, 9.12702327e-01, 6.18222630e-02,
 -4.16172171e-02,-6.11231334e-02, 6.91364245e-02, 6.88539071e-01,
 -1.71623239e-01,-6.86578553e-01,-1.58332884e-01]

qacc:
[ 6.32781113e-02,-2.50475213e+00, 9.30407085e+00,-1.70614994e+01,
 -1.20097761e-01, 1.74961845e+00,-1.75347279e+01, 3.53920528e+01,
 -5.09696781e-03, 2.85063993e+00,-1.90455318e+01, 4.79079506e+01,
 -5.27726735e-01, 7.57447987e-01,-1.16298654e+00, 4.14851382e+00,
 -2.04220505e+00,-9.42404110e+00, 2.04600972e+01, 2.58196902e+01,
  1.85075034e+02,-1.57236148e+03]

qfrc_actuator:
[ 0.00193619, 0.02924682, 0.00857314, 0.00165403, 0.00084765, 0.03669556,
  0.01178358, 0.00336837,-0.00245733, 0.02891908, 0.00849772, 0.00165694,
  0.01032498,-0.0015289 , 0.        ,-0.00273223, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.03990066,  5.00265685, -7.03990066, 37.1892442 ,
       40.18053782,  5.00265685, 40.18053782, 65.17971716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006685113096515552
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.30369665e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.30369665e-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([-0.05906319, -0.03998269,  0.06122268])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16129562e-05,-1.05961398e-04,-1.73439993e-05,-2.92108685e-05,
 -2.15985783e-05,-6.44363986e-04,-2.83017085e-04,-6.13713505e-06,
 -1.01985893e-06,-1.48810563e-04,-5.49210929e-05, 7.22250623e-05,
 -8.15851505e-05,-1.53455777e-05, 4.07972546e-06, 2.15372925e-05,
  7.87855420e-02, 2.96570160e-01,-7.81819104e+00,-1.59205989e-02,
 -1.60933551e-01,-3.44506830e-04]


--- Step 1155 ---
qpos:
[-1.05552142e-04, 8.75559463e-01,-2.00760329e-02,-2.75375327e-02,
  6.75195383e-03, 8.55686900e-01,-3.08998907e-02, 7.82770900e-03,
  2.22299978e-02, 8.71586891e-01,-1.99810342e-02, 2.24640326e-02,
  1.26340224e+00,-1.01141919e-02, 9.12965261e-01, 6.18217529e-02,
 -4.16130217e-02,-6.10705220e-02, 6.90648661e-02, 6.88231995e-01,
 -1.73870541e-01,-6.86986678e-01,-1.55418982e-01]

qacc:
[ 1.66040741e-02,-3.02322961e+00, 1.37642129e+01,-3.07255357e+01,
 -2.99170137e-01,-1.28190445e+00,-8.92364264e-01,-3.66882726e+00,
  2.38651331e-01,-7.86459753e-01,-9.87814682e-01, 6.65641591e+00,
 -5.38519266e-01, 7.76856751e-01, 6.90797532e+00,-2.35490243e+01,
 -1.70738978e+00,-7.94407123e+00, 1.67578457e+01, 2.52374195e+01,
  1.56419379e+02,-1.32971379e+03]

qfrc_actuator:
[ 0.00193371, 0.02922221, 0.00857694, 0.00160382, 0.00080435, 0.03651119,
  0.01169342, 0.0033385 ,-0.00241283, 0.02882222, 0.00847622, 0.00166616,
  0.01030638,-0.00152308, 0.        ,-0.00284699, 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: -0.007135520858511324
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.83466354e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        5.83466354e-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([-0.0591141 , -0.04041181,  0.06118198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01578866e-06,-8.94715024e-05,-2.14751888e-05,-5.59648010e-05,
 -5.35493831e-05,-6.08795721e-04,-2.60512828e-04,-6.78611248e-05,
  4.40561633e-05,-1.89005141e-04,-5.67041169e-05, 2.31385576e-06,
 -7.09797235e-05,-1.53583898e-05,-1.09550103e-06,-1.14281284e-04,
  3.40715517e-02, 1.64970508e-01,-7.85380889e+00,-1.10747493e-02,
 -1.61082017e-01,-3.76898184e-04]


--- Step 1156 ---
qpos:
[-1.14819141e-04, 8.75592941e-01,-2.00787074e-02,-2.75379362e-02,
  6.76830935e-03, 8.55877186e-01,-3.08356732e-02, 7.86195783e-03,
  2.22297261e-02, 8.71614442e-01,-1.99856798e-02, 2.24632331e-02,
  1.26368933e+00,-1.01131089e-02, 9.13228152e-01, 6.18198697e-02,
 -4.16146357e-02,-6.10449937e-02, 6.90466535e-02, 6.87758759e-01,
 -1.74485952e-01,-6.87606722e-01,-1.54076406e-01]

qacc:
[ 1.16207519e-01,-1.82069084e+00, 5.93585454e+00,-9.61512641e+00,
 -1.22010537e-01,-4.06561607e+00, 8.21869925e+00,-1.38383451e+01,
  1.63459908e-01,-3.69155532e+00, 1.35545404e+01,-2.42204587e+01,
 -9.51069635e-02,-1.81192706e-01, 4.08069979e+00,-1.43726659e+01,
 -1.45234225e+00,-6.77078505e+00, 1.33364580e+01, 2.38420549e+01,
  1.33419337e+02,-1.13260180e+03]

qfrc_actuator:
[ 0.00195375, 0.02917636, 0.0085803 , 0.00159211, 0.00080757, 0.03627186,
  0.0116321 , 0.00330699,-0.00240392, 0.02878896, 0.00850092, 0.0016361 ,
  0.01029023,-0.00153792, 0.        ,-0.00291435, 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: -0.007404594612407035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.49937044e-14, -1.68679174e-14,  1.00000000e+00,  2.52912566e-28,
        1.00000000e+00,  1.68679174e-14, -1.00000000e+00,  0.00000000e+00,
        1.49937044e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05914861, -0.04066724,  0.06115806])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.14114193e-05,-1.03467789e-04,-1.99309523e-05,-1.74140796e-05,
 -2.20755553e-05,-6.41743622e-04,-2.23634002e-04,-6.83748981e-05,
  3.01166712e-05,-1.51196862e-04,-2.14283191e-05,-4.01088282e-05,
 -6.24054034e-05,-3.35084508e-05,-1.89330504e-05,-7.51960097e-05,
  6.03095203e-03, 8.06230087e-02,-7.86294902e+00,-7.83142627e-03,
 -1.60725344e-01,-4.02065308e-04]


--- Step 1157 ---
qpos:
[-1.23633274e-04, 8.75625447e-01,-2.00812503e-02,-2.75384602e-02,
  6.78413342e-03, 8.56062437e-01,-3.07720167e-02, 7.89589950e-03,
  2.22291069e-02, 8.71641273e-01,-1.99903335e-02, 2.24634155e-02,
  1.26397607e+00,-1.01122290e-02, 9.13491068e-01, 6.18158213e-02,
 -4.18335090e-02,-6.08120609e-02, 6.89371598e-02, 6.88620507e-01,
 -1.72624853e-01,-6.87389427e-01,-1.53291335e-01]

qacc:
[ 2.36038638e-01,-1.90122479e+00, 5.42170940e+00,-7.00283873e+00,
 -2.80247564e-01,-5.71223956e+00, 1.20126724e+01,-1.27345649e+01,
 -1.80490956e-01, 1.09145304e+00,-9.41879748e+00, 2.69582284e+01,
 -1.77060991e-01, 3.58119405e-03, 6.57692633e+00,-2.29500585e+01,
 -5.43148348e+01, 5.18511111e+01,-2.28202782e+01, 7.11910262e+02,
  9.86340243e+02,-8.67250303e+02]

qfrc_actuator:
[ 0.0019871 , 0.0291182 , 0.00858334, 0.00158539, 0.0007676 , 0.03601946,
  0.01160586, 0.00329253,-0.00245191, 0.02879422, 0.00851743, 0.00168979,
  0.01027555,-0.0015471 , 0.        ,-0.0030242 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.21407166,  8.55060272,  1.21407166, 42.03019751,
       -4.74147947,  8.55060272, -4.74147947,  9.30959054,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.036116585327824774
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.74701380e-01,  4.37350690e-01,  2.08858491e-01,  4.25392043e-01,
        8.99291040e-01, -1.01573797e-01, -2.32247939e-01, -1.38777878e-17,
       -9.72656617e-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([-0.07204155, -0.03438493,  0.06114604])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35582181e-05,-1.21621824e-04,-2.16220131e-05,-1.22208985e-05,
 -5.04480343e-05,-6.65529145e-04,-1.90784301e-04,-5.14743915e-05,
 -3.34809330e-05,-8.60458664e-05,-1.89210165e-05, 4.56473186e-05,
 -6.00040348e-05,-2.94315749e-05,-2.15057530e-05,-1.17506227e-04,
 -1.07760027e-02, 2.86597126e-02,-7.85605277e+00,-5.52155989e-03,
 -1.60050972e-01,-4.31178270e-04]


--- Step 1158 ---
qpos:
[-1.31804382e-04, 8.75657140e-01,-2.00838221e-02,-2.75387256e-02,
  6.79938992e-03, 8.56243507e-01,-3.07097836e-02, 7.92865373e-03,
  2.22278422e-02, 8.71668539e-01,-1.99953291e-02, 2.24641112e-02,
  1.26426234e+00,-1.01111795e-02, 9.13753796e-01, 6.18107896e-02,
 -4.20133909e-02,-6.06492656e-02, 6.88821511e-02, 6.89096229e-01,
 -1.69825877e-01,-6.87484764e-01,-1.53851415e-01]

qacc:
[ 3.34833654e-01,-4.58474323e-01,-1.00902049e+00, 6.11857852e+00,
 -3.00241793e-01,-3.98835934e+00, 1.12190010e+01,-2.64235981e+01,
 -3.36120839e-01, 2.58421580e+00,-1.05501435e+01, 1.96620233e+01,
 -5.27752726e-01, 8.44931965e-01, 2.71872405e+00,-9.85383541e+00,
  9.74785831e+00,-1.75343614e+01, 1.36212685e+01,-1.48757309e+02,
 -5.23301731e+01,-8.42065053e+02]

qfrc_actuator:
[ 0.00202812, 0.02908864, 0.0085861 , 0.0015994 , 0.00073761, 0.03585019,
  0.01154724, 0.00323495,-0.002498  , 0.02889358, 0.00852921, 0.00172133,
  0.01025644,-0.00153508, 0.        ,-0.00306944, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.38143487, -7.44243276, -4.38143487, 19.71961193,
       -6.52481953, -7.44243276, -6.52481953, 12.47759039,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007560800797953626
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.10129508e-14, -3.67098358e-15,  1.00000000e+00,  4.04283614e-29,
        1.00000000e+00,  3.67098358e-15, -1.00000000e+00,  0.00000000e+00,
        1.10129508e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05947955, -0.04066561,  0.06114145])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.18651323e-05,-1.03277693e-04,-2.56695333e-05, 7.76761874e-06,
 -5.38536756e-05,-5.88055580e-04,-2.23401314e-04,-9.41288054e-05,
 -6.21413878e-05, 4.86988329e-05,-6.92191469e-06, 2.80606965e-05,
 -6.21451884e-05,-6.85020147e-06,-2.74714893e-05,-5.55948649e-05,
 -6.40237575e-02, 3.97529908e-02,-7.82939677e+00,-4.69906708e-03,
 -1.58620753e-01,-3.11987863e-04]


--- Step 1159 ---
qpos:
[-1.39565930e-04, 8.75687682e-01,-2.00859584e-02,-2.75381200e-02,
  6.81469039e-03, 8.56420706e-01,-3.06492538e-02, 7.96043352e-03,
  2.22265429e-02, 8.71695561e-01,-1.99985091e-02, 2.24644234e-02,
  1.26454804e+00,-1.01099142e-02, 9.14016215e-01, 6.18062123e-02,
 -4.21628538e-02,-6.05436471e-02, 6.88667788e-02, 6.89257506e-01,
 -1.66196229e-01,-6.87825439e-01,-1.55560501e-01]

qacc:
[ 2.13787556e-01,-9.44512650e-01,-2.50983224e+00, 1.77165764e+01,
  2.35317404e-02,-2.36146529e+00, 5.11070345e+00,-1.64062249e+01,
 -1.67199692e-02,-6.18015967e+00, 2.31912717e+01,-3.25537074e+01,
 -5.85546694e-01, 9.29980173e-01,-1.79611637e+00, 5.69121881e+00,
  7.60474355e+00,-1.42941996e+01, 9.90908014e+00,-1.16582608e+02,
 -3.11527162e+01,-7.26450319e+02]

qfrc_actuator:
[ 0.00203786, 0.02902321, 0.00860655, 0.00164326, 0.00076711, 0.03567871,
  0.01147028, 0.00318801,-0.00247151, 0.02888878, 0.00862724, 0.00170417,
  0.01021871,-0.0015284 , 0.        ,-0.00304072, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -5.93144748,  -6.27731692,  -5.93144748,
        25.64469993, -16.07120601,  -6.27731692, -16.07120601,
        23.82207364,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007489367880870838
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29709898e-14, -7.41199419e-15,  1.00000000e+00,  9.61409013e-29,
        1.00000000e+00,  7.41199419e-15, -1.00000000e+00,  0.00000000e+00,
        1.29709898e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05971924, -0.04048844,  0.06114504])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93886854e-05,-1.28851843e-04,-3.98781936e-06, 3.86573284e-05,
  4.03878808e-06,-5.55395860e-04,-2.31192958e-04,-8.21165645e-05,
 -3.31200564e-06, 2.15871511e-05, 1.08034680e-04,-1.48028227e-05,
 -7.68743136e-05,-8.23556573e-06,-2.27994871e-05, 2.11771801e-05,
 -3.86831908e-02, 5.11217437e-02,-7.78313532e+00,-5.00046707e-03,
 -1.56250837e-01,-3.45376369e-04]


--- Step 1160 ---
qpos:
[-1.47963188e-04, 8.75717261e-01,-2.00875943e-02,-2.75370236e-02,
  6.83013362e-03, 8.56594136e-01,-3.05902493e-02, 7.99102357e-03,
  2.22257674e-02, 8.71722234e-01,-2.00009448e-02, 2.24656508e-02,
  1.26483307e+00,-1.01084764e-02, 9.14278300e-01, 6.18033091e-02,
 -4.22887182e-02,-6.04848681e-02, 6.88783567e-02, 6.89155355e-01,
 -1.61831041e-01,-6.88354224e-01,-1.58253195e-01]

qacc:
[-3.30079404e-01,-1.65735235e+00, 1.99996214e+00, 6.38636471e+00,
  7.59260755e-02,-3.16331702e+00, 9.07872139e+00,-2.44626282e+01,
  2.72961376e-01,-6.56997950e-01,-2.19121419e+00, 1.70997730e+01,
 -5.61148603e-01, 8.14476093e-01,-5.51652358e+00, 1.86515564e+01,
  5.89961057e+00,-1.17098931e+01, 6.73754517e+00,-9.20451790e+01,
 -1.64775037e+01,-6.28068024e+02]

qfrc_actuator:
[ 0.0019578 , 0.02899017, 0.00863717, 0.00166881, 0.00077866, 0.03550727,
  0.01140091, 0.00312997,-0.00241956, 0.02883973, 0.00865073, 0.00174723,
  0.01017517,-0.00152502, 0.        ,-0.00295093, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.03824538, -6.17465542, -6.03824538, 17.98042012,
       -9.13762826, -6.17465542, -9.13762826, 17.57212407,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0073302306988655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.78645322e-15, -2.27187193e-14,  1.00000000e+00,  8.60233678e-29,
        1.00000000e+00,  2.27187193e-14, -1.00000000e+00,  0.00000000e+00,
        3.78645322e-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([-0.05990523, -0.04026653,  0.06115625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.12123050e-05,-1.04932416e-04, 4.63909667e-06, 2.06064070e-05,
  1.33985410e-05,-5.38075428e-04,-2.17350377e-04,-9.18494790e-05,
  5.04065660e-05,-1.59137859e-05, 4.05653712e-05, 4.74049940e-05,
 -9.16725680e-05,-1.52452361e-05,-1.20570461e-05, 8.71564615e-05,
 -2.18572873e-02, 5.88736298e-02,-7.75011781e+00,-4.52604160e-03,
 -1.54765121e-01,-4.07906645e-04]


--- Step 1161 ---
qpos:
[-1.56758069e-04, 8.75746700e-01,-2.00891855e-02,-2.75360507e-02,
  6.84527637e-03, 8.56763810e-01,-3.05323356e-02, 8.02029452e-03,
  2.22251988e-02, 8.71749261e-01,-2.00043665e-02, 2.24667244e-02,
  1.26511743e+00,-1.01069601e-02, 9.14539976e-01, 6.18038154e-02,
 -4.23963708e-02,-6.04646281e-02, 6.89060643e-02, 6.88826430e-01,
 -1.56815694e-01,-6.89022179e-01,-1.61788205e-01]

qacc:
[-2.06794645e-01,-5.65292315e-01, 2.26511970e+00,-4.36696275e+00,
 -1.58571126e-01,-4.62730543e+00, 1.48667137e+01,-3.31948458e+01,
  1.06922878e-01, 2.90388295e+00,-9.02756223e+00, 7.68084897e+00,
 -3.99611120e-01, 4.62623272e-01,-1.08768795e+01, 3.72238072e+01,
  4.55297132e+00,-9.63473946e+00, 4.03243656e+00,-7.32123817e+01,
 -6.40316009e+00,-5.43225868e+02]

qfrc_actuator:
[ 0.00194901, 0.02903011, 0.00865589, 0.00166565, 0.00074382, 0.03533729,
  0.01135435, 0.00306587,-0.0024239 , 0.0288531 , 0.00859435, 0.00173653,
  0.01013882,-0.00152367, 0.        ,-0.00277262, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.93500052, -5.1470909 , -6.93500052, 12.42370383,
       -5.10292256, -5.1470909 , -5.10292256, 15.51185336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007100643690180278
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.81776324e-15, -3.12710530e-14,  1.00000000e+00,  2.44469688e-28,
        1.00000000e+00,  3.12710530e-14, -1.00000000e+00,  0.00000000e+00,
        7.81776324e-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([-0.06004894, -0.04000662,  0.06117364])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.82761126e-05,-1.75717306e-05,-1.87182915e-06,-7.12704986e-06,
 -2.85727723e-05,-5.24375702e-04,-1.89546484e-04,-9.68661183e-05,
  1.99349664e-05, 1.42723420e-05,-5.32252195e-05,-9.10013035e-06,
 -9.47490887e-05,-2.21166204e-05,-7.94212400e-08, 1.80650761e-04,
 -1.00894645e-02, 6.49372679e-02,-7.72536881e+00,-3.50132535e-03,
 -1.53821056e-01,-4.94637973e-04]


--- Step 1162 ---
qpos:
[-1.65391636e-04, 8.75776468e-01,-2.00913060e-02,-2.75361819e-02,
  6.85961989e-03, 8.56929586e-01,-3.04757266e-02, 8.04893962e-03,
  2.22245202e-02, 8.71775149e-01,-2.00066992e-02, 2.24677101e-02,
  1.26540140e+00,-1.01060404e-02, 9.14801291e-01, 6.18087764e-02,
 -4.24900366e-02,-6.04762128e-02, 6.89406979e-02, 6.88297293e-01,
 -1.51227234e-01,-6.89787373e-01,-1.66043793e-01]

qacc:
[ 8.34337483e-02,-3.60396220e-01, 6.56560553e+00,-2.50444995e+01,
 -4.22688495e-01,-2.79068373e+00, 5.12130789e+00,-1.10033173e+01,
 -5.61462964e-02,-4.72554422e+00, 1.50383824e+01,-1.74617856e+01,
  4.24180999e-01,-1.36638574e+00,-1.40128427e+01, 4.81844186e+01,
  3.49669797e+00,-7.95617003e+00, 1.73148330e+00,-5.86909458e+01,
  3.95522413e-01,-4.69450972e+02]

qfrc_actuator:
[ 0.001983  , 0.02906013, 0.00863223, 0.00161019, 0.00068154, 0.03513418,
  0.01128615, 0.00303425,-0.00244416, 0.02874358, 0.00863349, 0.00172977,
  0.01011746,-0.00155903, 0.        ,-0.00254362, 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: -0.006815421804124033
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.42536320e-14, -8.14493260e-15,  1.00000000e+00,  1.16094872e-28,
        1.00000000e+00,  8.14493260e-15, -1.00000000e+00,  0.00000000e+00,
        1.42536320e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06015908, -0.03971413,  0.06119602])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.55338306e-05, 1.88401975e-05,-2.79776718e-05,-5.64644409e-05,
 -7.58230684e-05,-5.44220817e-04,-2.05064746e-04,-6.29287596e-05,
 -1.06173956e-05,-1.13530957e-04, 3.50311763e-05,-8.20467253e-06,
 -8.29409017e-05,-6.09846359e-05, 1.56817127e-05, 2.38055462e-04,
 -1.42889595e-03, 7.02410234e-02,-7.70590140e+00,-2.06310884e-03,
 -1.53202980e-01,-6.01747372e-04]


--- Step 1163 ---
qpos:
[-1.73701585e-04, 8.75806534e-01,-2.00937787e-02,-2.75366405e-02,
  6.87351113e-03, 8.57091472e-01,-3.04204549e-02, 8.07766754e-03,
  2.22242196e-02, 8.71800032e-01,-2.00077531e-02, 2.24703031e-02,
  1.26568490e+00,-1.01055595e-02, 9.15062946e-01, 6.18137639e-02,
 -4.25730075e-02,-6.05141481e-02, 6.89744576e-02, 6.87587363e-01,
 -1.45135195e-01,-6.90613921e-01,-1.70914618e-01]

qacc:
[ 1.68022263e-01, 7.02513309e-01,-5.54669912e-01,-4.76166389e+00,
 -2.38908902e-01,-1.23446520e+00,-3.40963908e+00, 9.84371171e+00,
  1.97819260e-01,-1.59443685e+00,-3.03075540e+00, 2.95461854e+01,
  2.15972719e-02,-5.73491937e-01, 4.13788543e-01,-7.37578091e-01,
  2.67372823e+00,-6.58765776e+00,-2.18459784e-01,-4.74618803e+01,
  4.85954086e+00,-4.05073882e+02]

qfrc_actuator:
[ 0.00200674, 0.02908379, 0.0086192 , 0.00159537, 0.00067442, 0.03494835,
  0.01122338, 0.0030397 ,-0.00240272, 0.02872146, 0.00871051, 0.00181413,
  0.01009444,-0.00158025, 0.        ,-0.00255289, 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: -0.006487336719307311
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.71136951e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.71136951e-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([-0.06024237, -0.03939369,  0.06122244])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11573110e-05, 2.53397528e-05,-1.47491379e-05,-1.61152558e-05,
 -4.29676849e-05,-5.39698244e-04,-2.04439545e-04,-2.65734724e-05,
  3.63764648e-05,-7.93226367e-05, 5.74190792e-05, 8.05164205e-05,
 -8.61671432e-05,-5.19365249e-05, 2.90196996e-05, 4.90502828e-06,
  5.22787621e-03, 7.51563694e-02,-7.68991489e+00,-2.97295909e-04,
 -1.52773299e-01,-7.26199125e-04]


--- Step 1164 ---
qpos:
[-1.81491610e-04, 8.75836520e-01,-2.00957903e-02,-2.75359010e-02,
  6.88746272e-03, 8.57249605e-01,-3.03659223e-02, 8.10616953e-03,
  2.22243581e-02, 8.71825063e-01,-2.00082803e-02, 2.24730971e-02,
  1.26596773e+00,-1.01047913e-02, 9.15325084e-01, 6.18156262e-02,
 -4.26295121e-02,-6.05555113e-02, 6.89834345e-02, 6.87511923e-01,
 -1.39685435e-01,-6.90702329e-01,-1.75344309e-01]

qacc:
[ 2.70836745e-01, 1.07447779e+00,-9.02968050e+00, 2.90613011e+01,
  3.28092224e-02,-3.35537246e+00, 5.72402417e+00,-5.69534770e+00,
  2.28629793e-01,-8.60878323e-01, 2.50587297e+00, 2.25356910e-02,
 -8.99772015e-01, 1.48967378e+00, 1.01930973e+01,-3.45241252e+01,
  6.61656440e+00,-8.56958794e-01,-6.19569637e+00,-8.55221788e+01,
  3.85965001e+02, 4.81240668e+02]

qfrc_actuator:
[ 0.00204188, 0.02908579, 0.00864809, 0.00165788, 0.00070036, 0.03479218,
  0.01119991, 0.00303142,-0.00237796, 0.02878759, 0.00875638, 0.00182724,
  0.01007045,-0.0015574 , 0.        ,-0.00272024, 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: -0.006346002499931183
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.74742032e-15,  4.37371016e-15,  1.00000000e+00, -3.82586811e-29,
        1.00000000e+00, -4.37371016e-15, -1.00000000e+00,  0.00000000e+00,
        8.74742032e-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([-0.09385078, -0.04743611,  0.06123561])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.00476857e-05, 1.17601186e-05, 3.15372025e-05, 6.27222745e-05,
  5.60417424e-06,-5.05705385e-04,-1.62817729e-04,-3.93631030e-05,
  4.22834571e-05, 3.65141002e-05, 3.91536284e-05, 1.32275499e-05,
 -8.72161967e-05,-6.71964340e-06, 7.24548848e-06,-1.64902430e-04,
  1.05078471e-02, 7.97645609e-02,-7.67632303e+00, 1.73944180e-03,
 -1.52443131e-01,-8.65514066e-04]


--- Step 1165 ---
qpos:
[-1.89153091e-04, 8.75866100e-01,-2.00966929e-02,-2.75344228e-02,
  6.90117303e-03, 8.57404526e-01,-3.03124188e-02, 8.13498311e-03,
  2.22246749e-02, 8.71849867e-01,-2.00080095e-02, 2.24746734e-02,
  1.26625002e+00,-1.01038161e-02, 9.15587767e-01, 6.18111307e-02,
 -4.26638242e-02,-6.05995696e-02, 6.89642954e-02, 6.87996436e-01,
 -1.34831572e-01,-6.90151352e-01,-1.79366839e-01]

qacc:
[ 6.77237510e-02,-2.11280048e+00, 3.64329693e+00, 7.65115871e+00,
 -1.27188692e-01,-7.27859692e-01,-4.87973430e+00, 1.42814215e+01,
  9.32294508e-02,-5.03273401e+00, 2.26531453e+01,-4.48382087e+01,
 -8.82795372e-01, 1.45352436e+00, 2.00432952e+01,-6.88593212e+01,
  5.54811929e+00,-6.73783941e-01,-7.02900267e+00,-8.11786152e+01,
  3.32492931e+02, 4.39515230e+02]

qfrc_actuator:
[ 0.00203025, 0.02905728, 0.00870146, 0.00169436, 0.00067481, 0.03467298,
  0.01116446, 0.0030507 ,-0.00238118, 0.02874616, 0.00878379, 0.00176286,
  0.01005124,-0.00154418, 0.        ,-0.00305031, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.01489753,  3.21686096,  8.01489753, 12.43544767,
       -9.46552234,  3.21686096, -9.46552234, 32.21997283,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00637447145061585
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-1.74167071e-14,  8.70835357e-15,  1.00000000e+00,  1.51670844e-28,
        1.00000000e+00, -8.70835357e-15, -1.00000000e+00,  0.00000000e+00,
       -1.74167071e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09517643, -0.04779758,  0.06123649])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.23681681e-05,-1.33985240e-05, 6.16357287e-05, 3.92596960e-05,
 -2.29643761e-05,-4.41574768e-04,-1.63057594e-04,-9.15969333e-06,
  1.71641399e-05,-1.29408565e-05, 4.00439881e-05,-6.12449071e-05,
 -7.31797281e-05,-7.45301390e-06,-2.15838648e-05,-3.39842284e-04,
  2.49342976e-02, 1.56475892e-01,-7.71572567e+00, 1.11618754e-04,
 -1.54297944e-01,-8.91714867e-04]


--- Step 1166 ---
qpos:
[-1.96794755e-04, 8.75895170e-01,-2.00973095e-02,-2.75331390e-02,
  6.91455127e-03, 8.57556452e-01,-3.02598887e-02, 8.16341803e-03,
  2.22250556e-02, 8.71874179e-01,-2.00077338e-02, 2.24748656e-02,
  1.26653186e+00,-1.01029603e-02, 9.15850325e-01, 6.18026971e-02,
 -4.27060771e-02,-6.06361877e-02, 6.89887244e-02, 6.87952540e-01,
 -1.30933688e-01,-6.90159662e-01,-1.82365879e-01]

qacc:
[ 1.06507663e-02,-1.87263231e+00, 6.51888145e+00,-9.96352410e+00,
 -1.75292647e-01,-2.01696220e+00, 3.04683736e+00,-5.84246153e+00,
  3.33303110e-02,-3.51041134e+00, 1.74184865e+01,-4.10205931e+01,
 -4.02871933e-01, 4.12534026e-01, 1.17196636e+01,-4.12392881e+01,
 -1.98518885e+00, 1.86004939e+00, 1.08920217e+01, 3.88617537e+01,
 -5.29474462e+02, 5.96880150e+02]

qfrc_actuator:
[ 0.00202627, 0.02899309, 0.00869767, 0.00167972, 0.00065414, 0.03454142,
  0.0111224 , 0.0030328 ,-0.00238334, 0.02867602, 0.00876415, 0.00168883,
  0.01002425,-0.00155451, 0.        ,-0.00324273, 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: -0.006781565289437824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.18559563e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.18559563e-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([-0.02581265, -0.0810215 ,  0.06121002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89466927e-06,-5.79515605e-05, 2.17394181e-06,-1.23687613e-05,
 -3.15649104e-05,-4.16750625e-04,-1.55367054e-04,-4.30019233e-05,
  6.13752822e-06,-7.23240864e-05,-1.96989562e-05,-7.44340896e-05,
 -7.31722520e-05,-2.77375085e-05,-5.35691416e-05,-2.15478352e-04,
  1.37552106e-02, 2.11335041e-01,-7.74471839e+00,-2.19655631e-04,
 -1.55710945e-01,-9.50365079e-04]


--- Step 1167 ---
qpos:
[-2.04236179e-04, 8.75923340e-01,-2.00979948e-02,-2.75319644e-02,
  6.92796207e-03, 8.57705683e-01,-3.02092599e-02, 8.19109055e-03,
  2.22250834e-02, 8.71898074e-01,-2.00082820e-02, 2.24745635e-02,
  1.26681330e+00,-1.01024874e-02, 9.16112038e-01, 6.17962984e-02,
 -4.27559486e-02,-6.06671007e-02, 6.90428577e-02, 6.87451960e-01,
 -1.27807805e-01,-6.90667307e-01,-1.84536280e-01]

qacc:
[ 1.04420717e-01,-1.22338561e+00, 3.09388777e+00,-4.20922165e+00,
  1.69294118e-02, 1.79985498e-01,-2.59237188e+00,-5.57836867e+00,
 -1.83924842e-01, 7.32437713e-01,-1.32429730e+00,-5.60951984e+00,
  1.42564441e-01,-7.17445851e-01,-7.40530297e+00, 2.40637166e+01,
 -1.90464897e+00, 1.42627254e+00, 7.42606542e+00, 3.60296517e+01,
 -4.53995537e+02, 4.77106599e+02]

qfrc_actuator:
[ 0.00204467, 0.02890774, 0.00867771, 0.00167053, 0.00067209, 0.03440351,
  0.01102348, 0.00299316,-0.00242033, 0.02864225, 0.00871674, 0.00166292,
  0.00999794,-0.00157873, 0.        ,-0.00312167, 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: -0.00704408967106622
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.88052876e-15, -3.94026438e-15,  1.00000000e+00,  3.10513668e-29,
        1.00000000e+00,  3.94026438e-15, -1.00000000e+00,  0.00000000e+00,
        7.88052876e-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([-0.02298947, -0.08221759,  0.06119477])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.92500259e-05,-1.18493892e-04,-3.22973419e-05,-1.18758958e-05,
  2.99655091e-06,-4.08999929e-04,-2.07295584e-04,-6.40639289e-05,
 -3.40007571e-05,-8.20408714e-05,-6.75356778e-05,-3.11802011e-05,
 -7.71767016e-05,-4.55937459e-05,-5.20180719e-05, 1.01400617e-04,
  9.05730659e-03, 7.90738258e-02,-7.77197692e+00, 7.40584192e-03,
 -1.56063982e-01,-1.21382036e-03]


--- Step 1168 ---
qpos:
[-2.11806398e-04, 8.75950556e-01,-2.00985982e-02,-2.75305672e-02,
  6.94163243e-03, 8.57851967e-01,-3.01604809e-02, 8.21844085e-03,
  2.22250822e-02, 8.71921587e-01,-2.00089012e-02, 2.24735498e-02,
  1.26709416e+00,-1.01020013e-02, 9.16373131e-01, 6.17936472e-02,
 -4.28128070e-02,-6.06925679e-02, 6.91172381e-02, 6.86563693e-01,
 -1.25332740e-01,-6.91612738e-01,-1.85994139e-01]

qacc:
[-6.66080134e-02,-1.02818415e+00, 9.04015331e-01, 3.50885893e+00,
  1.37166896e-01, 6.07485202e-01,-6.45963163e+00, 6.01125544e+00,
 -1.49810101e-02,-1.76733922e+00, 8.57663105e+00,-2.04966639e+01,
 -2.46204536e-01, 1.89556531e-01,-1.22149478e+01, 4.14363706e+01,
 -1.74672665e+00, 1.36145026e+00, 5.06178328e+00, 3.79801187e+01,
 -3.89944488e+02, 4.05924133e+02]

qfrc_actuator:
[ 0.00202307, 0.02886356, 0.00868381, 0.00168237, 0.00069523, 0.03424494,
  0.01092727, 0.00297652,-0.00240682, 0.02864819, 0.00872452, 0.00163003,
  0.00997204,-0.00157547, 0.        ,-0.00292342, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.56677026, -1.0941774 ,  8.56677026,  8.77853188,
        1.11309435, -1.0941774 ,  1.11309435, 17.35124256,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007141329141836281
  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([-0.02311453, -0.08206846,  0.0611908 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.24256643e-05,-1.18257637e-04,-2.29730633e-05, 5.37343299e-06,
  2.45106240e-05,-4.36870147e-04,-2.10080449e-04,-4.29348819e-05,
 -2.79520500e-06,-5.57858584e-05,-1.87476188e-05,-3.93764684e-05,
 -8.27788234e-05,-2.27684228e-05,-1.44503310e-05, 1.96805979e-04,
 -6.85420564e-03, 7.99109914e-03,-7.79122725e+00, 1.22140787e-02,
 -1.56396557e-01,-1.40296085e-03]


--- Step 1169 ---
qpos:
[-2.19910427e-04, 8.75977391e-01,-2.00999234e-02,-2.75294033e-02,
  6.95551263e-03, 8.57994841e-01,-3.01122102e-02, 8.24430259e-03,
  2.22253365e-02, 8.71944604e-01,-2.00099983e-02, 2.24725375e-02,
  1.26737439e+00,-1.01012042e-02, 9.16634248e-01, 6.17920092e-02,
 -4.28760489e-02,-6.07125433e-02, 6.92027483e-02, 6.85357897e-01,
 -1.23427504e-01,-6.92928374e-01,-1.86816681e-01]

qacc:
[-2.77986067e-01, 1.03147628e+00,-3.42682456e+00, 8.29226670e-01,
  1.11790625e-01,-6.14196651e+00, 2.16508988e+01,-4.41009568e+01,
  1.32672868e-01, 6.79778920e-01,-3.38368790e+00, 4.53603668e+00,
 -6.95243746e-01, 1.16530465e+00,-2.98564831e+00, 1.05832184e+01,
 -1.59587505e+00, 1.37294659e+00, 2.78245594e+00, 3.86141183e+01,
 -3.29694160e+02, 3.62415132e+02]

qfrc_actuator:
[ 0.00197771, 0.02886224, 0.00865216, 0.00167102, 0.00070349, 0.03407529,
  0.0109044 , 0.00290253,-0.00238095, 0.02860707, 0.00869397, 0.00162889,
  0.00994642,-0.00155596, 0.        ,-0.00287667, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.51275296,  1.45595805,  8.51275296,  8.92649998,
       -1.69638063,  1.45595805, -1.69638063, 18.55482885,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007101056262764249
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.81730903e-15,  7.81730903e-15,  1.00000000e+00, -6.11103204e-29,
        1.00000000e+00, -7.81730903e-15, -1.00000000e+00,  0.00000000e+00,
        7.81730903e-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([-0.02326448, -0.08282858,  0.0611956 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.14048784e-05,-7.25812228e-05,-5.89235092e-05,-1.71361313e-05,
  1.97921566e-05,-4.63102863e-04,-1.42067279e-04,-1.01154224e-04,
  2.45742995e-05,-7.84218704e-05,-4.59194511e-05,-4.98297497e-06,
 -8.02474035e-05,-3.49864834e-06, 1.18136005e-05, 5.50773486e-05,
 -3.03659569e-02,-2.34749270e-02,-7.80472317e+00, 1.51348884e-02,
 -1.56725301e-01,-1.54013293e-03]


--- Step 1170 ---
qpos:
[-2.28332912e-04, 8.76003919e-01,-2.01019888e-02,-2.75287388e-02,
  6.96929714e-03, 8.58134484e-01,-3.00649690e-02, 8.26908299e-03,
  2.22256881e-02, 8.71967539e-01,-2.00130573e-02, 2.24715690e-02,
  1.26765398e+00,-1.00999042e-02, 9.16895539e-01, 6.17896123e-02,
 -4.29449923e-02,-6.07263415e-02, 6.92958751e-02, 6.83867311e-01,
 -1.22014816e-01,-6.94581623e-01,-1.87067513e-01]

qacc:
[-1.66014402e-01, 6.32576567e-01,-7.41016970e-01,-6.48524758e+00,
 -5.01647708e-02,-3.61567262e+00, 1.12636790e+01,-2.59602751e+01,
  4.94837538e-02, 5.46232720e+00,-1.98178197e+01, 2.37712844e+01,
 -9.51336300e-01, 1.75040840e+00, 2.60340349e+00,-8.61298360e+00,
 -1.42537342e+00, 1.54429160e+00, 1.90414020e+00, 4.32516820e+01,
 -2.95653142e+02, 3.19126928e+02]

qfrc_actuator:
[ 0.0019718 , 0.02885094, 0.00861637, 0.00164614, 0.00068501, 0.0339184 ,
  0.01085392, 0.00284869,-0.00238343, 0.02859124, 0.0085876 , 0.0016286 ,
  0.00992099,-0.00152701, 0.        ,-0.00291959, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.19203769, -2.73446437,  8.19203769,  8.56708589,
       -0.20754555, -2.73446437, -0.20754555,  8.01458886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006949484972450362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.59756159e-14, -1.59756159e-14,  1.00000000e+00,  2.55220303e-28,
        1.00000000e+00,  1.59756159e-14, -1.00000000e+00,  0.00000000e+00,
        1.59756159e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02589003, -0.0807892 ,  0.06120731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.06713161e-05,-6.53935202e-05,-5.88161438e-05,-3.04023164e-05,
 -9.17309857e-06,-4.53378454e-04,-1.68692491e-04,-8.09043347e-05,
  9.36971838e-06,-6.99067072e-05,-1.28562590e-04,-5.36058550e-06,
 -7.41452915e-05, 1.03167004e-05, 5.94575262e-06,-3.96127563e-05,
 -5.71496442e-02,-2.80494801e-02,-7.81471432e+00, 1.66754709e-02,
 -1.57092461e-01,-1.63796089e-03]


--- Step 1171 ---
qpos:
[-2.36355568e-04, 8.76029869e-01,-2.01044388e-02,-2.75280230e-02,
  6.98286202e-03, 8.58271164e-01,-3.00191910e-02, 8.29370482e-03,
  2.22262540e-02, 8.71989619e-01,-2.00157196e-02, 2.24698496e-02,
  1.26793310e+00,-1.00983110e-02, 9.17156483e-01, 6.17894017e-02,
 -4.29892703e-02,-6.07414587e-02, 6.93647564e-02, 6.83178488e-01,
 -1.21395816e-01,-6.95396948e-01,-1.86958000e-01]

qacc:
[ 2.07925394e-01, 4.16353801e-01,-2.80824214e+00, 4.73354222e+00,
 -1.16023597e-01,-1.53801149e-01,-4.46330520e+00, 6.23872981e+00,
  1.11899393e-01,-3.78261324e+00, 1.50177479e+01,-2.80170969e+01,
 -4.91901238e-01, 8.70593093e-01,-7.08426055e+00, 2.41054750e+01,
  6.16634253e+00,-3.29739477e-01,-6.06136560e+00,-1.75704653e+02,
  4.68740394e+02, 5.24966771e+02]

qfrc_actuator:
[ 0.00202508, 0.02881599, 0.00859617, 0.001649  , 0.00066847, 0.03378811,
  0.0107876 , 0.00284262,-0.00236736, 0.02855487, 0.00861495, 0.00159329,
  0.00990636,-0.00151046, 0.        ,-0.0028019 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.3680176 ,  4.50545154, -7.3680176 ,  7.43567244,
       -1.96355766,  4.50545154, -1.96355766,  5.42524767,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006941461473423005
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.99704089e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.99704089e-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([-0.09466438, -0.04818169,  0.06120846])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.84745965e-05,-8.55637867e-05,-4.21855305e-05,-2.60709644e-06,
 -2.09255595e-05,-4.25897824e-04,-1.85067449e-04,-3.32263578e-05,
  2.06071937e-05,-1.02763500e-04,-3.27062349e-06,-4.28905227e-05,
 -5.67334881e-05, 2.11573705e-06,-7.48057361e-06, 1.14913798e-04,
 -8.70215346e-02,-1.52106462e-02,-7.82198020e+00, 1.72835933e-02,
 -1.57477703e-01,-1.71018485e-03]


--- Step 1172 ---
qpos:
[-2.43454942e-04, 8.76055169e-01,-2.01071310e-02,-2.75269348e-02,
  6.99616263e-03, 8.58404868e-01,-2.99738257e-02, 8.31832935e-03,
  2.22268353e-02, 8.72010790e-01,-2.00163989e-02, 2.24683056e-02,
  1.26821201e+00,-1.00968829e-02, 9.17417113e-01, 6.17922470e-02,
 -4.30125587e-02,-6.07578124e-02, 6.94073902e-02, 6.83186069e-01,
 -1.21467664e-01,-6.95493950e-01,-1.86522296e-01]

qacc:
[ 4.80304800e-01, 5.85625189e-01,-4.90141570e+00, 1.22032069e+01,
 -1.38916725e-01,-2.77345556e+00, 4.16915773e+00,-1.27480857e+00,
  9.56642066e-03,-6.37814207e+00, 2.02591268e+01,-1.97250652e+01,
  1.36597172e-01,-4.50927628e-01,-9.69754432e+00, 3.32369277e+01,
  5.24739072e+00,-3.09102208e-01,-6.56188158e+00,-1.47448697e+02,
  4.03131160e+02, 4.60330068e+02]

qfrc_actuator:
[ 0.00209552, 0.02878498, 0.00858527, 0.00166815, 0.00065325, 0.03367478,
  0.01078363, 0.00284698,-0.00237583, 0.02856023, 0.00873869, 0.00160874,
  0.00990353,-0.0015191 , 0.        ,-0.00264375, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.35762944,  2.17642069, -8.35762944, 10.75062977,
        8.11895099,  2.17642069,  8.11895099, 39.81378452,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007036556684018744
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.88896526e-15, -3.94448263e-15,  1.00000000e+00,  3.11178864e-29,
        1.00000000e+00,  3.94448263e-15, -1.00000000e+00,  0.00000000e+00,
        7.88896526e-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([-0.09455846, -0.04826155,  0.06120324])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.88702922e-05,-8.82452162e-05,-3.40439110e-05, 1.39399126e-05,
 -2.51561024e-05,-3.94811188e-04,-1.17371396e-04,-2.12553493e-05,
  1.46992702e-06,-5.51095394e-05, 1.00488341e-04, 1.00772445e-05,
 -3.62865794e-05,-2.07817365e-05, 5.19476730e-06, 1.62629522e-04,
 -2.16970670e-02, 2.99796770e-04,-7.84223142e+00, 1.54538312e-02,
 -1.58524202e-01,-1.61287404e-03]


--- Step 1173 ---
qpos:
[-2.49463945e-04, 8.76079747e-01,-2.01101968e-02,-2.75256077e-02,
  7.00918766e-03, 8.58535673e-01,-2.99289196e-02, 8.34279999e-03,
  2.22271848e-02, 8.72031628e-01,-2.00163651e-02, 2.24676607e-02,
  1.26849069e+00,-1.00957997e-02, 9.17677705e-01, 6.17969533e-02,
 -4.30180222e-02,-6.07753467e-02, 6.94217638e-02, 6.83794557e-01,
 -1.22136989e-01,-6.94973456e-01,-1.85794118e-01]

qacc:
[ 5.67136438e-01, 5.81739314e-01,-4.46320060e+00, 9.71719947e+00,
 -1.44939989e-01,-2.85982204e+00, 5.29218166e+00,-5.09302127e+00,
 -1.19964063e-01,-5.80712159e-01,-2.36211619e+00, 1.70277412e+01,
  2.03317018e-01,-7.16959451e-01,-5.69132094e+00, 1.97943500e+01,
  4.45625621e+00,-2.95190891e-01,-7.06505449e+00,-1.23480144e+02,
  3.46411153e+02, 4.01222233e+02]

qfrc_actuator:
[ 0.00215782, 0.02873889, 0.00856219, 0.00167898, 0.00063896, 0.03353734,
  0.01076335, 0.00283975,-0.00239891, 0.02855553, 0.00877652, 0.00165404,
  0.00988116,-0.0015425 , 0.        ,-0.00255184, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.35028939,  2.20441467, -8.35028939, 10.84454524,
        8.36455847,  2.20441467,  8.36455847, 40.32118445,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007004297556456325
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58505977e-14, -3.96264942e-15,  1.00000000e+00,  6.28103615e-29,
        1.00000000e+00,  3.96264942e-15, -1.00000000e+00,  0.00000000e+00,
        1.58505977e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09469414, -0.04829812,  0.06120709])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.04956205e-04,-1.02414705e-04,-4.51841169e-05, 6.11061654e-06,
 -2.62292399e-05,-3.86978510e-04,-1.18479975e-04,-2.89374422e-05,
 -2.23343059e-05,-1.48240143e-05, 3.90149444e-05, 4.65747850e-05,
 -4.86725147e-05,-3.55131055e-05, 1.61485617e-05, 1.00621395e-04,
 -8.96610573e-04, 1.35425740e-03,-7.84929678e+00, 1.48823111e-02,
 -1.58903788e-01,-1.56845216e-03]


--- Step 1174 ---
qpos:
[-2.54727417e-04, 8.76103883e-01,-2.01136650e-02,-2.75241958e-02,
  7.02175179e-03, 8.58663669e-01,-2.98852101e-02, 8.36737294e-03,
  2.22276483e-02, 8.72051570e-01,-2.00161575e-02, 2.24687101e-02,
  1.26876906e+00,-1.00954532e-02, 9.17938820e-01, 6.17987164e-02,
 -4.30084154e-02,-6.07940065e-02, 6.94059739e-02, 6.84917719e-01,
 -1.23319219e-01,-6.93921397e-01,-1.84805798e-01]

qacc:
[ 3.87655102e-01, 7.15043356e-01,-3.75376205e+00, 6.18761767e+00,
 -2.43365147e-01,-1.59760718e-01,-5.25053684e+00, 1.10022959e+01,
  5.98118479e-02, 1.81491806e+00,-1.53468098e+01, 4.50565449e+01,
  2.52935134e-01,-1.13055276e+00, 9.63068539e+00,-3.26328840e+01,
  3.76755776e+00,-2.81352854e-01,-7.54085873e+00,-1.02915294e+02,
  2.97049977e+02, 3.47443848e+02]

qfrc_actuator:
[ 0.0021792 , 0.02873735, 0.0085498 , 0.0016848 , 0.00060758, 0.03338654,
  0.01069799, 0.00284346,-0.00237725, 0.0284558 , 0.00876327, 0.00173419,
  0.00984173,-0.00159228, 0.        ,-0.00271272, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.31819543,  2.32258513, -8.31819543, 11.08491385,
        8.76933162,  2.32258513,  8.76933162, 40.04318418,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0068679597268803405
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61652524e-14,  4.04131310e-15,  1.00000000e+00, -6.53288463e-29,
        1.00000000e+00, -4.04131310e-15, -1.00000000e+00,  0.00000000e+00,
        1.61652524e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09502236, -0.04830068,  0.06121816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.17649072e-05,-6.84123516e-05,-3.90655484e-05,-3.92817849e-08,
 -4.38174066e-05,-3.96442824e-04,-1.62318294e-04,-1.78333927e-05,
  1.09610477e-05,-9.84496371e-05,-1.00551361e-05, 8.17428626e-05,
 -7.64596412e-05,-6.76258794e-05, 1.33578557e-05,-1.54443179e-04,
 -9.25736941e-03,-7.40811462e-03,-7.84786646e+00, 1.50843357e-02,
 -1.58851037e-01,-1.55463752e-03]


--- Step 1175 ---
qpos:
[-2.60035894e-04, 8.76128089e-01,-2.01175529e-02,-2.75227914e-02,
  7.03366244e-03, 8.58789179e-01,-2.98432920e-02, 8.39075755e-03,
  2.22284837e-02, 8.72070903e-01,-2.00164109e-02, 2.24707201e-02,
  1.26904699e+00,-1.00956605e-02, 9.18199771e-01, 6.18002367e-02,
 -4.29861576e-02,-6.08137263e-02, 6.93582976e-02, 6.86478187e-01,
 -1.24938169e-01,-6.92411537e-01,-1.83587624e-01]

qacc:
[-2.36894152e-02, 1.24895964e+00,-4.28716579e+00, 4.77552110e+00,
 -3.45679933e-01,-7.25871381e-01, 2.83830220e+00,-1.87126897e+01,
  1.93324671e-01, 2.45751209e+00,-1.39888654e+01, 3.18005916e+01,
  1.35540874e-01,-8.49668167e-01, 4.72737126e-01,-2.04639490e+00,
  3.16275034e+00,-2.64990968e-01,-7.97161157e+00,-8.51464677e+01,
  2.53979319e+02, 2.98877564e+02]

qfrc_actuator:
[ 0.00214043, 0.02878029, 0.00854399, 0.00168768, 0.00056626, 0.0332643 ,
  0.01060651, 0.00278254,-0.00234676, 0.02842404, 0.00873738, 0.00178084,
  0.0098134 ,-0.00162184, 0.        ,-0.00271942, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.23981088,  2.58694674, -8.23981088, 11.59232812,
        9.41518737,  2.58694674,  9.41518737, 38.62513847,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0066480119565601944
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.35003781e-15, -4.17501891e-15,  1.00000000e+00,  3.48615658e-29,
        1.00000000e+00,  4.17501891e-15, -1.00000000e+00,  0.00000000e+00,
        8.35003781e-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([-0.09550599, -0.04827609,  0.06123503])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.33351070e-06,-3.90414711e-06,-2.49096916e-05,-1.43593427e-06,
 -6.20892229e-05,-3.81677516e-04,-1.95385429e-04,-8.41684253e-05,
  3.57925555e-05,-8.58640124e-05,-4.47926673e-05, 4.36469354e-05,
 -8.96121923e-05,-5.99290453e-05,-1.75303074e-05,-1.51146198e-05,
 -3.56970380e-02,-2.23025683e-02,-7.84102270e+00, 1.57072419e-02,
 -1.58533786e-01,-1.55592209e-03]


--- Step 1176 ---
qpos:
[-2.65770011e-04, 8.76151822e-01,-2.01216057e-02,-2.75209673e-02,
  7.04495663e-03, 8.58912548e-01,-2.98031058e-02, 8.41386651e-03,
  2.22293137e-02, 8.72090165e-01,-2.00177096e-02, 2.24718631e-02,
  1.26932438e+00,-1.00959878e-02, 9.18460172e-01, 6.18049779e-02,
 -4.29722333e-02,-6.08123052e-02, 6.93367608e-02, 6.87640639e-01,
 -1.27070437e-01,-6.91398802e-01,-1.81579602e-01]

qacc:
[-2.21285303e-01, 7.01678119e-01,-5.17431680e+00, 1.30398752e+01,
 -3.26098422e-01, 1.43855083e+00,-8.07437543e+00, 7.65108881e+00,
 -3.46967060e-03, 1.04290402e+00,-1.93625852e-01,-1.30881729e+01,
 -1.34406339e-01,-9.18120690e-02,-1.05308807e+01, 3.56753212e+01,
 -2.08337051e+00, 5.28519695e+00, 6.53486424e+00, 1.18028554e+02,
 -4.04888477e+02, 3.81230609e+02]

qfrc_actuator:
[ 0.00210156, 0.02872532, 0.00852456, 0.0017066 , 0.00053709, 0.0331955 ,
  0.01053592, 0.00277285,-0.00236452, 0.02843311, 0.00868672, 0.00173644,
  0.00979707,-0.00162141, 0.        ,-0.00254638, 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: -0.006703815948523359
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.28053032e-15, -8.28053032e-15,  1.00000000e+00,  6.85671824e-29,
        1.00000000e+00,  8.28053032e-15, -1.00000000e+00,  0.00000000e+00,
        8.28053032e-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([-0.02524939, -0.08147949,  0.06123205])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09963523e-05,-6.28878897e-05,-2.35112375e-05, 1.78331189e-05,
 -5.85722472e-05,-3.29576611e-04,-1.77767814e-04,-3.47307747e-05,
 -5.27601620e-07,-4.67687213e-05,-7.25548803e-05,-4.88098312e-05,
 -8.37575917e-05,-3.13718474e-05,-1.40190335e-05, 1.68947825e-04,
 -7.22887067e-02,-4.05139885e-02,-7.83083562e+00, 1.64993627e-02,
 -1.58070507e-01,-1.56166113e-03]


--- Step 1177 ---
qpos:
[-2.71740428e-04, 8.76174707e-01,-2.01259220e-02,-2.75192201e-02,
  7.05591819e-03, 8.59033768e-01,-2.97636968e-02, 8.43729735e-03,
  2.22300273e-02, 8.72109553e-01,-2.00198267e-02, 2.24727688e-02,
  1.26960122e+00,-1.00963324e-02, 9.18720769e-01, 6.18090355e-02,
 -4.29655664e-02,-6.07931715e-02, 6.93319485e-02, 6.88458463e-01,
 -1.29654783e-01,-6.90805380e-01,-1.78892452e-01]

qacc:
[-1.22767343e-01,-5.43445997e-01, 6.35307253e-01,-9.21763999e-01,
 -1.75447532e-01,-7.02713897e-03,-5.45567777e+00, 1.38511332e+01,
 -6.10599245e-02, 1.96328979e+00,-5.75643248e+00, 2.86149602e+00,
 -4.34898649e-01, 4.98743369e-01, 2.37291202e+00,-7.83744435e+00,
 -1.81436534e+00, 4.42816746e+00, 4.18115812e+00, 9.55141915e+01,
 -3.47499893e+02, 3.31853320e+02]

qfrc_actuator:
[ 0.00209854, 0.02864762, 0.00849687, 0.00169922, 0.0005332 , 0.03312391,
  0.01051404, 0.00279347,-0.00237551, 0.0284664 , 0.00865747, 0.00172762,
  0.00977199,-0.00162095, 0.        ,-0.00258841, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.53406105,  5.64737311, -6.53406105, 13.89553078,
        6.08490329,  5.64737311,  6.08490329, 15.67665101,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006701770870231827
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.28305717e-15, -8.28305717e-15,  1.00000000e+00, -6.86090360e-29,
        1.00000000e+00,  8.28305717e-15, -1.00000000e+00,  0.00000000e+00,
       -8.28305717e-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([-0.02524743, -0.08153817,  0.06123284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.27780056e-05,-1.17475162e-04,-4.31079747e-05,-1.05699187e-05,
 -3.16358976e-05,-2.97410475e-04,-1.14390572e-04,-6.18330902e-07,
 -1.12071576e-05,-1.03846754e-05,-4.96773176e-05,-1.43161555e-05,
 -8.22482250e-05,-2.44765937e-05, 8.75174128e-06,-3.52554568e-05,
 -3.10975342e-02,-3.65529382e-02,-7.83486625e+00, 1.44556560e-02,
 -1.58476159e-01,-1.45534032e-03]


--- Step 1178 ---
qpos:
[-2.77817391e-04, 8.76196502e-01,-2.01298408e-02,-2.75179347e-02,
  7.06702778e-03, 8.59152825e-01,-2.97248433e-02, 8.45973638e-03,
  2.22307992e-02, 8.72128434e-01,-2.00218512e-02, 2.24742691e-02,
  1.26987743e+00,-1.00966319e-02, 9.18981623e-01, 6.18105593e-02,
 -4.29651654e-02,-6.07592203e-02, 6.93353948e-02, 6.88976395e-01,
 -1.32634891e-01,-6.90561679e-01,-1.75624828e-01]

qacc:
[-5.48132573e-02,-3.50159377e+00, 1.23406286e+01,-2.01602140e+01,
  7.85547798e-02,-3.34281563e+00, 1.19623737e+01,-2.66530265e+01,
  3.05325779e-02, 2.95302872e-01,-4.53639730e+00, 1.50555811e+01,
 -6.24252610e-01, 8.43295860e-01, 8.05943401e+00,-2.75792027e+01,
 -1.56646869e+00, 3.70438708e+00, 2.06463187e+00, 7.61043876e+01,
 -2.96997847e+02, 2.87020658e+02]

qfrc_actuator:
[ 0.00209926, 0.02859236, 0.00851764, 0.00167639, 0.00056218, 0.03301601,
  0.01048562, 0.00274301,-0.00236457, 0.02842529, 0.00865901, 0.00175761,
  0.00973635,-0.00162053, 0.        ,-0.00272135, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.31960996,  5.88636618, -6.31960996, 14.4682749 ,
        6.26114709,  5.88636618,  6.26114709, 15.35833884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00658344019525145
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.52958102e-14, -4.21596837e-15,  1.00000000e+00,  1.06646336e-28,
        1.00000000e+00,  4.21596837e-15, -1.00000000e+00,  0.00000000e+00,
        2.52958102e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02501371, -0.08177211,  0.06124138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.02880410e-05,-1.30802478e-04,-9.30275193e-06,-2.95891208e-05,
  1.39836961e-05,-3.01127917e-04,-1.05279968e-04,-6.74482891e-05,
  5.59352867e-06,-5.82375702e-05,-7.35398750e-06, 2.75224029e-05,
 -9.04259923e-05,-2.27611816e-05,-5.76219983e-06,-1.35150787e-04,
 -5.22694874e-03,-1.06882350e-02,-7.83922350e+00, 1.15420910e-02,
 -1.59052894e-01,-1.34399677e-03]


--- Step 1179 ---
qpos:
[-2.83731316e-04, 8.76217349e-01,-2.01329808e-02,-2.75169786e-02,
  7.07834292e-03, 8.59269451e-01,-2.96862441e-02, 8.48140489e-03,
  2.22314798e-02, 8.72146263e-01,-2.00237805e-02, 2.24751515e-02,
  1.27015295e+00,-1.00966236e-02, 9.19242213e-01, 6.18121458e-02,
 -4.29701190e-02,-6.07129147e-02, 6.93395564e-02, 6.89232383e-01,
 -1.35959247e-01,-6.90605792e-01,-1.71864615e-01]

qacc:
[ 8.55760611e-02,-4.10769264e+00, 1.42119798e+01,-2.04513500e+01,
  1.09233947e-01,-4.08465960e+00, 1.31572221e+01,-2.43027718e+01,
 -4.70092616e-02,-2.92606741e+00, 1.10265770e+01,-2.11008497e+01,
 -7.73784988e-01, 1.26658501e+00,-5.37680835e-01, 1.40707708e+00,
 -1.33865203e+00, 3.08859201e+00, 1.78805750e-01, 5.93953596e+01,
 -2.52490940e+02, 2.46466881e+02]

qfrc_actuator:
[ 0.00211994, 0.02856889, 0.00856694, 0.00166245, 0.00057504, 0.03288719,
  0.01047111, 0.00270436,-0.0023761 , 0.02832236, 0.00864293, 0.00172139,
  0.00970506,-0.00160242, 0.        ,-0.00271144, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.23959369,  5.97111777, -6.23959369, 14.44572232,
        6.07056152,  5.97111777,  6.07056152, 14.97987231,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006371356653632962
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.71261087e-15, -8.71261087e-15,  1.00000000e+00,  7.59095882e-29,
        1.00000000e+00,  8.71261087e-15, -1.00000000e+00,  0.00000000e+00,
        8.71261087e-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([-0.02459309, -0.08214829,  0.06125616])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56756042e-05,-1.00269433e-04, 1.99811718e-05,-2.04620417e-05,
  1.94401253e-05,-3.25040046e-04,-9.33003045e-05,-5.67866871e-05,
 -8.81013895e-06,-1.36262374e-04,-2.81888360e-05,-3.84614468e-05,
 -9.08080008e-05,-6.49041024e-06,-2.33625660e-05, 3.21688561e-07,
  1.01321323e-02, 2.79429947e-02,-7.84357298e+00, 8.09028209e-03,
 -1.59694629e-01,-1.22651202e-03]


--- Step 1180 ---
qpos:
[-2.89599332e-04, 8.76237542e-01,-2.01355672e-02,-2.75172569e-02,
  7.08941390e-03, 8.59382680e-01,-2.96471549e-02, 8.50354542e-03,
  2.22320429e-02, 8.72163234e-01,-2.00255953e-02, 2.24745317e-02,
  1.27042784e+00,-1.00961698e-02, 9.19502966e-01, 6.18111153e-02,
 -4.29795926e-02,-6.06563634e-02, 6.93377827e-02, 6.89258877e-01,
 -1.39581107e-01,-6.90883090e-01,-1.67689807e-01]

qacc:
[ 2.43830684e-02,-4.95252114e+00, 2.16036094e+01,-4.33471218e+01,
 -1.27402898e-01,-4.87934111e+00, 8.89624593e+00, 9.82638367e-01,
 -6.08550156e-02,-4.54351617e+00, 2.08982330e+01,-4.64495781e+01,
 -9.68312795e-01, 1.74025972e+00, 8.19528163e+00,-2.82036380e+01,
 -1.12997535e+00, 2.56140731e+00,-1.48381551e+00, 4.50730428e+01,
 -2.13355226e+02, 2.10035709e+02]

qfrc_actuator:
[ 0.00211686, 0.02854704, 0.00859731, 0.00160065, 0.0005426 , 0.03267594,
  0.01048262, 0.00272622,-0.00238323, 0.02828961, 0.00865176, 0.00164642,
  0.00968706,-0.001574  , 0.        ,-0.00284819, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.36352442,  5.83886408, -6.36352442, 13.71518976,
        5.53519205,  5.83886408,  5.53519205, 14.66892909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006085447510593242
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28048764e-15, -9.12195054e-15,  1.00000000e+00,  2.08024954e-29,
        1.00000000e+00,  9.12195054e-15, -1.00000000e+00,  0.00000000e+00,
        2.28048764e-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([-0.02401957, -0.0826415 ,  0.06127606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.40482436e-06,-7.51201136e-05, 1.12800285e-05,-6.58316425e-05,
 -2.32777285e-05,-4.17843418e-04,-7.03484388e-05, 3.33037026e-06,
 -1.13517065e-05,-1.16825682e-04,-2.42493893e-05,-8.25598063e-05,
 -7.39975200e-05, 6.95323497e-06,-1.48306696e-05,-1.40681995e-04,
  1.84120685e-02, 7.27732729e-02,-7.84781737e+00, 4.34458752e-03,
 -1.60327724e-01,-1.10272570e-03]


--- Step 1181 ---
qpos:
[-2.95256367e-04, 8.76256990e-01,-2.01379606e-02,-2.75189276e-02,
  7.10011932e-03, 8.59492517e-01,-2.96084331e-02, 8.52686669e-03,
  2.22325036e-02, 8.72179600e-01,-2.00269327e-02, 2.24736496e-02,
  1.27070238e+00,-1.00959747e-02, 9.19764229e-01, 6.18034111e-02,
 -4.29712697e-02,-6.06008767e-02, 6.93065583e-02, 6.89850646e-01,
 -1.43793299e-01,-6.90493114e-01,-1.63244702e-01]

qacc:
[ 1.10027783e-01,-4.39428622e+00, 2.00974022e+01,-4.39223679e+01,
 -1.91994930e-01,-1.02661040e+00,-7.83116815e+00, 3.13506442e+01,
 -5.27273347e-02,-2.66997652e+00, 9.47121805e+00,-1.43308304e+01,
 -3.52805586e-01, 2.63376805e-01, 2.09102010e+01,-7.20441539e+01,
  4.44910750e+00,-2.66133631e-01,-7.36264792e+00,-1.26570797e+02,
  3.56872778e+02, 3.91048093e+02]

qfrc_actuator:
[ 0.00213509, 0.02849074, 0.00859848, 0.00152891, 0.00051885, 0.03248819,
  0.01045584, 0.00278346,-0.00238767, 0.02829919, 0.00869321, 0.00163809,
  0.00966639,-0.0015929 , 0.        ,-0.00319455, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.71373209,  3.88395599, -7.71373209,  7.96247847,
       -1.33836986,  3.88395599, -1.33836986,  5.97829373,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00585780653970816
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.89528797e-14, -2.84293195e-14,  1.00000000e+00,  5.38817472e-28,
        1.00000000e+00,  2.84293195e-14, -1.00000000e+00,  0.00000000e+00,
        1.89528797e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0959109 , -0.04802826,  0.06129116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02951763e-05,-9.92352921e-05,-1.53631431e-05,-7.58690382e-05,
 -3.48104327e-05,-4.38857297e-04,-1.22869588e-04, 3.66974939e-05,
 -9.87326846e-06,-6.46785278e-05, 1.13659009e-05,-1.58021630e-05,
 -6.36864683e-05,-3.38165308e-05,-2.76961378e-05,-3.57303767e-04,
  2.20558813e-02, 1.19216633e-01,-7.85194984e+00, 4.80491137e-04,
 -1.60903349e-01,-9.73046528e-04]


--- Step 1182 ---
qpos:
[-3.00676613e-04, 8.76275721e-01,-2.01406311e-02,-2.75210706e-02,
  7.11045874e-03, 8.59599833e-01,-2.95711466e-02, 8.54926824e-03,
  2.22330708e-02, 8.72195696e-01,-2.00285718e-02, 2.24740652e-02,
  1.27097656e+00,-1.00964769e-02, 9.20025131e-01, 6.17932650e-02,
 -4.33132158e-02,-6.02218105e-02, 6.91742586e-02, 6.92520285e-01,
 -1.43800581e-01,-6.88858033e-01,-1.58781793e-01]

qacc:
[ 1.23189001e-01,-1.14504774e+00, 4.70006242e+00,-1.18985134e+01,
 -1.93328496e-01,-1.21324893e+00, 3.37571685e+00,-1.51455924e+01,
  5.53246833e-02, 3.15322353e+00,-1.72441464e+01, 4.03872955e+01,
  2.26599524e-01,-1.07852371e+00, 6.81351931e+00,-2.46713536e+01,
 -8.75672521e+01, 8.08948704e+01,-2.52688645e+01, 1.50429724e+03,
  1.48878858e+03,-1.18648006e+03]

qfrc_actuator:
[ 0.00214816, 0.02844963, 0.00858227, 0.00150512, 0.00050054, 0.03238689,
  0.010389  , 0.00273675,-0.0023727 , 0.02829875, 0.00868283, 0.00170461,
  0.00962815,-0.00163967, 0.        ,-0.00330651, 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: -0.058580504058441174
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.89818739e-01,  4.44909370e-01,  1.01381776e-01,  4.42049443e-01,
        8.95575599e-01, -5.03650414e-02, -1.13202924e-01, -6.93889390e-18,
       -9.93571889e-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([-0.06101183, -0.03912699,  0.06128242])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27791482e-05,-1.03442044e-04,-4.13457793e-05,-3.00651573e-05,
 -3.48368693e-05,-3.73482206e-04,-1.72561062e-04,-6.93085356e-05,
  1.02455638e-05,-3.53071111e-05,-2.30036193e-05, 6.38170054e-05,
 -8.47664020e-05,-6.72476830e-05,-5.78846773e-05,-1.36675612e-04,
  2.07627775e-02, 5.83792489e-02,-7.82808093e+00, 1.26773503e-03,
 -1.59770240e-01,-8.82475239e-04]


--- Step 1183 ---
qpos:
[-3.06433979e-04, 8.76293620e-01,-2.01432344e-02,-2.75224554e-02,
  7.12046793e-03, 8.59704939e-01,-2.95351368e-02, 8.56984347e-03,
  2.22339642e-02, 8.72211181e-01,-2.00304331e-02, 2.24749673e-02,
  1.27125026e+00,-1.00972682e-02, 9.20285322e-01, 6.17847794e-02,
 -4.36295194e-02,-5.98911036e-02, 6.91103599e-02, 6.93929027e-01,
 -1.44185629e-01,-6.88311113e-01,-1.54598902e-01]

qacc:
[-1.74947720e-01, 2.75024430e-01,-5.76877835e+00, 1.93778233e+01,
 -1.74486116e-01,-3.10926440e+00, 1.45617954e+01,-4.25080271e+01,
  1.69669382e-01, 8.14202323e-01,-6.12952479e+00, 1.53555063e+01,
 -1.24389112e-02,-4.06095105e-01,-6.06711722e+00, 1.96907455e+01,
  6.41062594e+00,-1.20898145e+01, 1.71002842e+01,-2.31523548e+02,
 -8.20939270e+02,-1.45192016e+02]

qfrc_actuator:
[ 0.00210477, 0.0284179 , 0.00859153, 0.00154525, 0.00048564, 0.03230245,
  0.01033485, 0.00264706,-0.00234626, 0.02823896, 0.00865968, 0.00172583,
  0.00961133,-0.00164936, 0.        ,-0.00320839, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.86204902, -6.34217298, -5.86204902,  4.42231911,
        3.89502709, -6.34217298,  3.89502709,  5.03620328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006358273909269435
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.63922065e-15,  1.74610758e-14,  1.00000000e+00,  1.33389011e-28,
        1.00000000e+00, -1.74610758e-14, -1.00000000e+00,  0.00000000e+00,
       -7.63922065e-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([-0.01404993, -0.06781687,  0.06124898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24862216e-05,-9.97986958e-05,-1.83513900e-05, 3.36627528e-05,
 -3.14332779e-05,-3.34799968e-04,-1.56136233e-04,-1.13267576e-04,
  3.13964878e-05,-8.19196205e-05,-3.11761397e-05, 2.01276900e-05,
 -8.34580892e-05,-4.16469625e-05,-4.44956697e-05, 8.24642382e-05,
 -2.84069646e-01,-3.17764515e-02,-8.02424560e+00, 1.04378238e-02,
 -1.69847174e-01,-6.19583498e-04]


--- Step 1184 ---
qpos:
[-3.12598113e-04, 8.76310681e-01,-2.01456857e-02,-2.75237002e-02,
  7.13037333e-03, 8.59808510e-01,-2.95004948e-02, 8.58909684e-03,
  2.22346208e-02, 8.72225869e-01,-2.00322090e-02, 2.24768106e-02,
  1.27152355e+00,-1.00982574e-02, 9.20544890e-01, 6.17801302e-02,
 -4.39233157e-02,-5.96003048e-02, 6.90968385e-02, 6.94296888e-01,
 -1.44883634e-01,-6.88667874e-01,-1.50655644e-01]

qacc:
[-2.11134815e-01,-1.24336003e+00, 2.23755655e+00, 5.54005524e-01,
 -5.51986962e-02,-9.26662169e-01, 5.94256519e+00,-2.55057630e+01,
 -1.22720443e-01, 6.44048767e-01,-7.79977353e+00, 2.45397023e+01,
  5.31675009e-02,-4.21716140e-01,-1.25082392e+01, 4.24125611e+01,
  5.62682588e+00,-9.97704349e+00, 1.25943034e+01,-1.96243199e+02,
 -6.78687927e+02,-1.21048200e+02]

qfrc_actuator:
[ 0.00208124, 0.02837444, 0.00859809, 0.00155167, 0.00049064, 0.03228209,
  0.01028871, 0.00258611,-0.0023842 , 0.02819725, 0.00866443, 0.00177341,
  0.00960207,-0.00165468, 0.        ,-0.0030051 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.79574983, -6.40281663, -5.79574983,  4.31128708,
        3.91500541, -6.40281663,  3.91500541,  5.09254953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00655788833589456
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.40669173e-15, -1.69295811e-14,  1.00000000e+00,  1.25392188e-28,
        1.00000000e+00,  1.69295811e-14, -1.00000000e+00,  0.00000000e+00,
        7.40669173e-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([-0.01497713, -0.0671644 ,  0.06123276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.91929009e-05,-1.01993590e-04,-1.52589302e-05, 2.15197597e-06,
 -9.91087474e-06,-2.47525283e-04,-1.39589697e-04,-8.31474502e-05,
 -2.28270905e-05,-9.34362872e-05,-1.54280111e-05, 4.33631930e-05,
 -6.89055941e-05,-3.20877139e-05,-1.36307171e-05, 2.01649157e-04,
 -1.27193201e-01, 1.37042766e-02,-7.98888516e+00, 4.08237654e-03,
 -1.67631162e-01,-7.91326355e-04]


--- Step 1185 ---
qpos:
[-3.19076754e-04, 8.76327410e-01,-2.01479676e-02,-2.75252707e-02,
  7.14022009e-03, 8.59910689e-01,-2.94666203e-02, 8.60740310e-03,
  2.22351104e-02, 8.72240199e-01,-2.00335236e-02, 2.24787805e-02,
  1.27179634e+00,-1.00992954e-02, 9.20804316e-01, 6.17779096e-02,
 -4.41997601e-02,-5.93446475e-02, 6.91161575e-02, 6.93719784e-01,
 -1.45453737e-01,-6.89819017e-01,-1.47464556e-01]

qacc:
[-1.63341325e-01,-1.58224938e+00, 6.37729588e+00,-1.20360495e+01,
 -3.10016497e-02,-1.64497716e+00, 7.19335913e+00,-2.13355202e+01,
 -8.64139038e-02,-1.50058177e+00, 4.12905902e+00,-2.41018723e+00,
 -2.14817072e-01, 1.18374612e-01,-7.53136406e+00, 2.60681681e+01,
  4.33795535e+00,-8.78535101e+00, 8.21012019e+00,-2.23213836e+02,
 -5.37029447e+02,-4.33885891e+02]

qfrc_actuator:
[ 0.00206984, 0.02839531, 0.00862067, 0.00153819, 0.00048975, 0.03224711,
  0.01026575, 0.00254263,-0.00238934, 0.02822009, 0.00870344, 0.00178291,
  0.00957604,-0.00165736, 0.        ,-0.00288357, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.76563898, -6.42994432, -5.76563898,  4.21867278,
        3.96128012, -6.42994432,  3.96128012,  5.08434048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006606293112687338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.26041527e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.26041527e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01361409, -0.05905311,  0.06122743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02947130e-05,-3.95958957e-05,-3.97699300e-07,-1.83555275e-05,
 -5.61494208e-06,-2.08570921e-04,-9.52896624e-05,-6.07720104e-05,
 -1.60943204e-05,-3.10752906e-05, 1.92090688e-05, 5.77961720e-06,
 -7.44177965e-05,-2.44254360e-05, 1.28724721e-05, 1.30266870e-04,
 -6.71872037e-02, 6.98323432e-02,-7.95910578e+00,-7.00084685e-04,
 -1.65967051e-01,-8.56037647e-04]


--- Step 1186 ---
qpos:
[-3.25011933e-04, 8.76344537e-01,-2.01504193e-02,-2.75256818e-02,
  7.14999251e-03, 8.60010787e-01,-2.94327482e-02, 8.62473045e-03,
  2.22358557e-02, 8.72253816e-01,-2.00341437e-02, 2.24798412e-02,
  1.27206841e+00,-1.00997592e-02, 9.21063832e-01, 6.17764965e-02,
 -4.44324450e-02,-5.91573863e-02, 6.91874276e-02, 6.92719636e-01,
 -1.44973744e-01,-6.91277857e-01,-1.45797953e-01]

qacc:
[ 2.82407936e-01, 3.38914031e+00,-1.62024093e+01, 3.62235238e+01,
 -3.85540962e-02,-4.75186593e+00, 1.70902506e+01,-3.25045050e+01,
  1.33572465e-01,-4.75041429e+00, 1.94129488e+01,-3.57355786e+01,
 -9.89869503e-01, 1.83256881e+00,-2.24601223e+00, 8.18225410e+00,
  1.09399069e+01,-1.70990442e+01, 1.29877412e+01,-1.69654059e+02,
 -6.43416163e+01,-9.44542852e+02]

qfrc_actuator:
[ 0.00213678, 0.02847235, 0.00863503, 0.00160193, 0.0004853 , 0.03211508,
  0.01025664, 0.00249204,-0.00235701, 0.02815727, 0.00872709, 0.00173448,
  0.0095453 ,-0.00162302, 0.        ,-0.00284673, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  6.28884135,  5.91922726,  6.28884135, 11.81463017,
       -3.37672692,  5.91922726, -3.37672692, 12.22394339,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0065689976506426995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69009502e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.69009502e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.06277051, -0.03897614,  0.06122779])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.23448280e-05, 5.36664734e-05, 5.39129433e-06, 6.16587721e-05,
 -7.12256628e-06,-2.73694663e-04,-6.71446546e-05,-6.42454590e-05,
  2.46139851e-05,-7.63172823e-05, 1.96999620e-05,-4.90011011e-05,
 -8.05575381e-05, 1.28020751e-05, 1.52777806e-05, 4.45791918e-05,
 -6.64752392e-02, 1.05462457e-01,-7.91164274e+00,-3.10495105e-03,
 -1.63364161e-01,-8.60923680e-04]


--- Step 1187 ---
qpos:
[-3.30247844e-04, 8.76362229e-01,-2.01531113e-02,-2.75249993e-02,
  7.15966111e-03, 8.60108615e-01,-2.93994310e-02, 8.64206643e-03,
  2.22367367e-02, 8.72266813e-01,-2.00350865e-02, 2.24817544e-02,
  1.27233971e+00,-1.00994772e-02, 9.21323624e-01, 6.17735395e-02,
 -4.46307388e-02,-5.90261046e-02, 6.92973222e-02, 6.91383487e-01,
 -1.43562333e-01,-6.92986197e-01,-1.45426479e-01]

qacc:
[ 3.63316112e-01, 3.67081936e+00,-1.66087766e+01, 3.54799840e+01,
 -5.43333664e-02,-1.42920679e+00, 7.08985297e-01, 1.99576162e+00,
  7.05853002e-02, 1.83541755e+00,-1.13338328e+01, 2.70601383e+01,
 -1.29860065e+00, 2.46492717e+00, 5.14329413e+00,-1.72352164e+01,
  8.59775712e+00,-1.39948789e+01, 9.65614695e+00,-1.31209004e+02,
 -4.07731243e+01,-8.13095858e+02]

qfrc_actuator:
[ 0.002179  , 0.02851148, 0.00862697, 0.0016574 , 0.00047877, 0.03197932,
  0.01021987, 0.00249085,-0.00235582, 0.02811455, 0.00870561, 0.00177656,
  0.00950645,-0.00158482, 0.        ,-0.00293105, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -5.74674612,  -6.44683534,  -5.74674612,
        40.35395547, -28.27324387,  -6.44683534, -28.27324387,
        33.83929591,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006620489654995856
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.09618752e-15,  1.67695002e-14,  1.00000000e+00,  3.51520170e-29,
        1.00000000e+00, -1.67695002e-14, -1.00000000e+00,  0.00000000e+00,
       -2.09618752e-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([-0.0630421 , -0.03890428,  0.06122386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.73536271e-05, 7.25298497e-05, 5.71468367e-06, 5.91296480e-05,
 -9.93271110e-06,-3.08125450e-04,-1.04882600e-04,-1.67252522e-05,
  1.30482223e-05,-8.37341775e-05,-3.66149262e-05, 3.85134556e-05,
 -8.39472915e-05, 2.27114213e-05, 6.07519380e-06,-8.12307128e-05,
 -8.06996457e-02, 5.38391271e-02,-7.85612835e+00,-6.56365140e-04,
 -1.60213423e-01,-8.61379832e-04]


--- Step 1188 ---
qpos:
[-3.35051767e-04, 8.76380166e-01,-2.01559587e-02,-2.75246582e-02,
  7.16919917e-03, 8.60204744e-01,-2.93676300e-02, 8.65958808e-03,
  2.22375017e-02, 8.72279381e-01,-2.00363237e-02, 2.24834395e-02,
  1.27261034e+00,-1.00987089e-02, 9.21583282e-01, 6.17706064e-02,
 -4.48021655e-02,-5.89409629e-02, 6.94343976e-02, 6.89773443e-01,
 -1.41321088e-01,-6.94894239e-01,-1.46160679e-01]

qacc:
[ 2.24429604e-01, 5.39959563e-02, 1.71449065e+00,-7.54738309e+00,
 -6.92343527e-02, 2.36721321e+00,-1.24885133e+01, 1.93819784e+01,
 -6.03090739e-02,-2.15412152e-01, 9.06148928e-01,-4.06636240e+00,
 -9.07582933e-01, 1.64301811e+00,-2.16930409e-01, 5.88851001e-01,
  6.71677791e+00,-1.15349843e+01, 6.79519616e+00,-1.01380340e+02,
 -2.42317708e+01,-7.04006482e+02]

qfrc_actuator:
[ 0.00218825, 0.02849204, 0.0086056 , 0.00163649, 0.00047105, 0.03191335,
  0.01014931, 0.00250094,-0.00237329, 0.02810185, 0.00869329, 0.00176502,
  0.00947342,-0.00156246, 0.        ,-0.00292628, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -5.30779795,  -6.81278635,  -5.30779795,
        27.42766548, -14.64018218,  -6.81278635, -14.64018218,
        20.04243524,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0065790518227100345
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.21878051e-15, -8.43756102e-15,  1.00000000e+00,  3.55962180e-29,
        1.00000000e+00,  8.43756102e-15, -1.00000000e+00,  0.00000000e+00,
        4.21878051e-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([-0.06325612, -0.03877326,  0.0612282 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.16067626e-05, 2.44491535e-05,-3.75184940e-06,-1.64775122e-05,
 -1.24617358e-05,-2.63284439e-04,-1.48767675e-04,-7.28643600e-06,
 -1.11798278e-05,-6.57370082e-05,-3.28863903e-05,-1.56622517e-05,
 -7.81272690e-05, 8.18017514e-06,-1.23819489e-05,-3.72552341e-07,
 -9.72057383e-02, 4.48725464e-03,-7.81909050e+00, 2.26792826e-03,
 -1.58279463e-01,-9.00086972e-04]


--- Step 1189 ---
qpos:
[-3.39388998e-04, 8.76397867e-01,-2.01585059e-02,-2.75248843e-02,
  7.17840047e-03, 8.60299189e-01,-2.93369619e-02, 8.67602482e-03,
  2.22381000e-02, 8.72291292e-01,-2.00375722e-02, 2.24839465e-02,
  1.27288050e+00,-1.00979554e-02, 9.21842575e-01, 6.17697335e-02,
 -4.51428446e-02,-5.86942175e-02, 6.94830616e-02, 6.89072241e-01,
 -1.37226677e-01,-6.96148219e-01,-1.47397226e-01]

qacc:
[ 2.42905444e-01,-2.31907594e+00, 1.02031264e+01,-2.03125249e+01,
 -1.77871370e-01,-1.29124457e+00, 5.95765273e+00,-2.16868910e+01,
 -8.65057739e-02,-3.25726891e+00, 1.53329926e+01,-3.52242534e+01,
 -2.30788102e-01, 1.84183830e-01,-6.74844676e+00, 2.28508749e+01,
 -4.23131013e+01, 4.04009153e+01,-2.21028439e+01, 4.81015936e+02,
  7.12278230e+02,-7.04498847e+02]

qfrc_actuator:
[ 0.00221322, 0.0284553 , 0.00861177, 0.00160626, 0.00044493, 0.03183633,
  0.01009516, 0.00244662,-0.002384  , 0.02805395, 0.00868657, 0.00170431,
  0.00944922,-0.00156739, 0.        ,-0.00281575, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.33332047, -8.53282095,  1.33332047, 69.76861733,
        9.55239608, -8.53282095,  9.55239608, 10.12900075,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.031197626261541503
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.75000342e-01,  4.37500171e-01,  2.07287247e-01,  4.25717300e-01,
        8.99218328e-01, -1.00852266e-01, -2.30519375e-01,  1.38777878e-17,
       -9.73067735e-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([-0.07772486, -0.03250419,  0.0612388 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.49379658e-05,-2.49326618e-05, 1.00672578e-05,-2.96562715e-05,
 -3.20547947e-05,-2.57859881e-04,-1.28148616e-04,-7.11124341e-05,
 -1.60771741e-05,-9.24078571e-05,-2.49797465e-05,-6.49953393e-05,
 -6.91631166e-05,-2.06732605e-05,-1.03809042e-05, 1.07867669e-04,
 -1.13497594e-01,-4.07896265e-02,-7.79365960e+00, 5.44772764e-03,
 -1.57081871e-01,-9.68964484e-04]


--- Step 1190 ---
qpos:
[-3.43700176e-04, 8.76414962e-01,-2.01599641e-02,-2.75247874e-02,
  7.18724075e-03, 8.60391863e-01,-2.93072417e-02, 8.69202220e-03,
  2.22387345e-02, 8.72302772e-01,-2.00391069e-02, 2.24854385e-02,
  1.27315033e+00,-1.00975548e-02, 9.22102040e-01, 6.17678152e-02,
 -4.54998839e-02,-5.84315136e-02, 6.94921418e-02, 6.88691653e-01,
 -1.32334148e-01,-6.97050335e-01,-1.49373063e-01]

qacc:
[ 1.44375045e-02,-3.17815451e+00, 8.80782818e+00,-4.51934855e+00,
 -1.90467501e-01,-5.96847291e-01, 5.86479232e-01,-5.37253035e+00,
  1.87912930e-02, 2.25555684e+00,-1.30303717e+01, 3.08564853e+01,
 -4.96219552e-03,-4.05388985e-01, 3.40354519e+00,-1.15535966e+01,
 -4.09003178e+00, 3.98962732e+00,-9.89594956e+00, 1.37206255e+01,
  3.42374096e+02,-4.84750929e+02]

qfrc_actuator:
[ 0.00219415, 0.02842632, 0.00866957, 0.00162406, 0.00042578, 0.03175336,
  0.01005109, 0.00242586,-0.00237282, 0.02805635, 0.00868305, 0.00175714,
  0.00943032,-0.0015884 , 0.        ,-0.00287458, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.31018878, -5.89646457, -6.31018878, 10.51221581,
       -2.00747095, -5.89646457, -2.00747095, 10.78468837,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013813511091510675
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.94302434e-01,  3.97151217e-01,  4.59733133e-01,  3.43728775e-01,
        9.17753186e-01, -1.98946270e-01, -5.00933301e-01,  2.77555756e-17,
       -8.65485891e-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([-0.08892139, -0.02871346,  0.06124838])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49739309e-06,-4.24952134e-05, 5.27462367e-05, 1.64798009e-05,
 -3.43649626e-05,-2.59217053e-04,-1.16601235e-04,-3.78455083e-05,
  3.46444035e-06,-5.74943136e-05,-2.80210052e-05, 4.67318525e-05,
 -6.49233957e-05,-4.05365099e-05, 3.21925853e-06,-5.50815721e-05,
 -9.18932938e-02,-4.19387892e-03,-7.70110622e+00, 4.46707192e-03,
 -1.52261634e-01,-9.23581248e-04]


--- Step 1191 ---
qpos:
[-3.48284625e-04, 8.76431679e-01,-2.01610036e-02,-2.75248071e-02,
  7.19575420e-03, 8.60482699e-01,-2.92783458e-02, 8.70833233e-03,
  2.22394532e-02, 8.72314280e-01,-2.00414360e-02, 2.24868363e-02,
  1.27341963e+00,-1.00968547e-02, 9.22361152e-01, 6.17678873e-02,
 -4.57941265e-02,-5.81780049e-02, 6.94887244e-02, 6.89190279e-01,
 -1.28254062e-01,-6.97061500e-01,-1.50575297e-01]

qacc:
[-1.41707557e-01,-1.90795194e+00, 6.57052420e+00,-8.97786821e+00,
 -1.72269294e-01, 5.17716103e-01,-6.69116939e+00, 1.47758141e+01,
  4.33120385e-02, 2.06047343e+00,-6.89635497e+00, 6.51262754e+00,
 -5.42483013e-01, 9.35300136e-01,-6.49768165e+00, 2.20481273e+01,
  1.56991597e+01,-2.29879530e+00,-3.12441012e+00,-1.85098271e+01,
  5.01358985e+02, 6.74167946e+02]

qfrc_actuator:
[ 0.00216666, 0.02840245, 0.00868642, 0.00161676, 0.00041097, 0.03166756,
  0.01001332, 0.00244277,-0.00236639, 0.02807121, 0.00864621, 0.00175215,
  0.00941461,-0.00156545, 0.        ,-0.00276647, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.87681131, -8.59173898, -0.87681131,  1.42611554,
        0.73582625, -8.59173898,  0.73582625,  8.56127048,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006423036034580408
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.29637645e-14, -5.18550582e-14,  1.00000000e+00,  6.72236765e-28,
        1.00000000e+00,  5.18550582e-14, -1.00000000e+00,  0.00000000e+00,
        1.29637645e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09722445, -0.04706082,  0.06124352])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.63256673e-05,-3.64081439e-05, 1.50284290e-05,-7.00177059e-06,
 -3.11204372e-05,-2.58931701e-04,-1.07974001e-04, 8.23611487e-07,
  8.11530609e-06,-2.13371248e-05,-5.06237377e-05,-7.53154318e-06,
 -6.38397532e-05, 4.80968136e-07,-1.00921786e-05, 1.04196329e-04,
 -7.44994869e-02, 3.30499553e-02,-7.65770288e+00, 3.80722313e-03,
 -1.50204450e-01,-8.68844195e-04]


--- Step 1192 ---
qpos:
[-3.52782738e-04, 8.76448533e-01,-2.01625495e-02,-2.75256065e-02,
  7.20417242e-03, 8.60571246e-01,-2.92493935e-02, 8.72471084e-03,
  2.22404335e-02, 8.72326123e-01,-2.00448858e-02, 2.24867646e-02,
  1.27368831e+00,-1.00955741e-02, 9.22620402e-01, 6.17672134e-02,
 -4.61197737e-02,-5.79199472e-02, 6.94430377e-02, 6.90295777e-01,
 -1.24850454e-01,-6.96360840e-01,-1.51610309e-01]

qacc:
[ 4.44978911e-02,-1.24902936e-02, 3.58831433e+00,-1.63573824e+01,
 -4.93773065e-02,-3.03915477e+00, 6.15954286e+00,-3.38535128e+00,
  1.35091352e-01, 5.51085110e-01, 4.88355427e+00,-2.87712148e+01,
 -1.00035641e+00, 1.89024751e+00, 2.51306107e+00,-8.36824330e+00,
 -7.85116382e+00, 1.13723205e+00,-1.05673169e+01,-1.89505378e+02,
  3.95152459e+02, 3.84736173e+02]

qfrc_actuator:
[ 0.00218767, 0.02841718, 0.00866119, 0.00157695, 0.00041662, 0.03154535,
  0.0100151 , 0.00244621,-0.00234511, 0.02809326, 0.00859002, 0.00167764,
  0.00938487,-0.00153438, 0.        ,-0.00280934, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.18834152, -8.63430972, -0.18834152, 21.60934923,
       -0.28298172, -8.63430972, -0.28298172,  8.64253636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.013615548525375928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.89570220e-01,  3.94785110e-01,  4.69812286e-01,  3.39268135e-01,
        9.18773485e-01, -2.01872276e-01, -5.11347240e-01,  2.77555756e-17,
       -8.59374191e-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([-0.09919899, -0.04832273,  0.06124715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.31582256e-06,-3.20563383e-06,-3.12556147e-05,-4.10084688e-05,
 -9.11775969e-06,-2.91703265e-04,-6.59453219e-05,-1.15858478e-05,
  2.51979359e-05,-9.15665094e-07,-6.71745610e-05,-7.73357111e-05,
 -6.77762542e-05, 1.69697085e-05, 2.85540185e-06,-3.93055769e-05,
 -6.56182243e-02, 8.93865833e-02,-7.71324515e+00, 2.11950916e-03,
 -1.52901610e-01,-7.56409680e-04]


--- Step 1193 ---
qpos:
[-3.57090673e-04, 8.76465663e-01,-2.01647711e-02,-2.75272288e-02,
  7.21291988e-03, 8.60657826e-01,-2.92210467e-02, 8.74134894e-03,
  2.22416666e-02, 8.72338309e-01,-2.00488744e-02, 2.24864496e-02,
  1.27395669e+00,-1.00945226e-02, 9.22879950e-01, 6.17633516e-02,
 -4.63977640e-02,-5.76672543e-02, 6.93766273e-02, 6.92143060e-01,
 -1.22236605e-01,-6.94936346e-01,-1.51854115e-01]

qacc:
[ 9.83346074e-02, 5.57261236e-01, 2.00750136e+00,-1.53527292e+01,
  1.73985988e-01,-3.73713703e-01,-3.53631050e+00, 1.04451308e+01,
  1.30951551e-01, 1.45574093e+00,-3.50727602e+00,-9.63547770e-02,
 -1.77108059e-01, 4.94691901e-03, 1.00683353e+01,-3.45791125e+01,
  1.19142364e+01,-1.34117281e+00,-5.18092508e+00,-5.66534868e+00,
  3.98845903e+02, 6.49480620e+02]

qfrc_actuator:
[ 0.00220202, 0.02843695, 0.00862923, 0.0015361 , 0.00045221, 0.03145573,
  0.00998681, 0.00245943,-0.0023329 , 0.02813705, 0.0085761 , 0.00166936,
  0.00936804,-0.00155211, 0.        ,-0.00297636, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.76744287, -8.60219788, -0.76744287,  0.86111912,
        0.69366644, -8.60219788,  0.69366644,  8.57447836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006278811511815002
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.42051423e-15,  8.84102845e-15,  1.00000000e+00, -3.90818921e-29,
        1.00000000e+00, -8.84102845e-15, -1.00000000e+00,  0.00000000e+00,
        4.42051423e-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([-0.09984513, -0.04817957,  0.06125711])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83196440e-05, 9.39171075e-06,-3.80130283e-05,-4.28908755e-05,
  3.12350487e-05,-2.69229945e-04,-9.80273780e-05,-1.98771989e-06,
  2.43576086e-05, 2.58470273e-05,-2.51185684e-05,-1.21702076e-05,
 -5.35419261e-05,-2.93957213e-05,-8.67287696e-06,-1.70139058e-04,
 -6.87726535e-02, 1.15308698e-01,-7.75708513e+00, 1.88671391e-03,
 -1.55204133e-01,-7.31137846e-04]


--- Step 1194 ---
qpos:
[-3.61201132e-04, 8.76482166e-01,-2.01673345e-02,-2.75285442e-02,
  7.22200903e-03, 8.60742766e-01,-2.91936816e-02, 8.75765058e-03,
  2.22430910e-02, 8.72350372e-01,-2.00520816e-02, 2.24866946e-02,
  1.27422482e+00,-1.00937109e-02, 9.23139461e-01, 6.17571732e-02,
 -4.66375317e-02,-5.74186210e-02, 6.92853844e-02, 6.94603047e-01,
 -1.20279260e-01,-6.92908883e-01,-1.51448960e-01]

qacc:
[ 1.02691716e-01, 7.60055927e-01,-5.20184436e+00, 1.15120695e+01,
  1.80147259e-01,-1.17634228e-01,-1.30556916e+00,-1.74064769e+00,
  9.99757298e-02,-1.19155752e+00, 1.65001236e+00, 6.88415272e+00,
 -8.64809478e-02,-1.41366585e-01, 6.93828665e+00,-2.43570503e+01,
  9.55566112e+00,-1.01491667e+00,-6.20811379e+00,-1.00383412e+01,
  3.32056680e+02, 5.36074544e+02]

qfrc_actuator:
[ 0.00221225, 0.02835302, 0.00859359, 0.00154823, 0.00046987, 0.03138626,
  0.0099411 , 0.0024428 ,-0.00232621, 0.0281405 , 0.00862293, 0.00170016,
  0.00935895,-0.00156303, 0.        ,-0.00309087, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.6690516 , -8.61040921, -0.6690516 ,  0.70258617,
        0.61647552, -8.61040921,  0.61647552,  8.58846186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006018418471380578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84470892e-14, -9.22354461e-15,  1.00000000e+00,  1.70147550e-28,
        1.00000000e+00,  9.22354461e-15, -1.00000000e+00,  0.00000000e+00,
        1.84470892e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10078158, -0.04804257,  0.06127851])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.89986932e-05,-8.87266894e-05,-3.99767608e-05, 1.03679445e-05,
  3.24288931e-05,-2.42671700e-04,-1.14396011e-04,-3.17977539e-05,
  1.84243364e-05, 1.19387662e-05, 4.85892364e-05, 3.07938255e-05,
 -4.81438993e-05,-2.84676353e-05,-2.82876258e-05,-1.26351298e-04,
 -1.29129182e-01, 1.18294431e-01,-7.79408605e+00, 3.37444215e-03,
 -1.57133510e-01,-6.99780981e-04]


--- Step 1195 ---
qpos:
[-3.65321632e-04, 8.76497436e-01,-2.01697384e-02,-2.75293140e-02,
  7.23114447e-03, 8.60825853e-01,-2.91667401e-02, 8.77326551e-03,
  2.22448265e-02, 8.72361620e-01,-2.00537768e-02, 2.24873448e-02,
  1.27449245e+00,-1.00926799e-02, 9.23398957e-01, 6.17482875e-02,
 -4.68532967e-02,-5.72086783e-02, 6.92466440e-02, 6.95999322e-01,
 -1.18581879e-01,-6.91825029e-01,-1.51332123e-01]

qacc:
[-4.67646915e-03,-9.51722519e-01,-1.26808629e+00, 1.13459510e+01,
  2.47574441e-02,-2.67590789e+00, 8.88869323e+00,-1.87365684e+01,
  1.63007181e-01,-4.46661214e+00, 1.26509585e+01,-7.45266622e+00,
 -6.87999019e-01, 1.12891190e+00, 8.18580431e+00,-2.85950177e+01,
  6.00065811e+00,-9.67264968e+00, 1.31255957e+01,-1.82692960e+02,
 -6.98593609e+02,-1.47363929e+02]

qfrc_actuator:
[ 0.00220215, 0.02826094, 0.00859119, 0.00157361, 0.00045887, 0.03129383,
  0.00992107, 0.00240875,-0.00230514, 0.0280668 , 0.00868735, 0.00171821,
  0.00932787,-0.00155201, 0.        ,-0.00322673, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.44267314, -6.70552652, -5.44267314,  4.33798329,
        3.48886537, -6.70552652,  3.48886537,  5.8045571 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0061175177703809425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.02083962e-14, -1.81482599e-14,  1.00000000e+00,  1.85264627e-28,
        1.00000000e+00,  1.81482599e-14, -1.00000000e+00,  0.00000000e+00,
        1.02083962e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01608108, -0.06379462,  0.06127279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.00147377e-06,-1.49863662e-04,-2.53923911e-05, 2.03788617e-05,
  4.34390145e-06,-2.55386835e-04,-8.62600232e-05,-4.92213305e-05,
  2.99623872e-05,-5.59182333e-05, 7.38653214e-05, 2.08272389e-05,
 -6.67859479e-05,-5.05948170e-06,-3.11358247e-05,-1.47471395e-04,
 -2.03426582e-01, 1.02818707e-01,-7.82109090e+00, 5.62318595e-03,
 -1.58652203e-01,-6.85782178e-04]


--- Step 1196 ---
qpos:
[-3.69861818e-04, 8.76512108e-01,-2.01720864e-02,-2.75305394e-02,
  7.24000704e-03, 8.60906973e-01,-2.91401935e-02, 8.78801444e-03,
  2.22464655e-02, 8.72372333e-01,-2.00546236e-02, 2.24875260e-02,
  1.27475964e+00,-1.00917707e-02, 9.23658089e-01, 6.17391356e-02,
 -4.70487098e-02,-5.70229044e-02, 6.92367015e-02, 6.96856875e-01,
 -1.17888665e-01,-6.91305876e-01,-1.50296187e-01]

qacc:
[-2.17984774e-01,-1.88434228e+00, 7.49024320e+00,-1.50147834e+01,
 -1.43488704e-01,-3.27479345e+00, 1.15639151e+01,-2.44782093e+01,
 -4.95264003e-02,-4.03978312e+00, 1.53619030e+01,-2.44441125e+01,
 -2.20178284e-01, 9.87429632e-02, 2.74675312e-01,-1.72432074e+00,
  5.08799260e+00,-6.04221340e+00, 7.19950342e+00,-2.07352153e+01,
 -5.13342707e+02, 5.92955684e+02]

qfrc_actuator:
[ 0.00216225, 0.02827133, 0.00860837, 0.00155331, 0.00043084, 0.0311885 ,
  0.00989853, 0.00236473,-0.00232887, 0.02803633, 0.00872577, 0.00169303,
  0.00929962,-0.0015637 , 0.        ,-0.00323205, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.61925139, -6.55826125, -5.61925139,  4.39288835,
        3.63589578, -6.55826125,  3.63589578,  5.52105431,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006376476657937266
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.35280753e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.35280753e-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([-0.02388966, -0.07910622,  0.06125518])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.04367946e-05,-7.81083200e-05,-1.62883784e-05,-2.72121968e-05,
 -2.60033448e-05,-2.70291678e-04,-8.85137382e-05,-5.90930645e-05,
 -9.31530724e-06,-4.58392817e-05, 3.66168345e-05,-2.46296275e-05,
 -6.97778681e-05,-2.73221471e-05,-3.49801971e-05,-1.85034499e-05,
 -7.49677059e-02, 5.24945649e-02,-7.82583696e+00, 5.90593456e-03,
 -1.58407988e-01,-9.08468492e-04]


--- Step 1197 ---
qpos:
[-3.74462647e-04, 8.76526317e-01,-2.01740665e-02,-2.75316937e-02,
  7.24908792e-03, 8.60986182e-01,-2.91141204e-02, 8.80142521e-03,
  2.22479039e-02, 8.72383620e-01,-2.00557528e-02, 2.24876847e-02,
  1.27502630e+00,-1.00909452e-02, 9.23916575e-01, 6.17332772e-02,
 -4.72246314e-02,-5.68649028e-02, 6.92551688e-02, 6.96938955e-01,
 -1.17359852e-01,-6.91491245e-01,-1.49474468e-01]

qacc:
[-3.11415502e-02,-1.49356630e+00, 4.13731971e+00,-3.15667634e+00,
  1.15406139e-01,-3.95181464e+00, 1.60797588e+01,-3.70826223e+01,
 -1.04630032e-01, 1.50073681e+00,-4.15576432e+00, 3.79549601e+00,
 -1.47872461e-01,-3.49662888e-02,-1.08893933e+01, 3.67283561e+01,
  4.87285680e+00,-6.94304851e+00, 7.10243131e+00,-1.24092749e+02,
 -5.13248381e+02,-1.17616808e+02]

qfrc_actuator:
[ 0.00217587, 0.02827206, 0.00863733, 0.00155965, 0.00046389, 0.03109403,
  0.00987463, 0.00229744,-0.00234371, 0.02812059, 0.0087309 , 0.00169588,
  0.00926775,-0.001571  , 0.        ,-0.0030539 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.26545431, -6.84556555, -5.26545431,  4.39928181,
        3.25906758, -6.84556555,  3.25906758,  6.12956251,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006493454802523724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28231780e-14, -8.54878534e-15,  1.00000000e+00,  1.09622596e-28,
        1.00000000e+00,  8.54878534e-15, -1.00000000e+00,  0.00000000e+00,
        1.28231780e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01747041, -0.06294986,  0.0612478 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.85189434e-06,-4.77980024e-05, 9.79704383e-06, 1.88457839e-06,
  2.06997940e-05,-2.68601828e-04,-9.35568213e-05,-8.32750570e-05,
 -1.93051720e-05, 6.48976153e-05,-7.55567980e-07, 1.66287470e-06,
 -8.01079198e-05,-2.81472803e-05,-2.14542954e-05, 1.71883080e-04,
 -3.82488062e-02, 7.27517528e-03,-7.85520295e+00, 7.29886446e-03,
 -1.59706274e-01,-1.03370288e-03]


--- Step 1198 ---
qpos:
[-3.78619919e-04, 8.76540133e-01,-2.01754635e-02,-2.75324433e-02,
  7.25862786e-03, 8.61064052e-01,-2.90891341e-02, 8.81423578e-03,
  2.22491488e-02, 8.72395881e-01,-2.00570588e-02, 2.24874701e-02,
  1.27529230e+00,-1.00898796e-02, 9.24174470e-01, 6.17328934e-02,
 -4.73840513e-02,-5.67297204e-02, 6.92907852e-02, 6.96374519e-01,
 -1.16961662e-01,-6.92265321e-01,-1.48832873e-01]

qacc:
[ 2.31119212e-01,-1.31404179e+00, 2.22776720e+00, 4.12467257e+00,
  2.41772551e-01, 2.95790909e-02,-1.42262598e-01,-7.52093789e+00,
 -1.01052398e-01, 1.01277604e+00,-1.66469464e-01,-6.73007115e+00,
 -4.42816904e-01, 6.49654964e-01,-1.73754226e+01, 5.95818169e+01,
  4.12543583e+00,-5.70480547e+00, 4.28729082e+00,-1.01734658e+02,
 -4.27869002e+02,-1.00469344e+02]

qfrc_actuator:
[ 0.00222143, 0.02826709, 0.00867303, 0.00158162, 0.00049771, 0.03106007,
  0.00983239, 0.00227025,-0.00235307, 0.0282018 , 0.0087346 , 0.00167979,
  0.00923373,-0.0015579 , 0.        ,-0.00276911, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.20320477, -6.89299913, -5.20320477,  4.40214751,
        3.19621302, -6.89299913,  3.19621302,  6.22369094,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006462449443077424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.61058759e-14, -1.71796009e-14,  1.00000000e+00,  2.76692520e-28,
        1.00000000e+00,  1.71796009e-14, -1.00000000e+00,  0.00000000e+00,
        1.61058759e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01752447, -0.06276775,  0.06125061])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.27117692e-05,-2.99006967e-05, 2.70145764e-05, 2.02876732e-05,
  4.36070433e-05,-2.09169388e-04,-1.12981219e-04,-4.37336024e-05,
 -1.86139615e-05, 1.17155146e-04, 1.69903129e-05,-1.33175602e-05,
 -8.82358773e-05,-1.04626829e-05, 6.14042886e-06, 2.90906334e-04,
 -1.41658540e-02, 6.11867528e-03,-7.85082568e+00, 6.87809749e-03,
 -1.59415004e-01,-1.10063544e-03]


--- Step 1199 ---
qpos:
[-3.82818875e-04, 8.76553706e-01,-2.01764394e-02,-2.75332780e-02,
  7.26836902e-03, 8.61140891e-01,-2.90647803e-02, 8.82585371e-03,
  2.22498703e-02, 8.72408154e-01,-2.00576429e-02, 2.24871253e-02,
  1.27555787e+00,-1.00890169e-02, 9.24432520e-01, 6.17342313e-02,
 -4.75297857e-02,-5.66131230e-02, 6.93339657e-02, 6.95270860e-01,
 -1.16666077e-01,-6.93528835e-01,-1.48341544e-01]

qacc:
[-2.13341315e-02,-1.67172306e+00, 5.85385166e+00,-7.82016722e+00,
  1.05971791e-01,-2.04720324e+00, 1.03610813e+01,-2.92366909e+01,
 -2.71642426e-01,-2.26806237e+00, 8.66018487e+00,-1.20759553e+01,
 -6.50901344e-02,-2.20682266e-01,-4.96956327e+00, 1.77185542e+01,
  3.42137978e+00,-4.64626687e+00, 1.89099745e+00,-8.28495298e+01,
 -3.55906664e+02,-8.55554367e+01]

qfrc_actuator:
[ 0.00219691, 0.02825882, 0.00869467, 0.00157711, 0.00049616, 0.03104486,
  0.00981545, 0.00221367,-0.00239458, 0.02815627, 0.0087552 , 0.00167045,
  0.00921976,-0.00156837, 0.        ,-0.00269014, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.13944633, -6.94066771, -5.13944633,  4.35297572,
        3.17177586, -6.94066771,  3.17177586,  6.28771758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006309617645798432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.69813007e-15, -1.75957259e-14,  1.00000000e+00,  1.35454186e-28,
        1.00000000e+00,  1.75957259e-14, -1.00000000e+00,  0.00000000e+00,
        7.69813007e-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([-0.01723266, -0.06271121,  0.06126162])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01944611e-06,-1.88438152e-05, 1.93927944e-05,-4.47900654e-06,
  1.91021327e-05,-1.59463411e-04,-7.64049124e-05,-7.04807529e-05,
 -5.04168034e-05, 2.26448617e-05, 4.63476503e-05,-4.01025789e-06,
 -6.86244649e-05,-3.25374370e-05, 3.10863403e-05, 9.50434121e-05,
 -2.22704223e-02, 9.45734609e-03,-7.84677639e+00, 6.88239621e-03,
 -1.59264821e-01,-1.13780922e-03]


--- Step 1200 ---
qpos:
[-3.87541883e-04, 8.76567009e-01,-2.01768316e-02,-2.75341682e-02,
  7.27815355e-03, 8.61216756e-01,-2.90408936e-02, 8.83598937e-03,
  2.22502665e-02, 8.72419922e-01,-2.00581930e-02, 2.24867871e-02,
  1.27582301e+00,-1.00882853e-02, 9.24691294e-01, 6.17315168e-02,
 -4.76643917e-02,-5.65115265e-02, 6.93765778e-02, 6.93717711e-01,
 -1.16449972e-01,-6.95196872e-01,-1.47974495e-01]

qacc:
[-2.72004587e-01,-2.10208482e+00, 7.21083655e+00,-8.90699649e+00,
  2.28214589e-02,-3.03043944e+00, 1.51968665e+01,-3.93916547e+01,
 -1.68861463e-01,-7.47779522e-01, 1.67070663e+00,-1.23863573e+00,
 -4.28530092e-01, 4.45056770e-01, 1.33206241e+01,-4.50131191e+01,
  2.78210530e+00,-3.75021802e+00,-1.42080374e-01,-6.69420505e+01,
 -2.95139943e+02,-7.25794882e+01]

qfrc_actuator:
[ 0.00214839, 0.02824857, 0.00872553, 0.00157479, 0.00049122, 0.03100561,
  0.00979593, 0.00214028,-0.0024017 , 0.02807078, 0.00873185, 0.00166506,
  0.00919651,-0.00157488, 0.        ,-0.00291061, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.07408714, -6.98859189, -5.07408714,  4.23476884,
        3.1957905 , -6.98859189,  3.1957905 ,  6.31605079,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006061922272386701
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.57867560e-15, -1.83147024e-14,  1.00000000e+00,  8.38570811e-29,
        1.00000000e+00,  1.83147024e-14, -1.00000000e+00,  0.00000000e+00,
        4.57867560e-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([-0.0166656 , -0.06275408,  0.06127909])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.04783001e-05,-1.72726820e-05, 2.91177186e-05,-2.56190810e-06,
  4.09339640e-06,-1.49264699e-04,-6.51314344e-05,-8.44056206e-05,
 -3.13441745e-05,-6.37154708e-05,-1.31853229e-05,-2.91017168e-06,
 -7.13218426e-05,-2.84851661e-05, 1.86769602e-05,-2.12619047e-04,
 -4.85973240e-02, 1.49871160e-02,-7.84329107e+00, 7.15661320e-03,
 -1.59208279e-01,-1.15753219e-03]


--- Step 1201 ---
qpos:
[-3.92059287e-04, 8.76580244e-01,-2.01769269e-02,-2.75347407e-02,
  7.28807274e-03, 8.61291519e-01,-2.90180118e-02, 8.84590800e-03,
  2.22508311e-02, 8.72431717e-01,-2.00599702e-02, 2.24853719e-02,
  1.27608755e+00,-1.00875638e-02, 9.24950348e-01, 6.17245437e-02,
 -4.78493941e-02,-5.64061691e-02, 6.93727531e-02, 6.93057533e-01,
 -1.17217482e-01,-6.95890887e-01,-1.47197795e-01]

qacc:
[ 1.07112077e-01,-2.65309183e-01,-5.23684410e-01, 5.59259439e+00,
  7.07205803e-02, 9.02058510e-01,-4.41581928e+00, 3.07929845e+00,
  8.66772743e-02, 1.24709714e+00, 1.52901807e-01,-1.68540859e+01,
 -6.35509644e-01, 8.28004925e-01, 1.32989159e+01,-4.58652408e+01,
 -1.25991288e+01, 9.40232250e-01,-1.16092038e+01,-2.18854006e+02,
  5.51617578e+02, 6.06774903e+02]

qfrc_actuator:
[ 0.0021925 , 0.02825501, 0.00874386, 0.00159154, 0.00050206, 0.03093455,
  0.00973943, 0.00212859,-0.00237043, 0.02806834, 0.00866479, 0.0016087 ,
  0.00915706,-0.00157899, 0.        ,-0.00312814, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.12297719, -8.37136457, -2.12297719, 22.32371938,
       -3.471112  , -8.37136457, -3.471112  ,  9.51663728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011567494386557717
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.76876189,  0.38438094,  0.51113251,  0.32008835,  0.92317457,
       -0.21281955, -0.55366832,  0.        , -0.83273729])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10246182, -0.04761113,  0.06128844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98025006e-05, 2.38627583e-06, 1.81642551e-05, 1.69504399e-05,
  1.27700836e-05,-1.73617824e-04,-9.90746566e-05,-2.21503204e-05,
  1.62092289e-05,-4.11939259e-05,-8.20359843e-05,-5.96197590e-05,
 -8.87014445e-05,-2.56489845e-05,-2.22225402e-05,-2.28629843e-04,
 -8.39601915e-02, 2.13300084e-02,-7.84058836e+00, 7.59353447e-03,
 -1.59211099e-01,-1.16783133e-03]


--- Step 1202 ---
qpos:
[-3.95817274e-04, 8.76593697e-01,-2.01777094e-02,-2.75357677e-02,
  7.29808170e-03, 8.61364838e-01,-2.89953118e-02, 8.85559301e-03,
  2.22518525e-02, 8.72443129e-01,-2.00621780e-02, 2.24832901e-02,
  1.27635159e+00,-1.00871699e-02, 9.25208678e-01, 6.17196775e-02,
 -4.80718203e-02,-5.62980097e-02, 6.93252923e-02, 6.93162275e-01,
 -1.18829901e-01,-6.95756366e-01,-1.46043124e-01]

qacc:
[ 3.94291763e-01, 1.27252732e+00,-2.20437133e+00,-4.71186066e+00,
  4.76957781e-02,-1.87803669e+00, 4.91627832e+00,-7.60906763e+00,
  2.37332680e-01,-6.74439479e-01, 4.48507154e+00,-1.50516623e+01,
  2.83560628e-02,-5.10114694e-01,-7.43691180e+00, 2.44498776e+01,
 -9.35592934e+00, 7.00503799e-01,-1.09090236e+01,-1.77420039e+02,
  4.68925048e+02, 5.29817545e+02]

qfrc_actuator:
[ 0.00225615, 0.02825363, 0.00870146, 0.00156612, 0.00050452, 0.03086267,
  0.00973249, 0.00211774,-0.00233425, 0.02804439, 0.00864375, 0.00157609,
  0.00912923,-0.0015995 , 0.        ,-0.00300477, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.63337609, -8.22509011, -2.63337609,  6.7755819 ,
        0.59575495, -8.22509011,  0.59575495,  8.44562447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011484774455825747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.60233054e-01,  3.80116527e-01,  5.26836910e-01,  3.12428464e-01,
        9.24938607e-01, -2.16511037e-01, -5.69591221e-01, -2.77555756e-17,
       -8.21928124e-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([-0.10227914, -0.04754019,  0.06127566])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.31466692e-05, 4.12791666e-06,-3.91826062e-05,-2.43756604e-05,
  8.49545354e-06,-1.92361049e-04,-5.65618933e-05,-2.23142208e-05,
  4.40020904e-05,-6.67449842e-05,-4.17919134e-05,-3.83813531e-05,
 -8.71145439e-05,-4.52680732e-05,-4.08722323e-05, 1.06583152e-04,
 -1.36519390e-02, 2.31734889e-02,-7.84566391e+00, 5.93219367e-03,
 -1.59379292e-01,-1.06602972e-03]


--- Step 1203 ---
qpos:
[-3.98802932e-04, 8.76607168e-01,-2.01789446e-02,-2.75370810e-02,
  7.30773285e-03, 8.61436574e-01,-2.89722508e-02, 8.86504934e-03,
  2.22531282e-02, 8.72453199e-01,-2.00634744e-02, 2.24822451e-02,
  1.27661506e+00,-1.00867622e-02, 9.25466693e-01, 6.17165815e-02,
 -4.82475323e-02,-5.61951709e-02, 6.92572295e-02, 6.93955156e-01,
 -1.21150842e-01,-6.94957341e-01,-1.44163134e-01]

qacc:
[ 4.01220823e-01, 6.97207654e-01,-1.24678936e+00,-2.99276036e+00,
 -1.87791171e-01,-3.56717730e+00, 1.06518809e+01,-1.40271222e+01,
  1.33202399e-01,-2.18572163e+00, 8.41111560e-01, 1.66366733e+01,
 -3.48408942e-01, 3.61193341e-01,-5.79318576e+00, 1.96289776e+01,
  1.16785658e+01,-1.33014652e+00,-5.15047532e+00,-8.75741196e-01,
  3.74861875e+02, 5.87593948e+02]

qfrc_actuator:
[ 0.00229539, 0.02824728, 0.00867675, 0.00155155, 0.00046643, 0.03079108,
  0.00975486, 0.0021075 ,-0.00233097, 0.02795467, 0.00868552, 0.00162877,
  0.00910837,-0.00159401, 0.        ,-0.00291232, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.77991062, -8.60107646, -0.77991062,  2.07584628,
        0.59488102, -8.60107646,  0.59488102,  8.58242225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0060556788938829625
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.75003772e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.75003772e-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([-0.10116734, -0.04697327,  0.06127289])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.43866302e-05,-1.34623510e-05,-2.96283534e-05,-1.62396296e-05,
 -3.40802020e-05,-1.93742494e-04,-2.58763279e-05,-2.10392111e-05,
  2.44542601e-05,-1.37557765e-04, 2.14452953e-05, 4.76162892e-05,
 -8.33570863e-05,-2.29922362e-05,-9.35134821e-06, 9.25969985e-05,
 -6.06845900e-04, 6.35365952e-03,-7.83381554e+00, 5.83253034e-03,
 -1.58782364e-01,-1.03388851e-03]


--- Step 1204 ---
qpos:
[-4.01533999e-04, 8.76620323e-01,-2.01804089e-02,-2.75374953e-02,
  7.31693576e-03, 8.61506799e-01,-2.89491539e-02, 8.87535516e-03,
  2.22541712e-02, 8.72462272e-01,-2.00643205e-02, 2.24818266e-02,
  1.27687788e+00,-1.00860187e-02, 9.25725017e-01, 6.17112411e-02,
 -4.84698544e-02,-5.60876646e-02, 6.91425403e-02, 6.95313729e-01,
 -1.24071401e-01,-6.93505971e-01,-1.42107611e-01]

qacc:
[ 1.32362362e-01, 2.07411874e+00,-1.17860491e+01, 2.79221593e+01,
 -2.35600266e-01,-3.48373917e-01,-5.24195030e+00, 2.09990354e+01,
 -1.20278400e-01,-1.28530259e+00, 2.73398915e-02, 1.08283260e+01,
 -8.85929583e-01, 1.49102691e+00, 7.28163050e+00,-2.47039782e+01,
 -1.16525598e+01, 1.16685988e+00,-1.16566239e+01,-1.59815720e+02,
  3.69061464e+02, 3.49554874e+02]

qfrc_actuator:
[ 0.00228415, 0.02822032, 0.00866268, 0.00159677, 0.00043993, 0.03072038,
  0.00975885, 0.00215096,-0.00236517, 0.02791537, 0.00871056, 0.00166018,
  0.00908108,-0.00157313, 0.        ,-0.0030342 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.70188508, -8.46701624, -1.70188508, 27.33081004,
       -3.75761644, -8.46701624, -3.75761644,  9.39165112,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01226655934476866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.82646006e-01,  3.91323003e-01,  4.84078028e-01,  3.32807668e-01,
        9.20253393e-01, -2.05846421e-01, -5.26026887e-01, -2.77555756e-17,
       -8.50467938e-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([-0.10155524, -0.04687194,  0.06128   ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.45114398e-05,-4.15886757e-05,-2.11472487e-05, 4.32795573e-05,
 -4.26850589e-05,-1.87201588e-04,-4.07151080e-05, 3.37018606e-05,
 -2.24384619e-05,-1.09971141e-04, 8.48478752e-07, 2.71666031e-05,
 -8.22525746e-05,-2.40405239e-06, 1.78841483e-06,-1.18879413e-04,
 -1.76301388e-02,-2.41935875e-02,-7.82271436e+00, 6.56559601e-03,
 -1.58373186e-01,-1.02443511e-03]


--- Step 1205 ---
qpos:
[-4.04387376e-04, 8.76632955e-01,-2.01819287e-02,-2.75373503e-02,
  7.32572309e-03, 8.61575575e-01,-2.89262130e-02, 8.88679435e-03,
  2.22550707e-02, 8.72471342e-01,-2.00664113e-02, 2.24821226e-02,
  1.27714020e+00,-1.00853212e-02, 9.25982776e-01, 6.17088382e-02,
 -4.86593288e-02,-5.59871111e-02, 6.90668166e-02, 6.95778534e-01,
 -1.26721128e-01,-6.92935008e-01,-1.40267825e-01]

qacc:
[-6.34158496e-02, 6.17323132e-01,-5.55780596e+00, 1.56986310e+01,
 -2.18504639e-01, 8.53384975e-01,-1.06067202e+01, 3.15396873e+01,
 -7.53373112e-02, 4.93998854e+00,-2.06408012e+01, 3.50009341e+01,
 -1.84115652e-01, 6.40352716e-02,-9.69495327e+00, 3.27249139e+01,
  8.21195370e+00,-1.73820097e+00, 9.74135701e+00, 2.64606102e+01,
 -5.83370428e+02,-2.87038977e+02]

qfrc_actuator:
[ 0.0022606 , 0.02818133, 0.00865497, 0.00162352, 0.00042062, 0.03065078,
  0.00975197, 0.00220792,-0.00236822, 0.02794202, 0.00865464, 0.00169656,
  0.00905528,-0.00157886, 0.        ,-0.00287306, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.18446333, -8.35553091, -2.18446333,  6.91702055,
        0.44950368, -8.35553091,  0.44950368,  8.51884575,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006210397049200844
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.45249362e-14, -2.68152668e-14,  1.00000000e+00,  3.89490038e-28,
        1.00000000e+00,  2.68152668e-14, -1.00000000e+00,  0.00000000e+00,
        1.45249362e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.01852457, -0.06218747,  0.0612565 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.17960821e-05,-6.50572837e-05,-1.74992191e-05, 2.50691663e-05,
 -3.95806423e-05,-1.83133632e-04,-5.01400804e-05, 4.80220560e-05,
 -1.38339773e-05,-3.37164237e-05,-7.76519065e-05, 3.22211153e-05,
 -7.55997649e-05,-2.45356166e-05,-1.83666631e-05, 1.53389351e-04,
 -6.32918753e-02,-6.23901569e-02,-7.79402437e+00, 7.95035366e-03,
 -1.57043346e-01,-1.03952206e-03]


--- Step 1206 ---
qpos:
[-4.07433935e-04, 8.76645148e-01,-2.01838078e-02,-2.75372205e-02,
  7.33415736e-03, 8.61642272e-01,-2.89029211e-02, 8.89887053e-03,
  2.22558793e-02, 8.72481119e-01,-2.00698505e-02, 2.24824215e-02,
  1.27740205e+00,-1.00849419e-02, 9.26240081e-01, 6.17106790e-02,
 -4.88208097e-02,-5.58926223e-02, 6.90178957e-02, 6.95493201e-01,
 -1.29155825e-01,-6.93105264e-01,-1.38611234e-01]

qacc:
[-1.00499581e-01, 3.93084444e-01,-2.17670990e+00, 2.80662368e+00,
 -1.85030988e-01,-2.41485884e+00, 1.93526963e+00, 1.00555087e+01,
 -4.83088967e-02, 4.70529533e+00,-1.54346767e+01, 1.71195834e+01,
  1.29947400e-01,-6.63455309e-01,-1.34945703e+01, 4.62133024e+01,
  6.99835460e+00,-1.51616852e+00, 6.70073238e+00, 1.57909455e+01,
 -4.91073352e+02,-2.37807309e+02]

qfrc_actuator:
[ 0.00224769, 0.02815319, 0.00863323, 0.00162143, 0.00040577, 0.03051137,
  0.00975652, 0.00223683,-0.00237032, 0.02802539, 0.00860492, 0.0017001 ,
  0.00902506,-0.0016003 , 0.        ,-0.00265291, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.22331215, -8.3452777 , -2.22331215, 36.10559632,
       -7.31823205, -8.3452777 , -7.31823205, 10.5860548 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006357544328330952
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.64009731e-15,  8.73153978e-15,  1.00000000e+00,  6.67098136e-29,
        1.00000000e+00, -8.73153978e-15, -1.00000000e+00,  0.00000000e+00,
       -7.64009731e-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([-0.01929023, -0.06201488,  0.06124239])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.86217457e-05,-6.73377335e-05,-3.65476848e-05,-5.01150432e-06,
 -3.36501845e-05,-2.51968062e-04,-3.85359270e-05, 2.01128018e-05,
 -8.74142457e-06, 4.96632278e-05,-6.51899870e-05, 1.71174009e-08,
 -8.09011614e-05,-4.32720237e-05, 5.25709556e-06, 2.25570521e-04,
 -9.69280025e-03,-4.21215278e-03,-7.80662278e+00, 3.23289045e-03,
 -1.57590827e-01,-8.57407824e-04]


--- Step 1207 ---
qpos:
[-4.10824592e-04, 8.76657037e-01,-2.01860180e-02,-2.75371363e-02,
  7.34211060e-03, 8.61707204e-01,-2.88794988e-02, 8.91082650e-03,
  2.22566285e-02, 8.72491523e-01,-2.00730748e-02, 2.24812786e-02,
  1.27766343e+00,-1.00850653e-02, 9.26497673e-01, 6.17124494e-02,
 -4.92821276e-02,-5.55494381e-02, 6.88923849e-02, 6.96816728e-01,
 -1.27949204e-01,-6.92254993e-01,-1.37326158e-01]

qacc:
[-1.78982940e-01, 4.29621945e-01,-1.92268362e+00, 1.88887315e+00,
 -2.52732644e-01,-2.94039841e+00, 7.61010769e+00,-8.60450854e+00,
 -3.10613747e-02,-2.73511409e+00, 1.70466373e+01,-4.28075727e+01,
  5.80255285e-02,-6.83470932e-01, 6.24165589e-01,-1.59568790e+00,
 -7.49592538e+01, 6.21738406e+01,-1.91475090e+01, 1.17067610e+03,
  1.18879629e+03,-1.21369691e+03]

qfrc_actuator:
[ 0.00222352, 0.02814944, 0.00862115, 0.00162013, 0.00037594, 0.03043779,
  0.00976747, 0.00223122,-0.00237185, 0.02808883, 0.00863053, 0.00163108,
  0.00899219,-0.00163088, 0.        ,-0.00266612, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.55462035, -8.6185366 , -0.55462035, 66.42904446,
       -3.7190765 , -8.6185366 , -3.7190765 ,  8.87569377,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.050404073031238866
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.87019504e-01,  4.43509752e-01,  1.28434807e-01,  4.38932464e-01,
        8.96269546e-01, -6.35546410e-02, -1.43299309e-01,  6.93889390e-18,
       -9.89679397e-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([-0.06808563, -0.0361093 ,  0.06123006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.31542348e-05,-4.94274327e-05,-3.07362051e-05,-5.55821664e-06,
 -4.58195989e-05,-2.23371187e-04,-4.58689422e-05,-1.75079215e-05,
 -5.70960943e-06, 7.75453271e-05, 2.77888318e-05,-6.91491170e-05,
 -9.06852323e-05,-5.75269780e-05, 2.33124085e-05,-9.42486646e-07,
 -3.08536901e-03, 4.19051843e-02,-7.81397645e+00, 7.67808501e-05,
 -1.57984399e-01,-7.20624672e-04]


--- Step 1208 ---
qpos:
[-4.14515277e-04, 8.76668473e-01,-2.01878148e-02,-2.75364109e-02,
  7.34943047e-03, 8.61770955e-01,-2.88566518e-02, 8.92259263e-03,
  2.22573371e-02, 8.72502163e-01,-2.00759040e-02, 2.24803907e-02,
  1.27792421e+00,-1.00852873e-02, 9.26755219e-01, 6.17150818e-02,
 -4.97096506e-02,-5.52456622e-02, 6.88356115e-02, 6.96926375e-01,
 -1.26952578e-01,-6.92519282e-01,-1.36358774e-01]

qacc:
[-1.55533455e-01,-4.32471085e-01,-2.02561989e+00, 1.27771517e+01,
 -3.33632085e-01,-3.43921766e-01,-2.36906711e-01,-1.26036406e+00,
 -2.09096364e-02,-2.68590353e-01, 3.32173970e-01, 3.27555020e+00,
 -3.18187605e-01, 2.15827005e-01,-2.65700475e+00, 9.22765841e+00,
  8.44875609e+00,-9.85206532e+00, 1.71843744e+01,-1.84254772e+02,
 -8.02574859e+02,-1.92653956e+02]

qfrc_actuator:
[ 0.00221058, 0.02814262, 0.00865049, 0.00165485, 0.0003374 , 0.03040424,
  0.00974685, 0.00222314,-0.00237303, 0.02808685, 0.00864706, 0.00164426,
  0.00896842,-0.00163112, 0.        ,-0.00262146, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.84778601, -7.14742945, -4.84778601,  3.17020627,
        3.70745335, -7.14742945,  3.70745335,  6.12176163,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0066606345977872836
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37599026e-15, -1.66684271e-14,  1.00000000e+00,  1.56283011e-28,
        1.00000000e+00,  1.66684271e-14, -1.00000000e+00,  0.00000000e+00,
        9.37599026e-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([-0.02104687, -0.06123439,  0.06121353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.89100689e-05,-4.13024297e-05, 1.50835386e-05, 3.14183088e-05,
 -6.03053870e-05,-1.70445896e-04,-7.37364018e-05,-1.97299065e-05,
 -3.89909228e-06, 4.39428081e-05, 3.35208208e-05, 1.61029684e-05,
 -9.08273761e-05,-3.22124324e-05, 4.28467042e-06, 4.61377701e-05,
 -8.62567637e-02, 2.19770213e-02,-7.85501873e+00, 2.35972744e-03,
 -1.60041002e-01,-6.39172636e-04]


--- Step 1209 ---
qpos:
[-4.17676648e-04, 8.76679429e-01,-2.01892336e-02,-2.75349250e-02,
  7.35618014e-03, 8.61833410e-01,-2.88348110e-02, 8.93490288e-03,
  2.22576479e-02, 8.72512498e-01,-2.00785361e-02, 2.24804419e-02,
  1.27818439e+00,-1.00852876e-02, 9.27012364e-01, 6.17212372e-02,
 -5.01088286e-02,-5.49742418e-02, 6.88287161e-02, 6.96036942e-01,
 -1.26123033e-01,-6.93702270e-01,-1.35656612e-01]

qacc:
[ 2.75593103e-01,-1.23278219e-01,-3.68406001e+00, 1.65803181e+01,
 -3.00528867e-01, 2.21418852e+00,-1.26815961e+01, 2.46656567e+01,
 -2.06456784e-01, 9.78153293e-01,-8.03932618e+00, 2.42052769e+01,
 -4.71919431e-01, 7.11582168e-01,-1.12011517e+01, 3.83901195e+01,
  7.08621937e+00,-8.08886581e+00, 1.24695046e+01,-1.50838688e+02,
 -6.60630435e+02,-1.60999139e+02]

qfrc_actuator:
[ 0.00227548, 0.02811647, 0.00866857, 0.00169276, 0.00031173, 0.03032381,
  0.00969017, 0.0022492 ,-0.00240951, 0.02802801, 0.00864011, 0.00168787,
  0.00895012,-0.00161337, 0.        ,-0.00243645, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.80965844, -7.17314175, -4.80965844,  3.07515352,
        3.72884325, -7.17314175,  3.72884325,  6.13613946,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00670320361311403
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.24612590e-15, -1.65625735e-14,  1.00000000e+00,  1.20014493e-28,
        1.00000000e+00,  1.65625735e-14, -1.00000000e+00,  0.00000000e+00,
        7.24612590e-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([-0.02168623, -0.06078779,  0.06120762])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.09732611e-05,-4.50339709e-05, 1.24187679e-05, 3.72609544e-05,
 -5.43050063e-05,-1.93546212e-04,-1.02349836e-04, 1.56775787e-05,
 -3.83244661e-05,-2.68822928e-05, 6.76236101e-06, 4.69575593e-05,
 -7.97370380e-05,-9.11825560e-06, 1.90116332e-06, 1.86918867e-04,
 -3.04848335e-02, 1.19047860e-02,-7.84692309e+00, 1.90613306e-03,
 -1.59446344e-01,-8.10640368e-04]


--- Step 1210 ---
qpos:
[-4.19801037e-04, 8.76690099e-01,-2.01901536e-02,-2.75337208e-02,
  7.36284576e-03, 8.61894342e-01,-2.88136971e-02, 8.94674629e-03,
  2.22579104e-02, 8.72522104e-01,-2.00809154e-02, 2.24803770e-02,
  1.27844408e+00,-1.00851418e-02, 9.27269989e-01, 6.17251902e-02,
 -5.07607297e-02,-5.45005766e-02, 6.87583763e-02, 6.96454607e-01,
 -1.22200849e-01,-6.94043456e-01,-1.35357355e-01]

qacc:
[ 5.39457900e-01,-2.35179653e+00, 9.02331146e+00,-1.44814838e+01,
 -4.42174586e-02,-9.40179499e-01, 2.40582431e+00,-8.20480162e+00,
 -2.47564871e-02,-1.90723871e+00, 5.89446579e+00,-7.77403538e+00,
 -5.99496814e-01, 9.29843065e-01, 7.39041112e+00,-2.47560980e+01,
 -6.31807642e+01, 5.05611831e+01,-1.58611008e+01, 9.61880730e+02,
  9.81508958e+02,-1.07116315e+03]

qfrc_actuator:
[ 0.00235088, 0.02811444, 0.00869751, 0.00167895, 0.00032947, 0.0302336 ,
  0.00964803, 0.00222408,-0.00239577, 0.02795325, 0.00863688, 0.00167794,
  0.00893514,-0.00160285, 0.        ,-0.00256081, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.98200362, -8.58035231, -0.98200362, 61.89238495,
       -6.09504179, -8.58035231, -6.09504179,  9.3339286 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.048746936811779946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86032131e-01,  4.43016066e-01,  1.36688802e-01,  4.37836567e-01,
        8.96513673e-01, -6.75453559e-02, -1.52467057e-01, -6.93889390e-18,
       -9.88308553e-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([-0.06953368, -0.03558356,  0.06120743])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.98799345e-05,-2.32879109e-05, 2.23833076e-05,-1.45993560e-05,
 -8.04616837e-06,-2.20601139e-04,-9.48656430e-05,-3.67924799e-05,
 -4.68245510e-06,-8.66118563e-05,-6.38419308e-06,-9.93755130e-06,
 -6.43905442e-05,-9.26615890e-06, 1.72913186e-05,-1.14720376e-04,
 -5.20071220e-02, 1.29102127e-02,-7.83937788e+00, 2.39291851e-03,
 -1.59163324e-01,-9.08915045e-04]


--- Step 1211 ---
qpos:
[-4.21692252e-04, 8.76700790e-01,-2.01907840e-02,-2.75337529e-02,
  7.36974242e-03, 8.61953816e-01,-2.87935445e-02, 8.95751194e-03,
  2.22582344e-02, 8.72531004e-01,-2.00826364e-02, 2.24787822e-02,
  1.27870335e+00,-1.00848913e-02, 9.27528129e-01, 6.17239678e-02,
 -5.13797131e-02,-5.40763433e-02, 6.87656360e-02, 6.95563238e-01,
 -1.18627049e-01,-6.95543555e-01,-1.35419970e-01]

qacc:
[ 1.21328691e-01,-3.32954913e+00, 1.71142844e+01,-3.89598266e+01,
  1.21539470e-01,-1.45914161e+00, 6.95638448e+00,-2.30011494e+01,
  3.26107315e-02,-5.91838184e+00, 2.62092513e+01,-5.32206413e+01,
 -6.57457002e-01, 1.02204321e+00, 1.64163066e+01,-5.62608933e+01,
  8.22941667e+00,-1.23579651e+01, 1.93998628e+01,-2.48443661e+02,
 -8.59298386e+02,-1.64521399e+02]

qfrc_actuator:
[ 0.00232533, 0.02812688, 0.00871494, 0.00161709, 0.00035526, 0.03015601,
  0.00959699, 0.00216905,-0.0023876 , 0.02792274, 0.00867125, 0.00160108,
  0.00891683,-0.00159668, 0.        ,-0.00283097, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.34195305, -6.7860382 , -5.34195305,  3.54261937,
        4.00978331, -6.7860382 ,  4.00978331,  5.4798718 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006619862537009691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.38554440e-15, -8.38554440e-15,  1.00000000e+00,  7.03173549e-29,
        1.00000000e+00,  8.38554440e-15, -1.00000000e+00,  0.00000000e+00,
        8.38554440e-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([-0.0226427 , -0.05978152,  0.06120816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.24624463e-05, 3.18476928e-06, 1.47974201e-05,-6.23810406e-05,
  2.19405023e-05,-2.23757587e-04,-1.10235874e-04,-6.86261299e-05,
  5.92108787e-06,-8.08945626e-05, 1.52914301e-05,-8.10047698e-05,
 -5.89087517e-05,-1.00065723e-05,-1.14365044e-05,-2.75871013e-04,
 -1.44312925e-01, 7.38114626e-02,-7.71673871e+00, 1.75184072e-03,
 -1.52853100e-01,-7.09553461e-04]


--- Step 1212 ---
qpos:
[-4.23808538e-04, 8.76711429e-01,-2.01914589e-02,-2.75344938e-02,
  7.37669418e-03, 8.62012292e-01,-2.87747778e-02, 8.96853765e-03,
  2.22580846e-02, 8.72539276e-01,-2.00831286e-02, 2.24762280e-02,
  1.27896225e+00,-1.00845828e-02, 9.27785737e-01, 6.17231942e-02,
 -5.22024832e-02,-5.34907283e-02, 6.87174763e-02, 6.95694266e-01,
 -1.12468547e-01,-6.96343917e-01,-1.35887687e-01]

qacc:
[-1.17041109e-01,-1.40385067e+00, 7.89149268e+00,-2.00342489e+01,
  2.85180227e-02, 3.08374188e+00,-1.40106656e+01, 2.14666585e+01,
 -2.45396710e-01,-6.23228264e+00, 2.50733362e+01,-4.31823718e+01,
 -2.88478738e-01, 3.77009950e-01,-2.12611739e+00, 6.32900033e+00,
 -5.09466500e+01, 4.03454289e+01,-1.38548584e+01, 7.71301139e+02,
  7.97957249e+02,-9.29053977e+02]

qfrc_actuator:
[ 0.00229287, 0.0281123 , 0.00870772, 0.00158073, 0.00035008, 0.0301398 ,
  0.00954112, 0.00218563,-0.00243613, 0.02791905, 0.00874542, 0.00155651,
  0.00890185,-0.00159314, 0.        ,-0.00279419, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.05208453, -8.57204147, -1.05208453, 57.28325853,
       -5.97064839, -8.57204147, -5.97064839,  9.3691677 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.047045780900231815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.85661260e-01,  4.42830630e-01,  1.39660891e-01,  4.37425411e-01,
        8.96605283e-01, -6.89780908e-02, -1.55766304e-01,  6.93889390e-18,
       -9.87793935e-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([-0.07097998, -0.03480679,  0.0612097 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.16817134e-05,-1.26505926e-05,-6.97029859e-06,-3.69414510e-05,
  5.20828159e-06,-1.68633754e-04,-1.18681777e-04, 1.70329419e-06,
 -4.56691477e-05,-4.94297875e-05, 5.64903032e-05,-4.90874695e-05,
 -5.29105580e-05,-1.13105587e-05,-4.18397836e-05, 1.85711762e-05,
 -1.44657045e-01,-4.10211941e-03,-7.72302413e+00, 6.38192570e-03,
 -1.53171565e-01,-1.13185943e-03]


--- Step 1213 ---
qpos:
[-4.25856635e-04, 8.76721748e-01,-2.01921162e-02,-2.75352887e-02,
  7.38379638e-03, 8.62069725e-01,-2.87566462e-02, 8.97962576e-03,
  2.22572240e-02, 8.72547393e-01,-2.00837812e-02, 2.24738850e-02,
  1.27922077e+00,-1.00842223e-02, 9.28042870e-01, 6.17244655e-02,
 -5.30294170e-02,-5.29035670e-02, 6.86387388e-02, 6.96603680e-01,
 -1.07131570e-01,-6.96281709e-01,-1.35859937e-01]

qacc:
[ 3.55651485e-02,-5.84970627e-01, 1.69702725e+00,-2.42254077e+00,
  7.91974299e-02, 5.24103090e-01,-4.13307499e+00, 6.99756776e+00,
 -3.69450536e-01, 6.77574161e-01,-3.60473224e+00, 7.62886181e+00,
 -2.14956987e-01, 2.45493145e-01,-6.86367272e+00, 2.30196383e+01,
 -1.04096098e+00, 3.86556100e-01,-7.64442326e+00,-1.28095235e+02,
  4.87376894e+02, 5.59777128e+02]

qfrc_actuator:
[ 0.00230988, 0.02808158, 0.00870369, 0.00157739, 0.00036191, 0.03010728,
  0.00951868, 0.00219101,-0.00248265, 0.0279139 , 0.00873613, 0.00156687,
  0.00888357,-0.00159118, 0.        ,-0.00268331, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.05755856, -8.63617183,  0.05755856,  0.26557634,
       -0.05578982, -8.63617183, -0.05578982,  8.63599181,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.009222092737110438
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.37107405e-01,  3.18553703e-01,  7.01867290e-01,  2.14106859e-01,
        9.47904815e-01, -2.35870122e-01, -7.40440684e-01, -2.77555756e-17,
       -6.72121710e-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([-0.10397764, -0.04552246,  0.06121511])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.55933058e-06,-4.10602840e-05,-8.85632700e-06,-4.85704891e-06,
  1.42842707e-05,-1.52816398e-04,-7.24620767e-05,-6.05276715e-06,
 -6.84797221e-05,-2.34152457e-05,-1.43007502e-05, 9.23759268e-06,
 -5.27933749e-05,-1.18502209e-05,-1.98942889e-05, 1.05895316e-04,
 -2.66839400e-01, 1.16471554e-01,-7.51320720e+00, 3.69995272e-03,
 -1.42554386e-01,-8.01863029e-04]


--- Step 1214 ---
qpos:
[-4.28310951e-04, 8.76731454e-01,-2.01924119e-02,-2.75357586e-02,
  7.39101382e-03, 8.62125927e-01,-2.87391458e-02, 8.99036770e-03,
  2.22562929e-02, 8.72555182e-01,-2.00855744e-02, 2.24717755e-02,
  1.27947891e+00,-1.00838204e-02, 9.28299926e-01, 6.17263402e-02,
 -5.38170194e-02,-5.23759580e-02, 6.86599454e-02, 6.95949773e-01,
 -1.02188638e-01,-6.97591902e-01,-1.36297224e-01]

qacc:
[-2.10717443e-01,-1.14830285e+00, 1.55313699e+00, 3.93543628e+00,
  6.07062666e-02,-5.75969479e-01, 1.15456648e+00,-5.23161867e+00,
 -3.72393100e-02, 3.23196065e+00,-1.31404028e+01, 1.92477722e+01,
 -2.92506099e-01, 3.66080937e-01,-1.91936396e+00, 6.58454630e+00,
  9.83287321e+00,-1.48880645e+01, 2.49859981e+01,-2.89660383e+02,
 -1.02412784e+03,-2.04499714e+02]

qfrc_actuator:
[ 0.0022676 , 0.02804146, 0.00871928, 0.00159349, 0.00036608, 0.03002992,
  0.00948059, 0.00217201,-0.00245654, 0.0278544 , 0.0086599 , 0.0015739 ,
  0.00886331,-0.00159018, 0.        ,-0.00265403, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.28843542, -6.82782745, -5.28843542,  3.45196559,
        4.01553121, -6.82782745,  4.01553121,  5.52616825,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006586452941273767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.05350998e-15, -1.68561597e-14,  1.00000000e+00,  1.77581324e-29,
        1.00000000e+00,  1.68561597e-14, -1.00000000e+00,  0.00000000e+00,
        1.05350998e-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([-0.02486354, -0.05741378,  0.06120542])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.91452996e-05,-6.53490287e-05, 5.77473069e-06, 1.39263583e-05,
  1.09300692e-05,-1.79573251e-04,-7.94034685e-05,-2.83016751e-05,
 -6.81088243e-06,-7.53433641e-05,-8.25628652e-05, 5.70348770e-06,
 -5.45314279e-05,-1.30445558e-05,-7.89225252e-07, 3.18259844e-05,
 -2.42516796e-01, 1.55832968e-01,-7.60665824e+00, 2.43329125e-03,
 -1.47390806e-01,-6.02571627e-04]


--- Step 1215 ---
qpos:
[-4.31764360e-04, 8.76740815e-01,-2.01929182e-02,-2.75353360e-02,
  7.39809475e-03, 8.62180604e-01,-2.87218213e-02, 9.00045736e-03,
  2.22558634e-02, 8.72562477e-01,-2.00874142e-02, 2.24700582e-02,
  1.27973678e+00,-1.00834580e-02, 9.28556722e-01, 6.17302144e-02,
 -5.45124952e-02,-5.18546967e-02, 6.86802586e-02, 6.96639974e-01,
 -9.87101277e-02,-6.97621101e-01,-1.35180832e-01]

qacc:
[-5.19319884e-01, 1.97149432e+00,-1.14473718e+01, 2.74619261e+01,
 -7.14967468e-02,-2.86275783e+00, 1.00398362e+01,-1.99297027e+01,
  2.60909902e-01, 2.83871754e-01,-3.61677008e+00, 1.08444499e+01,
 -6.87873369e-02,-2.84682545e-02,-6.41880453e+00, 2.19047572e+01,
  2.30316443e+01,-1.58692538e+00,-2.23328366e-01, 1.37092748e+01,
  7.35393119e+02, 1.20848292e+03]

qfrc_actuator:
[ 0.00219021, 0.02803162, 0.00871078, 0.00163865, 0.00034787, 0.02994401,
  0.00946887, 0.00213877,-0.00240495, 0.02785129, 0.00866882, 0.00159658,
  0.00885786,-0.00158976, 0.        ,-0.00254881, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.53020782, -8.62007288, -0.53020782,  0.7348187 ,
        0.48601224, -8.62007288,  0.48601224,  8.60646975,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00672953479541509
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.24888390e-15, -8.24888390e-15,  1.00000000e+00,  6.80440856e-29,
        1.00000000e+00,  8.24888390e-15, -1.00000000e+00,  0.00000000e+00,
        8.24888390e-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([-0.10628044, -0.04551407,  0.06119452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.62508199e-05,-4.48127766e-05,-2.08718874e-05, 4.28185537e-05,
 -1.30400816e-05,-2.05436723e-04,-6.01728747e-05,-4.43609002e-05,
  4.83191313e-05,-6.22226713e-05,-1.66581444e-05, 1.66929998e-05,
 -4.09772438e-05,-1.43012965e-05,-1.63863938e-06, 1.05767636e-04,
 -1.96331301e-01, 1.34669436e-02,-7.62370139e+00, 9.75002556e-03,
 -1.47929233e-01,-1.28205730e-03]


--- Step 1216 ---
qpos:
[-4.36160050e-04, 8.76750193e-01,-2.01942500e-02,-2.75343798e-02,
  7.40478080e-03, 8.62233490e-01,-2.87040913e-02, 9.01006190e-03,
  2.22556267e-02, 8.72569864e-01,-2.00894768e-02, 2.24692517e-02,
  1.27999451e+00,-1.00834084e-02, 9.28813820e-01, 6.17322868e-02,
 -5.51327227e-02,-5.13380490e-02, 6.86923160e-02, 6.98428613e-01,
 -9.64459908e-02,-6.96608020e-01,-1.32788967e-01]

qacc:
[-4.90301507e-01, 3.42863578e+00,-1.44365642e+01, 2.49642497e+01,
 -2.07070585e-01,-4.49417786e+00, 1.46400434e+01,-2.23723223e+01,
  1.00028193e-01, 2.61651120e+00,-1.30004602e+01, 2.90536610e+01,
  6.34043130e-02,-4.06426290e-01, 5.87709180e+00,-1.99339162e+01,
  1.88120753e+01,-1.15339828e+00,-2.06395973e+00, 5.67383666e+00,
  6.01164031e+02, 9.93546999e+02]

qfrc_actuator:
[ 0.00214575, 0.02803994, 0.0086705 , 0.00166504, 0.00031644, 0.02985375,
  0.00949052, 0.00211519,-0.00240963, 0.02790006, 0.00867493, 0.00164614,
  0.00885065,-0.00160739, 0.        ,-0.0026482 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.46810282, -8.6236684 , -0.46810282,  0.61265013,
        0.43553656, -8.6236684 ,  0.43553656,  8.6127222 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00667082845950627
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.66429557e-14, -8.32147784e-15,  1.00000000e+00,  1.38493987e-28,
        1.00000000e+00,  8.32147784e-15, -1.00000000e+00,  0.00000000e+00,
        1.66429557e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10720114, -0.04531354,  0.06120097])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.07718833e-05,-1.94422047e-05,-5.06855615e-05, 2.45711614e-05,
 -3.76410914e-05,-2.20923212e-04,-3.03161008e-05,-3.54606163e-05,
  1.85664537e-05, 1.10985931e-05,-8.25048615e-06, 4.66366164e-05,
 -3.48804567e-05,-2.95410197e-05, 6.72305338e-06,-9.47221735e-05,
 -1.74968821e-01, 7.39905482e-02,-7.75969000e+00, 7.15658852e-03,
 -1.54930437e-01,-9.76162210e-04]


--- Step 1217 ---
qpos:
[-4.40524716e-04, 8.76759452e-01,-2.01957718e-02,-2.75331417e-02,
  7.41105570e-03, 8.62284895e-01,-2.86869193e-02, 9.01967870e-03,
  2.22552692e-02, 8.72577173e-01,-2.00919544e-02, 2.24687344e-02,
  1.28025179e+00,-1.00831959e-02, 9.29070758e-01, 6.17345020e-02,
 -5.57202142e-02,-5.08602126e-02, 6.87678292e-02, 6.99412694e-01,
 -9.57279742e-02,-6.96430545e-01,-1.29005951e-01]

qacc:
[ 1.60632455e-02, 9.53236623e-01,-4.81493055e+00, 1.00792524e+01,
 -2.16319553e-01,-3.72100747e-01,-1.56387025e+00, 3.75735613e+00,
 -6.29709197e-02, 1.65139608e+00,-7.25801713e+00, 1.29826164e+01,
 -4.52187875e-01, 7.07655236e-01,-6.43738236e-01, 1.96207886e+00,
  8.18400893e+00,-9.70281876e+00, 1.58639425e+01,-3.87022864e+01,
 -7.41777195e+02, 9.30618676e+02]

qfrc_actuator:
[ 0.00219241, 0.02804116, 0.00866511, 0.00168017, 0.00029514, 0.02977952,
  0.00946067, 0.00211523,-0.00243021, 0.02787305, 0.00864406, 0.0016579 ,
  0.00882107,-0.00160004, 0.        ,-0.00263657, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.51819793, -6.64351327, -5.51819793,  3.74839934,
        4.06001364, -6.64351327,  4.06001364,  5.26405776,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006829354018586066
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.12831654e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.12831654e-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([-0.0364516 , -0.06930239,  0.06119386])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.98401437e-06,-1.92726652e-05,-1.48530518e-05, 1.30118161e-05,
 -3.91887365e-05,-2.06974385e-04,-8.10152233e-05,-1.12770276e-05,
 -1.16372678e-05,-2.06608888e-05,-2.80270990e-05, 1.28508710e-05,
 -5.73015872e-05,-6.14454483e-06,-1.30959234e-05, 5.88033500e-06,
 -2.34908882e-01, 5.78049386e-02,-7.86473424e+00, 8.83575750e-03,
 -1.60627270e-01,-7.76225189e-04]


--- Step 1218 ---
qpos:
[-4.43828970e-04, 8.76768602e-01,-2.01968206e-02,-2.75317804e-02,
  7.41697732e-03, 8.62335287e-01,-2.86707318e-02, 9.02884291e-03,
  2.22549121e-02, 8.72584125e-01,-2.00935465e-02, 2.24683080e-02,
  1.28050853e+00,-1.00825649e-02, 9.29327044e-01, 6.17411630e-02,
 -5.62812093e-02,-5.04137254e-02, 6.88868643e-02, 6.99726706e-01,
 -9.62659093e-02,-6.96932893e-01,-1.24096554e-01]

qacc:
[ 5.51543995e-01,-1.21064585e+00, 3.58902367e+00,-2.13444656e+00,
 -1.86291878e-01, 4.79897308e-01,-1.74280952e+00,-3.77055318e+00,
  8.75561871e-04,-2.75820727e+00, 8.76568443e+00,-8.34364730e+00,
 -5.43082929e-01, 1.00443031e+00,-1.43475910e+01, 4.88801714e+01,
  6.62408495e+00,-7.83728761e+00, 1.08804841e+01,-3.52103726e+01,
 -6.05994310e+02, 7.55488615e+02]

qfrc_actuator:
[ 0.00229314, 0.02805602, 0.00869811, 0.00168858, 0.00028011, 0.02975081,
  0.00941847, 0.00209366,-0.00242459, 0.02787172, 0.00869778, 0.00166499,
  0.00879409,-0.00157806, 0.        ,-0.00239978, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.50622569, -6.65343937, -5.50622569,  3.69311526,
        4.09091294, -6.65343937,  4.09091294,  5.25082292,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006711576980474837
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27095501e-15, -8.27095501e-15,  1.00000000e+00, -6.84086967e-29,
        1.00000000e+00,  8.27095501e-15, -1.00000000e+00,  0.00000000e+00,
       -8.27095501e-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([-0.0365335 , -0.06898893,  0.06120655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.02148264e-04, 1.37221199e-06, 2.75784754e-05, 7.31570074e-06,
 -3.36680428e-05,-1.63044667e-04,-9.58739549e-05,-3.35866328e-05,
  3.20258927e-08,-1.82746863e-05, 4.64125600e-05, 5.47815912e-06,
 -6.27025874e-05, 8.08109050e-06,-9.72343393e-06, 2.34416774e-04,
 -1.63583606e-01, 3.54709875e-02,-7.96100888e+00, 8.39095262e-03,
 -1.65782110e-01,-1.09095719e-03]


--- Step 1219 ---
qpos:
[-4.46357455e-04, 8.76777701e-01,-2.01977185e-02,-2.75310053e-02,
  7.42261381e-03, 8.62384522e-01,-2.86546802e-02, 9.03832449e-03,
  2.22545917e-02, 8.72590792e-01,-2.00942355e-02, 2.24686489e-02,
  1.28076490e+00,-1.00819620e-02, 9.29584159e-01, 6.17428682e-02,
 -5.68165091e-02,-5.00053780e-02, 6.90550049e-02, 6.99015413e-01,
 -9.70646878e-02,-6.98337779e-01,-1.19499982e-01]

qacc:
[ 4.03331361e-01,-1.69753873e+00, 8.42170078e+00,-1.87570779e+01,
 -1.49782357e-01,-4.95549701e-01,-1.79135973e+00, 8.35249479e+00,
  1.98034208e-02,-1.32031118e+00, 9.21050863e-01, 1.11262319e+01,
 -5.04217798e-01, 6.82844933e-01, 1.62071659e+01,-5.48767825e+01,
  6.42382853e+00,-9.53499226e+00, 1.22763722e+01,-1.93619750e+02,
 -6.74180375e+02,-1.25612020e+02]

qfrc_actuator:
[ 0.00231876, 0.02804359, 0.00870029, 0.00165751, 0.00026892, 0.02971404,
  0.00942277, 0.00211282,-0.00242108, 0.02786836, 0.00874787, 0.00170486,
  0.00877401,-0.00158313, 0.        ,-0.00267135, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.18798001, -6.90446524, -5.18798001,  3.31677441,
        3.99711225, -6.90446524,  3.99711225,  5.63295385,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006509271440719375
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.46201134e-15, -8.52801296e-15,  1.00000000e+00,  6.36361295e-29,
        1.00000000e+00,  8.52801296e-15, -1.00000000e+00,  0.00000000e+00,
        7.46201134e-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([-0.02722396, -0.05417163,  0.06122521])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.47290451e-05,-5.84761718e-06, 6.05085139e-06,-2.99351251e-05,
 -2.71829665e-05,-1.50537309e-04,-4.28877000e-05, 8.09268060e-06,
  3.53951030e-06,-3.91273110e-06, 5.21842427e-05, 4.07971821e-05,
 -5.54211008e-05,-1.75084383e-05, 1.81429107e-05,-2.60570229e-04,
 -1.34917198e-01, 9.48462668e-02,-8.02442078e+00, 4.09887896e-03,
 -1.69701828e-01,-1.21868072e-03]


--- Step 1220 ---
qpos:
[-4.48347740e-04, 8.76786708e-01,-2.01990673e-02,-2.75312515e-02,
  7.42783609e-03, 8.62432676e-01,-2.86384550e-02, 9.04758199e-03,
  2.22539437e-02, 8.72597555e-01,-2.00952548e-02, 2.24695014e-02,
  1.28102097e+00,-1.00816841e-02, 9.29841645e-01, 6.17390035e-02,
 -5.73319954e-02,-4.96269893e-02, 6.92541484e-02, 6.97477562e-01,
 -9.80816569e-02,-7.00459184e-01,-1.15160628e-01]

qacc:
[ 2.79465233e-01,-9.65996671e-01, 7.56850607e+00,-2.44343753e+01,
 -2.17582568e-01,-2.37301954e+00, 7.33494614e+00,-1.06980975e+01,
 -1.70559173e-01, 2.10142363e+00,-9.46925638e+00, 1.87803593e+01,
 -2.11458957e-01,-9.65783970e-03, 1.73641708e+01,-5.99545304e+01,
  4.95338001e+00,-7.48963744e+00, 7.75072772e+00,-1.63374565e+02,
 -5.39593172e+02,-9.78749955e+01]

qfrc_actuator:
[ 0.00233468, 0.02801476, 0.00866636, 0.0016034 , 0.00024238, 0.02967297,
  0.00943677, 0.00210258,-0.00245437, 0.02786385, 0.00872441, 0.00172819,
  0.00875276,-0.00160415, 0.        ,-0.00295627, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.16875781, -6.91886693, -5.16875781,  3.25166866,
        4.0226506 , -6.91886693,  4.0226506 ,  5.63123188,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0061498941029566045
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.38488458e-15, -1.80527178e-14,  1.00000000e+00,  6.11063659e-29,
        1.00000000e+00,  1.80527178e-14, -1.00000000e+00,  0.00000000e+00,
        3.38488458e-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([-0.026516  , -0.05390852,  0.06125575])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.18401027e-05,-3.23166169e-05,-3.54902831e-05,-5.47471358e-05,
 -3.94685271e-05,-1.35075989e-04,-2.26310540e-05,-1.81264543e-05,
 -3.15768007e-05, 5.67286132e-06,-1.64833270e-05, 2.57509464e-05,
 -5.85610357e-05,-3.67378811e-05,-2.79525261e-05,-2.98812487e-04,
 -1.34029116e-01, 1.73704534e-01,-7.98619197e+00,-8.72206685e-04,
 -1.67888171e-01,-1.26439261e-03]


--- Step 1221 ---
qpos:
[-4.49790967e-04, 8.76795377e-01,-2.02004495e-02,-2.75321408e-02,
  7.43230216e-03, 8.62480033e-01,-2.86222874e-02, 9.05627609e-03,
  2.22533038e-02, 8.72604909e-01,-2.00969948e-02, 2.24695544e-02,
  1.28127667e+00,-1.00816296e-02, 9.30098554e-01, 6.17350714e-02,
 -5.77838062e-02,-4.93217303e-02, 6.95137184e-02, 6.95482508e-01,
 -9.79480096e-02,-7.02872059e-01,-1.12610556e-01]

qacc:
[ 2.84424958e-01,-1.67938800e+00, 8.04541012e+00,-1.88582533e+01,
 -3.97883498e-01,-2.04865720e+00, 8.15818088e+00,-1.72344739e+01,
  3.62155998e-03, 1.14893020e+00, 4.11659332e-01,-1.35302827e+01,
 -7.66244248e-02,-1.99606704e-01,-6.47444578e-01, 1.02718038e+00,
  1.59188760e+01,-1.82824421e+01, 1.51066151e+01,-2.31036463e+02,
 -1.07769620e+02,-1.06759753e+03]

qfrc_actuator:
[ 0.00236246, 0.02799392, 0.00866457, 0.00157165, 0.00018911, 0.02964747,
  0.00943857, 0.00207512,-0.00243839, 0.02791163, 0.00869318, 0.00168828,
  0.0087308 ,-0.00161668, 0.        ,-0.00294481, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.75751454, -6.43722014, -5.75751454,  5.0125935 ,
        3.24113651, -6.43722014,  3.24113651,  5.73745849,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006196861679910751
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.95794583e-15,  8.95794583e-15,  1.00000000e+00, -8.02447935e-29,
        1.00000000e+00, -8.95794583e-15, -1.00000000e+00,  0.00000000e+00,
        8.95794583e-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([-0.0780328 , -0.03107955,  0.06125539])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.26888796e-05,-4.87736454e-05,-1.47924991e-05,-3.54433312e-05,
 -7.20285801e-05,-1.07780745e-04,-3.00339789e-05,-3.44977937e-05,
  8.11478813e-07, 4.85002392e-05,-3.12411682e-05,-3.97442615e-05,
 -6.59222120e-05,-3.26308392e-05,-5.11033048e-05,-9.94243330e-06,
 -1.79087202e-01, 2.42250431e-01,-7.95639762e+00,-4.63485538e-03,
 -1.66543658e-01,-1.24170971e-03]


--- Step 1222 ---
qpos:
[-4.50795669e-04, 8.76803641e-01,-2.02015357e-02,-2.75337639e-02,
  7.43587319e-03, 8.62526230e-01,-2.86063590e-02, 9.06497638e-03,
  2.22527704e-02, 8.72612599e-01,-2.00990288e-02, 2.24684411e-02,
  1.28153176e+00,-1.00816138e-02, 9.30354823e-01, 6.17338983e-02,
 -5.81705972e-02,-4.90187869e-02, 6.97613951e-02, 6.94346809e-01,
 -9.87100818e-02,-7.04420715e-01,-1.09225843e-01]

qacc:
[ 2.28229430e-01,-2.87396950e+00, 1.25601777e+01,-2.54201226e+01,
 -4.70899277e-01,-8.51565567e-01, 7.85534833e-01, 5.56802177e-01,
  5.49183228e-02,-1.13335975e+00, 9.61253748e+00,-2.95791963e+01,
 -2.74716279e-01, 1.78276452e-01,-9.26316024e+00, 3.10620029e+01,
  1.62549534e+01,-5.78887040e-01,-2.97330436e+00,-2.47299311e+01,
  5.11224635e+02, 6.95739296e+02]

qfrc_actuator:
[ 0.00237937, 0.02797815, 0.00868182, 0.00153558, 0.00013806, 0.02956045,
  0.00941547, 0.00207326,-0.00242854, 0.02791926, 0.00867557, 0.00162929,
  0.00868714,-0.00162408, 0.        ,-0.0027943 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.07485251, -8.63603925,  0.07485251,  1.17122078,
       -0.06470382, -8.63603925, -0.06470382,  8.63580282,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006373499669338818
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.70968135e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.70968135e-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([-0.11051624, -0.04331829,  0.06124772])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.22339645e-05,-4.77951812e-05, 4.07334632e-06,-3.93634508e-05,
 -8.52633879e-05,-1.56255349e-04,-5.07737173e-05,-8.30226199e-06,
  1.02540431e-05, 2.64276196e-05,-1.28582698e-05,-5.87766983e-05,
 -9.08497501e-05,-2.84637044e-05,-2.69721494e-05, 1.42848057e-04,
 -2.06698554e-01, 1.39256070e-01,-7.87543190e+00, 8.01515783e-05,
 -1.61733474e-01,-1.22835251e-03]


--- Step 1223 ---
qpos:
[-4.51482847e-04, 8.76811570e-01,-2.02024425e-02,-2.75358080e-02,
  7.43868831e-03, 8.62570922e-01,-2.85905796e-02, 9.07258773e-03,
  2.22523511e-02, 8.72620337e-01,-2.01003957e-02, 2.24676356e-02,
  1.28178607e+00,-1.00813366e-02, 9.30610812e-01, 6.17351490e-02,
 -5.85029720e-02,-4.87485184e-02, 6.99964324e-02, 6.93686232e-01,
 -9.83028257e-02,-7.05441933e-01,-1.07180437e-01]

qacc:
[ 1.65250882e-01,-1.81023059e+00, 7.58481161e+00,-1.49012933e+01,
 -3.97528275e-01,-3.80869136e+00, 1.52961927e+01,-3.28036284e+01,
  5.97545166e-02,-1.16724225e+00, 2.95326645e+00, 1.27295439e+00,
 -6.77189751e-01, 1.02060698e+00,-7.69197195e+00, 2.63969677e+01,
  1.36040390e+01,-8.16875544e+00,-3.15987859e+00,-7.11152401e+01,
  4.80419838e+02,-8.24844868e+02]

qfrc_actuator:
[ 0.00238966, 0.02796563, 0.00869243, 0.00151503, 0.00010654, 0.02945495,
  0.00939538, 0.0020154 ,-0.00242249, 0.0279383 , 0.00871925, 0.0016483 ,
  0.00864647,-0.00161076, 0.        ,-0.00266967, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.30614444, -7.48624719, -4.30614444,  2.93716852,
        3.27821894, -7.48624719,  3.27821894,  6.750708  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006415976400093261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.32600962e-15,  1.73040385e-14,  1.00000000e+00, -7.48574369e-29,
        1.00000000e+00, -1.73040385e-14, -1.00000000e+00,  0.00000000e+00,
        4.32600962e-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([-0.10500198, -0.02399131,  0.06125136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.05792226e-05,-4.02690049e-05,-1.77321229e-07,-2.32287525e-05,
 -7.20278605e-05,-2.04972793e-04,-5.94088818e-05,-6.65804650e-05,
  1.10062585e-05, 2.84887966e-05, 4.54810934e-05, 1.85445790e-05,
 -1.01312140e-04,-1.28041370e-05, 4.37422931e-07, 1.28426696e-04,
 -1.03215527e-01, 1.37991808e-01,-7.91778238e+00,-2.24335759e-03,
 -1.63952714e-01,-1.03736012e-03]


--- Step 1224 ---
qpos:
[-4.52321178e-04, 8.76819518e-01,-2.02034029e-02,-2.75377670e-02,
  7.44131171e-03, 8.62613914e-01,-2.85750728e-02, 9.07982470e-03,
  2.22520256e-02, 8.72628081e-01,-2.01004289e-02, 2.24684027e-02,
  1.28203969e+00,-1.00809004e-02, 9.30867076e-01, 6.17351896e-02,
 -5.87898567e-02,-4.85055397e-02, 7.02142881e-02, 6.93433852e-01,
 -9.69205822e-02,-7.06024078e-01,-1.06235096e-01]

qacc:
[-7.86023883e-02, 3.49143282e-01,-1.56743289e+00, 3.10950025e+00,
 -1.00505484e-01,-2.25283537e+00, 6.35574421e+00,-1.11516711e+01,
  4.96422619e-02,-4.82397844e-01,-4.90915520e+00, 2.99923231e+01,
 -7.26819613e-01, 1.05615485e+00, 4.09762124e+00,-1.36610537e+01,
  1.13725317e+01,-6.82240532e+00,-4.29536624e+00,-5.33149676e+01,
  4.02589151e+02,-6.81992371e+02]

qfrc_actuator:
[ 0.00236041, 0.02799065, 0.00869905, 0.00152153, 0.00012246, 0.02935692,
  0.0093771 , 0.00199604,-0.00241875, 0.02796436, 0.00879887, 0.00173085,
  0.00861295,-0.00160303, 0.        ,-0.00273887, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.32264253, -7.47673314, -4.32264253,  2.84154948,
        3.35024799, -7.47673314,  3.35024799,  6.69943154,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006406708482903381
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08306690e-14, -1.73290704e-14,  1.00000000e+00,  1.87685426e-28,
        1.00000000e+00,  1.73290704e-14, -1.00000000e+00,  0.00000000e+00,
        1.08306690e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10558838, -0.02377775,  0.06125981])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45607548e-05, 1.30100072e-06,-2.57392086e-06, 4.30373164e-06,
 -1.83083769e-05,-2.28980402e-04,-7.07230311e-05,-3.15911550e-05,
  9.04413960e-06, 5.20082002e-05, 9.16945112e-05, 8.56999500e-05,
 -9.65909564e-05,-1.77452319e-05, 9.77224288e-06,-6.30634994e-05,
 -6.77504176e-02, 4.45367360e-02,-7.87400599e+00, 1.27754162e-03,
 -1.61191655e-01,-9.64131857e-04]


--- Step 1225 ---
qpos:
[-4.53963027e-04, 8.76827765e-01,-2.02047352e-02,-2.75393025e-02,
  7.44430728e-03, 8.62655580e-01,-2.85601167e-02, 9.08743331e-03,
  2.22517694e-02, 8.72636138e-01,-2.01003396e-02, 2.24695061e-02,
  1.28229271e+00,-1.00804104e-02, 9.31123684e-01, 6.17317347e-02,
 -5.92430457e-02,-4.81936356e-02, 7.03499158e-02, 6.94704510e-01,
 -9.47544825e-02,-7.05682394e-01,-1.02076394e-01]

qacc:
[-4.17966072e-01, 2.30650790e+00,-9.43337285e+00, 1.71275394e+01,
  1.96030846e-01, 5.48720913e-01,-6.07176042e+00, 1.43626775e+01,
  3.59845793e-02, 7.64724083e-01,-3.54520475e+00, 8.94028233e+00,
 -6.60670369e-01, 9.12094915e-01, 1.10907363e+01,-3.79978069e+01,
 -4.15760742e+01, 1.72313107e+01,-2.05570134e+01, 1.43087520e+03,
  7.43875898e+02, 9.63088228e+02]

qfrc_actuator:
[ 0.00229003, 0.02802022, 0.00868568, 0.00154391, 0.00016658, 0.02931743,
  0.0093601 , 0.00201726,-0.00241644, 0.02795914, 0.00879259, 0.00174363,
  0.00858907,-0.00159866, 0.        ,-0.0029217 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,   3.02931545,   8.08764643,   3.02931545,
        84.07417584, -28.25604854,   8.08764643, -28.25604854,
        19.21997225,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.04657560203625261
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.86325262e-01, -4.43162631e-01,  1.34292269e-01, -4.38161723e-01,
        8.96441232e-01,  6.63884179e-02, -1.49805993e-01, -6.93889390e-18,
       -9.88715411e-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([-0.1063713 , -0.02339369,  0.06127917])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.73992177e-05, 2.97783895e-05,-1.33149515e-05, 2.24244586e-05,
  3.54017437e-05,-1.84653380e-04,-7.45773892e-05, 8.24957253e-06,
  6.68365483e-06, 4.62932876e-05, 1.86660140e-05, 1.98329974e-05,
 -8.54550502e-05,-2.09401212e-05,-8.65815036e-06,-1.86497029e-04,
 -4.91123850e-02, 1.14523804e-02,-7.83755341e+00, 2.63209867e-03,
 -1.59124324e-01,-8.94672031e-04]


--- Step 1226 ---
qpos:
[-4.56417941e-04, 8.76835876e-01,-2.02057752e-02,-2.75405486e-02,
  7.44774245e-03, 8.62696590e-01,-2.85458220e-02, 9.09480936e-03,
  2.22517461e-02, 8.72644325e-01,-2.01004060e-02, 2.24697628e-02,
  1.28254519e+00,-1.00796605e-02, 9.31380383e-01, 6.17247680e-02,
 -5.96500810e-02,-4.79041868e-02, 7.04671315e-02, 6.96299035e-01,
 -9.15102032e-02,-7.04899548e-01,-9.95498024e-02]

qacc:
[-4.22375628e-01,-3.99168543e-01,-5.50365933e-02, 4.69053087e+00,
  2.31171204e-01, 5.02789629e-01,-2.06711042e+00,-4.17828569e-01,
  1.20839808e-01,-1.13681987e+00, 7.87617503e+00,-2.23778269e+01,
 -7.84076803e-01, 1.30131278e+00, 1.07796952e+01,-3.74258477e+01,
  1.15384275e+01,-5.61379892e+00,-4.60300890e+00,-2.08542120e+02,
  3.99866567e+02,-9.09916498e+02]

qfrc_actuator:
[ 0.00224894, 0.02799899, 0.00869617, 0.0015577 , 0.00019163, 0.02933113,
  0.00934424, 0.00200898,-0.00239724, 0.02793485, 0.00877096, 0.00169739,
  0.00857632,-0.00157852, 0.        ,-0.00309893, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.84403045, -8.43719909, -1.84403045,  0.85180836,
        1.70138891, -8.43719909,  1.70138891,  8.26450884,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006044099570328219
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14804427e-14, -2.75530626e-14,  1.00000000e+00,  3.16321357e-28,
        1.00000000e+00,  2.75530626e-14, -1.00000000e+00,  0.00000000e+00,
        1.14804427e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10757461, -0.02319489,  0.06130191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.83282655e-05,-6.56371312e-06, 1.57259311e-05, 1.50325187e-05,
  4.18445240e-05,-1.05730230e-04,-6.33549462e-05,-1.87156621e-05,
  2.24384008e-05, 6.10527400e-06,-9.14486273e-06,-4.32333952e-05,
 -6.87534662e-05,-3.10441956e-06,-3.04278454e-05,-1.90039404e-04,
 -3.34559372e-01, 6.65979879e-02,-7.96172996e+00, 3.26149335e-03,
 -1.65992267e-01,-6.36838426e-04]


--- Step 1227 ---
qpos:
[-4.59320298e-04, 8.76843250e-01,-2.02061038e-02,-2.75412255e-02,
  7.45134063e-03, 8.62737086e-01,-2.85325147e-02, 9.10168531e-03,
  2.22519533e-02, 8.72652349e-01,-2.01008651e-02, 2.24695187e-02,
  1.28279726e+00,-1.00789693e-02, 9.31636768e-01, 6.17166932e-02,
 -6.00209586e-02,-4.76324119e-02, 7.05607719e-02, 6.98171493e-01,
 -8.73946869e-02,-7.03738944e-01,-9.83373486e-02]

qacc:
[-2.31856735e-01,-1.78763304e+00, 2.56473326e+00, 6.67602024e+00,
  8.53145165e-02, 1.04635449e+00,-2.60982531e+00,-4.08558810e+00,
  1.19587949e-01,-1.48084128e-01, 2.33047973e+00,-1.02493788e+01,
 -3.00199882e-01, 2.89492102e-01, 2.89451655e+00,-1.07728634e+01,
  9.03943264e+00,-4.41849399e+00,-5.89381588e+00,-1.65932344e+02,
  3.32969947e+02,-7.33468074e+02]

qfrc_actuator:
[ 0.00224351, 0.02792982, 0.00872046, 0.00158405, 0.00018728, 0.02930558,
  0.0092939 , 0.00198344,-0.00238585, 0.02789917, 0.00874035, 0.00167005,
  0.00855428,-0.00158464, 0.        ,-0.00314712, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.86720791, -8.43210006, -1.86720791,  0.76160784,
        1.74378936, -8.43210006,  1.74378936,  8.25021816,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005675856668199419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.78022429e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.78022429e-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([-0.10900592, -0.02276687,  0.0613375 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.31216403e-05,-6.91278426e-05, 2.53386894e-05, 2.68993591e-05,
  1.55038306e-05,-9.96559813e-05,-8.10794735e-05,-3.27176983e-05,
  2.22024641e-05,-3.61990093e-05,-3.20342175e-05,-2.82447106e-05,
 -6.42212942e-05,-2.18530616e-05,-3.96482056e-05,-6.37099444e-05,
 -3.14337491e-01, 8.74157724e-02,-7.82798350e+00, 1.73579402e-03,
 -1.58817235e-01,-3.68173150e-04]


--- Step 1228 ---
qpos:
[-4.61904072e-04, 8.76849667e-01,-2.02062334e-02,-2.75411710e-02,
  7.45534546e-03, 8.62776817e-01,-2.85198294e-02, 9.10751604e-03,
  2.22525245e-02, 8.72659837e-01,-2.01021389e-02, 2.24700634e-02,
  1.28304898e+00,-1.00786208e-02, 9.31893025e-01, 6.17070328e-02,
 -6.03981927e-02,-4.73488499e-02, 7.06157446e-02, 7.00062258e-01,
 -8.29130334e-02,-7.02495834e-01,-9.76620063e-02]

qacc:
[ 1.66072094e-01,-3.14358361e-01,-3.79414071e+00, 1.68203696e+01,
  2.13826120e-01,-1.42097565e+00, 8.01659451e+00,-2.45524318e+01,
  1.88931779e-01, 3.18982663e+00,-1.57322719e+01, 3.10805519e+01,
 -3.66065399e-02,-3.42726128e-01, 4.59223943e+00,-1.63550062e+01,
 -1.58914685e+00, 2.94679643e+00,-9.66693040e+00,-6.44361008e+01,
  7.67165445e+01,-3.11826818e+02]

qfrc_actuator:
[ 0.00229494, 0.02785031, 0.00871698, 0.00161754, 0.00021863, 0.02925661,
  0.00925897, 0.00193017,-0.00236148, 0.02783914, 0.0086869 , 0.00170731,
  0.00853201,-0.0016063 , 0.        ,-0.00322539, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.19535379, -2.72450971,  8.19535379,  7.818659  ,
       -2.45966412, -2.72450971, -2.45966412,  1.23766818,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.011449232410986939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-7.97018704e-01,  3.98509352e-01,  4.53818777e-01,  3.46305910e-01,
        9.17164269e-01, -1.97184989e-01, -4.94806429e-01,  2.77555756e-17,
       -8.69003221e-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([-0.09837086, -0.02431151,  0.06138307])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.06643927e-05,-1.11949838e-04,-1.37500318e-05, 3.19258835e-05,
  3.87063443e-05,-1.23924541e-04,-6.70751542e-05,-6.10816231e-05,
  3.50586060e-05,-8.82772765e-05,-6.59103423e-05, 3.40338934e-05,
 -6.59532417e-05,-4.02038090e-05,-2.85751123e-05,-8.76543530e-05,
 -3.07952505e-01, 1.42771159e-01,-7.73129128e+00,-7.40401949e-04,
 -1.53886219e-01,-1.71321108e-04]


--- Step 1229 ---
qpos:
[-4.63821523e-04, 8.76855516e-01,-2.02064792e-02,-2.75414339e-02,
  7.45990794e-03, 8.62815807e-01,-2.85077571e-02, 9.11334859e-03,
  2.22530497e-02, 8.72666439e-01,-2.01030626e-02, 2.24710149e-02,
  1.28330029e+00,-1.00782791e-02, 9.32148514e-01, 6.17011509e-02,
 -6.07331182e-02,-4.71075764e-02, 7.06944914e-02, 7.01657764e-01,
 -7.75827152e-02,-7.01422312e-01,-9.83058710e-02]

qacc:
[ 3.46442812e-01,-1.07839467e+00, 4.09461338e+00,-8.97992031e+00,
  2.93340421e-01, 7.34496039e-01,-4.05046404e+00, 5.60948516e+00,
 -2.34107398e-02,-1.31169930e+00, 1.25981112e+00, 5.87394690e+00,
 -1.04235213e-01,-4.70913282e-03,-1.25359539e+01, 4.22233858e+01,
  1.05771701e+01,-1.05721417e+01, 5.94351365e+00,-1.70267753e+02,
 -6.69379682e+01,-7.81309101e+02]

qfrc_actuator:
[ 0.00234439, 0.02783612, 0.00871483, 0.00160167, 0.00025335, 0.02922955,
  0.00923331, 0.001932  ,-0.00238282, 0.02780045, 0.00870909, 0.00172897,
  0.00852025,-0.00160149, 0.        ,-0.003019  , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.0496581 , -7.00626362, -5.0496581 ,  3.42469997,
        3.75622743, -7.00626362,  3.75622743,  5.92911977,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0049039519264302
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69795153e-14, -2.26393538e-14,  1.00000000e+00,  3.84405254e-28,
        1.00000000e+00,  2.26393538e-14, -1.00000000e+00,  0.00000000e+00,
        1.69795153e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08217922, -0.02824506,  0.06141302])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.41739630e-05,-7.84060783e-05,-2.59081377e-05,-2.05255598e-05,
  5.30908550e-05,-1.13884432e-04,-6.20583710e-05,-7.07464100e-06,
 -4.46377663e-06,-1.00371126e-04,-3.03895198e-06, 1.62497559e-05,
 -6.05999480e-05,-1.78582393e-05,-2.67778385e-05, 1.96951780e-04,
 -2.99960582e-01, 1.67977088e-01,-7.69215306e+00,-1.49841664e-03,
 -1.51965340e-01,-1.53082133e-04]


--- Step 1230 ---
qpos:
[-4.65291144e-04, 8.76860909e-01,-2.02063127e-02,-2.75412460e-02,
  7.46455858e-03, 8.62854083e-01,-2.84964823e-02, 9.12020081e-03,
  2.22532337e-02, 8.72672489e-01,-2.01034929e-02, 2.24707834e-02,
  1.28355137e+00,-1.00782346e-02, 9.32403207e-01, 6.17024095e-02,
 -6.10342111e-02,-4.69010732e-02, 7.07850379e-02, 7.03011086e-01,
 -7.15502973e-02,-7.00462058e-01,-1.00044358e-01]

qacc:
[ 2.33196143e-01,-8.25498451e-01, 1.70262890e-01, 7.29851677e+00,
  4.62050558e-02, 3.37817026e+00,-1.77240038e+01, 3.71782973e+01,
 -1.76848615e-01,-4.54011438e+00, 2.01267340e+01,-4.09862836e+01,
  4.28713932e-01,-1.05350134e+00,-2.27576081e+01, 7.78597810e+01,
  8.45812693e+00,-8.69257484e+00, 2.94993307e+00,-1.41405058e+02,
 -4.77003882e+01,-6.46564997e+02]

qfrc_actuator:
[ 0.00235668, 0.02784335, 0.00874921, 0.00162795, 0.00023651, 0.02919816,
  0.0091957 , 0.00198402,-0.00241355, 0.02779288, 0.00874031, 0.00167033,
  0.00851483,-0.00161648, 0.        ,-0.00264655, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.16486102, -6.92177632, -5.16486102,  3.46414446,
        3.85938406, -6.92177632,  3.85938406,  5.75658518,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0045457118565309235
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.22117620e-14,  2.44235240e-14,  1.00000000e+00, -2.98254261e-28,
        1.00000000e+00, -2.44235240e-14, -1.00000000e+00,  0.00000000e+00,
        1.22117620e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08272339, -0.02770198,  0.06144983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.31313909e-05,-4.29574049e-05, 1.42455864e-05, 2.16177581e-05,
  8.37278382e-06,-1.09221233e-04,-6.94361221e-05, 4.47723132e-05,
 -3.28811679e-05,-6.37778553e-05, 1.06346441e-05,-6.27380945e-05,
 -4.55889640e-05,-3.21221117e-05, 7.02131122e-06, 3.79409691e-04,
 -2.42595796e-01, 2.06936552e-01,-7.60880823e+00,-3.06275827e-03,
 -1.47855894e-01,-2.25114528e-04]


--- Step 1231 ---
qpos:
[-4.66281360e-04, 8.76865836e-01,-2.02060035e-02,-2.75407256e-02,
  7.46912503e-03, 8.62891493e-01,-2.84856693e-02, 9.12692675e-03,
  2.22532479e-02, 8.72678169e-01,-2.01031031e-02, 2.24701491e-02,
  1.28380221e+00,-1.00786387e-02, 9.32657804e-01, 6.17084315e-02,
 -6.13226856e-02,-4.67303533e-02, 7.09001205e-02, 7.03605158e-01,
 -6.59140286e-02,-7.00127076e-01,-1.02064679e-01]

qacc:
[ 2.49439928e-01,-3.30391603e-01,-1.11641156e+00, 6.97662964e+00,
 -4.43034351e-02,-1.12829477e-01,-7.23648798e-01,-8.68554382e-02,
 -8.76464550e-02,-3.60694642e+00, 1.38532531e+01,-2.18622482e+01,
  4.23929382e-01,-1.15795281e+00,-1.45506554e+01, 5.06413260e+01,
  3.15460991e+00,-8.94582899e+00, 6.13402827e+00,-2.33843088e+02,
 -4.95437481e+02,-2.06684468e+01]

qfrc_actuator:
[ 0.00238212, 0.02781031, 0.00875177, 0.00164337, 0.0002245 , 0.02914669,
  0.0091691 , 0.00197638,-0.00241411, 0.027804  , 0.00879443, 0.0016537 ,
  0.00849722,-0.00164307, 0.        ,-0.00241011, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.2118581 , -5.99996631, -6.2118581 ,  4.63916281,
        4.13836396, -5.99996631,  4.13836396,  4.3518513 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004505710173768301
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.84802670e-14, -1.23201780e-14,  1.00000000e+00,  2.27680178e-28,
        1.00000000e+00,  1.23201780e-14, -1.00000000e+00,  0.00000000e+00,
        1.84802670e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02240798, -0.04986014,  0.06145927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.61717509e-05,-5.33201135e-05,-3.84882654e-06, 1.44877756e-05,
 -8.04890547e-06,-1.25978253e-04,-5.65638523e-05,-1.39403659e-05,
 -1.63693104e-05,-2.51767084e-05, 4.00385321e-05,-2.02214134e-05,
 -5.16198784e-05,-4.34269069e-05, 4.21825765e-05, 2.57718228e-04,
 -1.99955022e-01, 2.34486221e-01,-7.54827520e+00,-3.50998328e-03,
 -1.45062877e-01,-3.23217815e-04]


--- Step 1232 ---
qpos:
[-4.66881532e-04, 8.76870387e-01,-2.02056190e-02,-2.75410673e-02,
  7.47355709e-03, 8.62928211e-01,-2.84751176e-02, 9.13416171e-03,
  2.22531780e-02, 8.72683784e-01,-2.01024686e-02, 2.24693199e-02,
  1.28405260e+00,-1.00790320e-02, 9.32912592e-01, 6.17169455e-02,
 -6.15976822e-02,-4.65862075e-02, 7.10314447e-02, 7.03701261e-01,
 -6.13332051e-02,-7.00264311e-01,-1.03308610e-01]

qacc:
[ 2.02865776e-01,-2.48287390e+00, 1.17619891e+01,-2.65071728e+01,
 -7.05964990e-02, 8.60489006e-01,-6.54735008e+00, 1.62865499e+01,
 -4.35439869e-02,-1.16982308e+00, 4.87019751e+00,-8.58788824e+00,
 -2.43581555e-01, 2.27242751e-01,-7.22971935e+00, 2.57320839e+01,
  3.36948720e+00,-6.64351316e+00, 4.06041588e+00,-9.18392496e+01,
 -4.19900391e+02, 6.01641710e+02]

qfrc_actuator:
[ 0.00239749, 0.02778879, 0.0087531 , 0.00159896, 0.00021551, 0.02913687,
  0.00916684, 0.00200469,-0.00241435, 0.02780863, 0.00880849, 0.00164422,
  0.00847231,-0.00164084, 0.        ,-0.00229127, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.183554  , -6.02913234, -6.183554  ,  4.66852491,
        4.06946532, -6.02913234,  4.06946532,  4.46266879,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004623772472253762
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20055975e-14,  1.20055975e-14,  1.00000000e+00, -1.44134371e-28,
        1.00000000e+00, -1.20055975e-14, -1.00000000e+00,  0.00000000e+00,
        1.20055975e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03242553, -0.06755506,  0.06145434])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.75652618e-05,-5.16196157e-05,-9.69706733e-06,-4.65549773e-05,
 -1.28220493e-05,-9.35356348e-05,-3.61160912e-05, 2.05949109e-05,
 -8.10392149e-06,-2.18987283e-06, 1.30550735e-05,-9.57612385e-06,
 -6.49704143e-05,-1.83398176e-05, 4.23247784e-05, 1.37269930e-04,
 -1.18770626e-01, 1.30188486e-01,-7.59240980e+00, 2.32186054e-03,
 -1.46993454e-01,-7.58791169e-04]


--- Step 1233 ---
qpos:
[-4.67566982e-04, 8.76874813e-01,-2.02056412e-02,-2.75415918e-02,
  7.47785087e-03, 8.62964543e-01,-2.84646074e-02, 9.14231222e-03,
  2.22528829e-02, 8.72689532e-01,-2.01028419e-02, 2.24681000e-02,
  1.28430269e+00,-1.00797244e-02, 9.33168240e-01, 6.17211728e-02,
 -6.18632062e-02,-4.64307840e-02, 7.11621493e-02, 7.03463851e-01,
 -5.69479829e-02,-7.00765762e-01,-1.04033091e-01]

qacc:
[-4.45390618e-02, 5.94205909e-01,-1.58889008e+00,-8.28861340e-01,
 -7.26005665e-02, 1.49064794e+00,-9.91935832e+00, 2.61171403e+01,
 -1.17741582e-01, 2.18630763e+00,-5.89061229e+00, 6.40337271e-01,
 -1.92421096e-01,-2.18812992e-02, 1.42138939e+01,-4.78793663e+01,
  2.36814721e+00, 2.81940720e+00,-1.54925119e-01, 1.21639257e+02,
 -2.70957711e+02, 2.22860026e+02]

qfrc_actuator:
[ 0.00237122, 0.02779203, 0.00873595, 0.00159072, 0.00020843, 0.02915221,
  0.00917918, 0.00205397,-0.00243216, 0.02779144, 0.00874552, 0.00162123,
  0.00845903,-0.0016571 , 0.        ,-0.00252666, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([8.63636364, 7.20037103, 4.76879795, 7.20037103, 6.19861866,
       3.68073223, 4.76879795, 3.68073223, 3.07885459, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.008120976290700525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.36710536e-14,  8.16840561e-01,  5.76863501e-01, -9.65467711e-15,
       -5.76863501e-01,  8.16840561e-01,  1.00000000e+00, -1.67365020e-14,
        1.57772181e-30])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03260964, -0.067188  ,  0.06145382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.22119820e-06,-2.97164636e-05,-3.06581659e-05,-1.17000771e-05,
 -1.31852782e-05,-4.45122354e-05,-1.11039008e-05, 4.43495453e-05,
 -2.17038945e-05,-1.62610716e-05,-6.21924242e-05,-2.28291123e-05,
 -5.56828520e-05,-3.47296689e-05, 2.81406230e-05,-2.23850084e-04,
 -9.53105669e-02, 4.48162296e-02,-7.67128806e+00, 7.66969097e-03,
 -1.50470536e-01,-1.08783468e-03]


--- Step 1234 ---
qpos:
[-4.68453821e-04, 8.76879256e-01,-2.02065548e-02,-2.75418506e-02,
  7.48220352e-03, 8.63000436e-01,-2.84536593e-02, 9.14957984e-03,
  2.22523712e-02, 8.72695118e-01,-2.01030527e-02, 2.24665714e-02,
  1.28455246e+00,-1.00803791e-02, 9.33424386e-01, 6.17195853e-02,
 -6.21215774e-02,-4.62675320e-02, 7.12873549e-02, 7.02935995e-01,
 -5.27688748e-02,-7.01581583e-01,-1.04305876e-01]

qacc:
[-1.05214688e-01, 3.05927728e+00,-1.19938347e+01, 1.79984804e+01,
  3.13567217e-02,-3.61893095e+00, 1.57895432e+01,-3.14515807e+01,
 -1.12389216e-01,-1.30316110e+00, 5.63890345e+00,-1.11221723e+01,
 -5.59278667e-01, 8.39761725e-01, 1.83168990e+01,-6.29589864e+01,
  1.78818054e+00, 1.95716004e+00,-1.37472084e+00, 9.38520713e+01,
 -2.35924721e+02, 2.07036822e+02]

qfrc_actuator:
[ 0.00235578, 0.02779229, 0.0086904 , 0.00160384, 0.0002203 , 0.02912936,
  0.00920016, 0.00200873,-0.0024426 , 0.0277965 , 0.00876175, 0.00160816,
  0.00845272,-0.00164865, 0.        ,-0.00282678, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([8.63636364, 7.45331105, 4.362904  , 7.45331105, 6.55755186,
       3.55131142, 4.362904  , 3.55131142, 2.56952636, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00771122031837048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.19875051e-15,  7.95924103e-01,  6.05396417e-01, -5.47551928e-15,
       -6.05396417e-01,  7.95924103e-01,  1.00000000e+00, -9.04451880e-15,
        7.88860905e-31])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03257401, -0.06690498,  0.06145905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94056850e-05,-2.32983261e-05,-5.58961560e-05, 1.05611082e-05,
  5.59829329e-06,-4.90997968e-05, 1.15657654e-05,-4.67583112e-05,
 -2.08672040e-05,-1.79889760e-05, 4.38007826e-06,-1.63723308e-05,
 -4.75391500e-05,-1.09063637e-05,-1.95277279e-05,-3.10759579e-04,
 -1.18587606e-01, 1.35251130e-02,-7.67972880e+00, 1.05885097e-02,
 -1.50647245e-01,-1.28245132e-03]


--- Step 1235 ---
qpos:
[-4.69344548e-04, 8.76883549e-01,-2.02077163e-02,-2.75419735e-02,
  7.48645396e-03, 8.63035718e-01,-2.84424335e-02, 9.15628055e-03,
  2.22518783e-02, 8.72700042e-01,-2.01020601e-02, 2.24655796e-02,
  1.28480165e+00,-1.00803336e-02, 9.33679923e-01, 6.17184150e-02,
 -6.23728285e-02,-4.61270307e-02, 7.14116943e-02, 7.02066410e-01,
 -4.94001238e-02,-7.02735939e-01,-1.04041264e-01]

qacc:
[-2.11536834e-03, 7.75206602e-01,-3.62207264e+00, 6.47533873e+00,
 -5.34180964e-02,-2.74486763e+00, 1.10139699e+01,-2.08249888e+01,
  1.07479397e-02,-3.12975246e+00, 7.62515751e+00, 2.29778917e-01,
 -9.78253157e-01, 1.94196814e+00,-2.09674540e+00, 6.16530688e+00,
  1.78003674e+00,-5.68770958e+00,-2.16587263e-01,-8.76630889e+01,
 -2.95301521e+02, 4.46391364e+02]

qfrc_actuator:
[ 0.00236475, 0.02779065, 0.00868173, 0.00161167, 0.00020789, 0.02908381,
  0.0092081 , 0.0019792 ,-0.00243078, 0.0277619 , 0.00882474, 0.00163661,
  0.00842931,-0.00160784, 0.        ,-0.0027897 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.94175775, -5.13797394, -6.94175775,  5.70536631,
        3.95997988, -5.13797394,  3.95997988,  3.28615724,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0045885838762372705
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.20976651e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.20976651e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03236484, -0.06668704,  0.0614688 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80055255e-07,-2.58512411e-05,-2.00317341e-05, 5.09018252e-06,
 -9.75346214e-06,-7.35808900e-05,-2.77283164e-06,-3.22210378e-05,
  1.79585672e-06,-4.45920186e-05, 5.92006643e-05, 2.75145933e-05,
 -5.48501839e-05, 2.84093924e-05,-4.90877729e-05, 1.59638338e-05,
 -1.43819536e-01,-5.48031859e-03,-7.69180674e+00, 1.28135675e-02,
 -1.51088074e-01,-1.45895799e-03]


--- Step 1236 ---
qpos:
[-4.70177768e-04, 8.76888017e-01,-2.02091543e-02,-2.75420424e-02,
  7.49037418e-03, 8.63070472e-01,-2.84317712e-02, 9.16296773e-03,
  2.22512859e-02, 8.72704439e-01,-2.01014496e-02, 2.24660656e-02,
  1.28505040e+00,-1.00800370e-02, 9.33935154e-01, 6.17176110e-02,
 -6.26182367e-02,-4.60051471e-02, 7.15284878e-02, 7.00911122e-01,
 -4.66979822e-02,-7.04177094e-01,-1.03332077e-01]

qacc:
[ 2.96623458e-02, 1.11503558e+00,-3.86705531e+00, 5.11475192e+00,
 -1.73900862e-01, 8.46797003e-01,-3.97652360e+00, 5.03340808e+00,
 -5.16889929e-02, 3.40911311e+00,-1.94092828e+01, 4.59874573e+01,
 -5.17726760e-01, 8.77041127e-01,-1.52864510e+00, 4.75690502e+00,
  1.46074024e+00,-4.65441517e+00,-1.88644678e+00,-6.99301934e+01,
 -2.46721702e+02, 3.68340962e+02]

qfrc_actuator:
[ 0.00237048, 0.02782355, 0.00867713, 0.00161633, 0.00018106, 0.02904273,
  0.0091727 , 0.0019769 ,-0.00244125, 0.02770406, 0.0087904 , 0.00170702,
  0.008401  ,-0.00160154, 0.        ,-0.00276724, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.88765388, -5.21027838, -6.88765388,  5.60395906,
        4.00864438, -5.21027838,  4.00864438,  3.33719285,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004413899730642802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.88646621e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.88646621e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03189779, -0.0666421 ,  0.06148596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.54363844e-06, 1.44328623e-05,-1.22445423e-05, 2.95508478e-06,
 -3.14787971e-05,-8.51224575e-05,-5.24280565e-05,-6.25895099e-06,
 -9.60365897e-06,-6.94924815e-05,-3.53501382e-05, 7.10730776e-05,
 -5.48810294e-05, 8.45197997e-08,-2.33146803e-05, 1.64724213e-05,
 -1.43734433e-01,-1.65883643e-02,-7.74457308e+00, 1.42736657e-02,
 -1.53689761e-01,-1.62174323e-03]


--- Step 1237 ---
qpos:
[-4.70944682e-04, 8.76892946e-01,-2.02105222e-02,-2.75424622e-02,
  7.49414050e-03, 8.63104562e-01,-2.84215833e-02, 9.16993094e-03,
  2.22507677e-02, 8.72708990e-01,-2.01023020e-02, 2.24663439e-02,
  1.28529880e+00,-1.00796584e-02, 9.34190383e-01, 6.17156989e-02,
 -6.28256069e-02,-4.58795291e-02, 7.16166679e-02, 7.00433563e-01,
 -4.47972690e-02,-7.04935550e-01,-1.02234525e-01]

qacc:
[ 3.43325179e-02,-3.10183552e-01, 3.46632789e+00,-9.98196832e+00,
 -8.10199853e-02, 1.01499142e+00,-6.05877911e+00, 1.20849812e+01,
  3.76006522e-02, 3.86258206e+00,-1.25988312e+01, 1.12263903e+01,
 -3.81748186e-01, 5.60211595e-01, 3.36143805e+00,-1.17229022e+01,
  9.50947499e+00, 9.33612199e-01,-7.15335975e+00,-1.63576042e+02,
  4.27402837e+02, 4.69234991e+02]

qfrc_actuator:
[ 0.00237422, 0.0278769 , 0.00869287, 0.00160136, 0.00018134, 0.02900449,
  0.00914754, 0.0019906 ,-0.00242948, 0.02772117, 0.00871652, 0.00169493,
  0.00838573,-0.00159803, 0.        ,-0.00282467, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.93969262, -8.12065171,  2.93969262,  2.18964492,
       -2.33372544, -8.12065171, -2.33372544,  7.79155023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004583412353260374
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.21113151e-14, -6.05565755e-15,  1.00000000e+00,  7.33419767e-29,
        1.00000000e+00,  6.05565755e-15, -1.00000000e+00,  0.00000000e+00,
        1.21113151e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1231336 , -0.04640979,  0.06147278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.40132116e-06, 5.89279778e-05, 1.72904900e-05,-1.47145078e-05,
 -1.46857410e-05,-9.78569940e-05,-4.97907075e-05, 8.04223751e-06,
  7.14688179e-06,-2.61157050e-05,-9.01655305e-05,-1.49206879e-05,
 -4.81285788e-05,-8.57439560e-06,-1.26315184e-05,-6.03729673e-05,
 -1.50750364e-01,-1.15339495e-02,-7.78164943e+00, 1.47386683e-02,
 -1.55620513e-01,-1.72510138e-03]


--- Step 1238 ---
qpos:
[-4.71838063e-04, 8.76898605e-01,-2.02121135e-02,-2.75434188e-02,
  7.49763435e-03, 8.63137668e-01,-2.84114218e-02, 9.17804896e-03,
  2.22509129e-02, 8.72713698e-01,-2.01032835e-02, 2.24656911e-02,
  1.28554677e+00,-1.00791736e-02, 9.34445425e-01, 6.17137606e-02,
 -6.30001156e-02,-4.57505863e-02, 7.16748580e-02, 7.00530358e-01,
 -4.35809674e-02,-7.05122315e-01,-1.00799000e-01]

qacc:
[-6.61413744e-02, 4.82239533e-01, 1.93950564e+00,-1.13946606e+01,
 -1.42933066e-01, 1.14753605e+00,-1.08569130e+01, 3.16125658e+01,
  3.44584407e-01,-1.34819843e+00, 9.03803246e+00,-2.50600149e+01,
 -4.10712357e-01, 5.90421736e-01,-1.74624264e-01, 2.58644122e-01,
  8.21539075e+00, 8.31188214e-01,-7.49749127e+00,-1.36926574e+02,
  3.60102216e+02, 4.01762060e+02]

qfrc_actuator:
[ 0.00235898, 0.02792441, 0.00868507, 0.00157501, 0.00016234, 0.02895057,
  0.0091464 , 0.00204913,-0.002369  , 0.02776503, 0.00872667, 0.00165218,
  0.008357  ,-0.00159612, 0.        ,-0.00282219, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.91093871, -8.13100318,  2.91093871,  2.06923753,
       -2.35106311, -8.13100318, -2.35106311,  7.7946716 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004649248922283619
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.38796211e-14,  5.96990526e-15,  1.00000000e+00, -1.42559075e-28,
        1.00000000e+00, -5.96990526e-15, -1.00000000e+00,  0.00000000e+00,
        2.38796211e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12320847, -0.04651561,  0.0614688 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.21639859e-05, 8.33047974e-05, 5.95916590e-06,-2.35220955e-05,
 -2.59877348e-05,-1.19496303e-04,-2.75643222e-05, 5.26926649e-05,
  6.39255765e-05, 9.89031237e-06,-6.89675004e-06,-4.72842343e-05,
 -5.95934353e-05,-1.03849646e-05,-1.71328535e-05,-3.57834521e-06,
 -8.57003176e-02, 9.48699283e-03,-7.82463556e+00, 1.33384779e-02,
 -1.57847623e-01,-1.56482093e-03]


--- Step 1239 ---
qpos:
[-4.72882773e-04, 8.76904917e-01,-2.02140884e-02,-2.75443175e-02,
  7.50049349e-03, 8.63170033e-01,-2.84019460e-02, 9.18612737e-03,
  2.22513808e-02, 8.72718448e-01,-2.01042005e-02, 2.24652216e-02,
  1.28579431e+00,-1.00791179e-02, 9.34700330e-01, 6.17118321e-02,
 -6.31465751e-02,-4.56187697e-02, 7.17015890e-02, 7.01114591e-01,
 -4.29509023e-02,-7.04825553e-01,-9.90681041e-02]

qacc:
[-7.91087444e-02, 2.05384536e+00,-6.31463639e+00, 7.44962423e+00,
 -3.34075643e-01, 8.55957969e-01,-4.30400451e+00, 5.26039985e+00,
  1.67709452e-01, 2.51945607e-01,-1.59245252e+00, 4.63127174e+00,
  5.08596400e-02,-5.87615403e-01,-2.43282247e-01, 5.32288677e-01,
  7.01229402e+00, 7.18452774e-01,-7.86478199e+00,-1.14949932e+02,
  3.05232136e+02, 3.45245488e+02]

qfrc_actuator:
[ 0.00235027, 0.02795022, 0.0086634 , 0.00157766, 0.0001142 , 0.02890556,
  0.00910616, 0.00204481,-0.00236867, 0.02777161, 0.00873323, 0.00166285,
  0.00831488,-0.00163074, 0.        ,-0.00281991, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.90397212, -8.13349389,  2.90397212,  1.9441835 ,
       -2.38936732, -8.13349389, -2.38936732,  7.78326702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004608592413004958
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.61354268e-14, -6.02257113e-15,  1.00000000e+00,  2.17628178e-28,
        1.00000000e+00,  6.02257113e-15, -1.00000000e+00,  0.00000000e+00,
        3.61354268e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12351485, -0.04663373,  0.06147378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.45622786e-05, 7.24945018e-05,-4.57077603e-06, 5.95551814e-06,
 -6.05021768e-05,-1.16151891e-04,-6.68425177e-05,-9.45328857e-06,
  3.10901792e-05, 8.57109657e-06, 6.08880175e-06, 9.93530981e-06,
 -8.01433754e-05,-4.99309021e-05,-1.24303381e-05,-1.08107089e-06,
 -5.64385224e-02, 1.18484769e-02,-7.85247115e+00, 1.29400806e-02,
 -1.59318663e-01,-1.46120914e-03]


--- Step 1240 ---
qpos:
[-4.73864948e-04, 8.76911331e-01,-2.02161149e-02,-2.75444386e-02,
  7.50311254e-03, 8.63201480e-01,-2.83929288e-02, 9.19340709e-03,
  2.22516336e-02, 8.72723456e-01,-2.01059667e-02, 2.24649191e-02,
  1.28604132e+00,-1.00791762e-02, 9.34955249e-01, 6.17089146e-02,
 -6.32693482e-02,-4.54845274e-02, 7.16954396e-02, 7.02112484e-01,
 -4.28237500e-02,-7.04116443e-01,-9.70784261e-02]

qacc:
[ 3.24705049e-02, 1.88193162e+00,-9.78666656e+00, 2.32333427e+01,
 -1.26300702e-01,-1.57564336e+00, 7.22923835e+00,-1.96456078e+01,
 -1.12390335e-01, 3.05619787e+00,-1.11069396e+01, 1.51628405e+01,
 -3.46794521e-01, 2.76728902e-01, 3.02117129e+00,-1.05087362e+01,
  5.92158606e+00, 6.06428657e-01,-8.22010566e+00,-9.66433286e+01,
  2.59861980e+02, 2.97296712e+02]

qfrc_actuator:
[ 0.00236331, 0.02792728, 0.00865143, 0.00161508, 0.00012006, 0.0288483 ,
  0.00907864, 0.0020035 ,-0.00240436, 0.02777364, 0.00868424, 0.00166934,
  0.00829137,-0.00163353, 0.        ,-0.00287104, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.91706031, -8.12880902,  2.91706031,  1.8266576 ,
       -2.44369417, -8.12880902, -2.44369417,  7.7594328 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004483112139390059
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.23822803e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.23822803e-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([-0.12400117, -0.04676335,  0.06148578])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.02730454e-06, 1.67795813e-05, 2.60378307e-06, 4.04734774e-05,
 -2.29043732e-05,-1.37288728e-04,-6.04149246e-05,-4.88581553e-05,
 -2.07235501e-05, 8.40347778e-06,-4.61583833e-05, 7.24931682e-06,
 -8.27127418e-05,-3.08648207e-05,-1.02039818e-05,-5.37910449e-05,
 -4.99990392e-02, 2.26024094e-03,-7.87008994e+00, 1.31121312e-02,
 -1.60273477e-01,-1.39208176e-03]


--- Step 1241 ---
qpos:
[-4.74363713e-04, 8.76917629e-01,-2.02178351e-02,-2.75444518e-02,
  7.50601754e-03, 8.63231880e-01,-2.83834894e-02, 9.20077947e-03,
  2.22517453e-02, 8.72728257e-01,-2.01075631e-02, 2.24643410e-02,
  1.28628770e+00,-1.00787528e-02, 9.35210366e-01, 6.17030437e-02,
 -6.33723187e-02,-4.53482814e-02, 7.16551134e-02, 7.03460957e-01,
 -4.31281685e-02,-7.03053269e-01,-9.48617142e-02]

qacc:
[ 2.51482057e-01,-7.87935758e-01, 2.13158408e+00,-6.71629605e-01,
  1.51050701e-01,-2.36904893e+00, 6.05099870e+00,-4.35499482e+00,
 -7.31184369e-02,-1.31517256e+00, 5.45517799e+00,-1.03429492e+01,
 -1.02821821e+00, 1.83086098e+00, 9.26551243e+00,-3.18649807e+01,
  4.95068573e+00, 5.00916715e-01,-8.54421617e+00,-8.12556766e+01,
  2.21912644e+02, 2.56238504e+02]

qfrc_actuator:
[ 0.00240699, 0.02791089, 0.00866283, 0.00161936, 0.00015818, 0.02881966,
  0.00911206, 0.00201178,-0.002408  , 0.02775494, 0.00869156, 0.0016555 ,
  0.00827372,-0.0015996 , 0.        ,-0.00302422, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  2.94855751, -8.11743713,  2.94855751,  1.7255566 ,
       -2.51026422, -8.11743713, -2.51026422,  7.72454156,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004290951283845365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  6.46839681e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -6.46839681e-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([-0.12462989, -0.0469038 ,  0.06150336])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.65700947e-05,-4.86886405e-06, 1.65603097e-05, 5.87011861e-06,
  2.72176347e-05,-1.20807579e-04,-4.40612968e-06,-7.09115541e-07,
 -1.35922908e-05,-2.33250775e-05, 3.60133398e-06,-1.49417968e-05,
 -7.40548140e-05, 9.15687134e-06,-1.55318205e-05,-1.58604101e-04,
 -5.78058015e-02,-1.46636796e-02,-7.88064711e+00, 1.35735149e-02,
 -1.60874789e-01,-1.34291725e-03]


--- Step 1242 ---
qpos:
[-4.74358918e-04, 8.76923558e-01,-2.02189753e-02,-2.75443999e-02,
  7.50891174e-03, 8.63261586e-01,-2.83739129e-02, 9.20885613e-03,
  2.22517672e-02, 8.72732522e-01,-2.01088985e-02, 2.24636376e-02,
  1.28653346e+00,-1.00779148e-02, 9.35465081e-01, 6.16977060e-02,
 -6.34643650e-02,-4.52272300e-02, 7.16133775e-02, 7.04447707e-01,
 -4.40915821e-02,-7.02371623e-01,-9.21057190e-02]

qacc:
[ 2.62206261e-01,-1.97290850e+00, 6.05171233e+00,-5.57943608e+00,
 -5.30588575e-03, 1.48724682e-01,-4.83587957e+00, 1.73176751e+01,
 -4.63623314e-02,-1.69274465e+00, 5.53931174e+00,-7.73107935e+00,
 -7.69311674e-01, 1.35314603e+00,-2.15671689e+00, 6.78525629e+00,
  2.73102555e+00,-3.79863720e+00,-3.52397140e-01,-3.19200429e+01,
 -3.04236685e+02, 3.95953511e+02]

qfrc_actuator:
[ 0.00243311, 0.02788086, 0.00868793, 0.00162187, 0.00014421, 0.02880871,
  0.00912808, 0.00204926,-0.00241014, 0.02770642, 0.00869649, 0.00164759,
  0.00824365,-0.0015797 , 0.        ,-0.00298774, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -5.32790555, -6.79707285, -5.32790555,  6.76272356,
        1.46865828, -6.79707285,  1.46865828,  7.48515152,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0041093667624883395
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.37711103e-15, -1.35084441e-14,  1.00000000e+00,  4.56195156e-29,
        1.00000000e+00,  1.35084441e-14, -1.00000000e+00,  0.00000000e+00,
        3.37711103e-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([-0.03130173, -0.06576718,  0.06151989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.85059130e-05,-2.92148803e-05, 2.63029257e-05, 2.98008610e-06,
 -1.04822893e-06,-8.02610296e-05,-9.82526352e-06, 3.20587157e-05,
 -8.67290446e-06,-6.15588704e-05, 1.68221008e-08,-9.07790063e-06,
 -7.23728127e-05, 5.33691811e-06,-3.00031518e-05, 2.44627196e-05,
 -7.41275754e-02,-3.57325869e-02,-7.88622554e+00, 1.41405884e-02,
 -1.61234165e-01,-1.30415952e-03]


--- Step 1243 ---
qpos:
[-4.74136821e-04, 8.76929345e-01,-2.02201913e-02,-2.75432657e-02,
  7.51132813e-03, 8.63290700e-01,-2.83639559e-02, 9.21694133e-03,
  2.22513647e-02, 8.72736003e-01,-2.01103061e-02, 2.24632466e-02,
  1.28677859e+00,-1.00767711e-02, 9.35719546e-01, 6.16931244e-02,
 -6.35470929e-02,-4.51184704e-02, 7.15649746e-02, 7.05118522e-01,
 -4.56095355e-02,-7.02016282e-01,-8.88863257e-02]

qacc:
[ 1.12990000e-01, 2.25376794e+00,-1.28637354e+01, 3.17933024e+01,
 -2.50872013e-01,-1.82581881e+00, 5.34016248e+00,-5.36751444e+00,
 -2.20309055e-01,-1.93197401e-01,-2.13529699e+00, 8.23370313e+00,
 -6.87581707e-01, 1.12425858e+00,-2.61184115e+00, 8.68960060e+00,
  2.32958622e+00,-3.07297230e+00,-1.66674146e+00,-2.45207796e+01,
 -2.61638866e+02, 3.36224463e+02]

qfrc_actuator:
[ 2.43071983e-03, 2.78784397e-02, 8.68535070e-03, 1.67656945e-03,
  9.91717493e-05, 2.87906652e-02, 9.15152879e-03, 2.05033331e-03,
 -2.44688088e-03, 2.76404230e-02, 8.68207812e-03, 1.66095066e-03,
  8.20614167e-03,-1.56834788e-03, 0.00000000e+00,-2.94628908e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.31583544, -2.33102075,  8.31583544,  9.22206324,
        2.08946297, -2.33102075,  2.08946297, 16.09045012,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004144768230650429
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.69653261e-15, -1.67413315e-14,  1.00000000e+00,  1.12108872e-28,
        1.00000000e+00,  1.67413315e-14, -1.00000000e+00,  0.00000000e+00,
        6.69653261e-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([-0.03148028, -0.06555975,  0.0615166 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09305245e-05,-1.33203084e-05,-5.31157661e-06, 5.44129645e-05,
 -4.55457711e-05,-6.43750309e-05, 6.45094650e-06,-2.14870376e-06,
 -4.09159653e-05,-1.00900218e-04,-2.74644813e-05, 1.05467622e-05,
 -7.95496961e-05,-3.67066329e-06,-1.45548231e-05, 3.81815811e-05,
 -4.46233969e-02,-3.34979333e-02,-7.89746871e+00, 1.29431070e-02,
 -1.61961142e-01,-1.30773929e-03]


--- Step 1244 ---
qpos:
[-4.73827560e-04, 8.76935428e-01,-2.02218790e-02,-2.75418596e-02,
  7.51359929e-03, 8.63319441e-01,-2.83540848e-02, 9.22394314e-03,
  2.22505334e-02, 8.72739102e-01,-2.01112247e-02, 2.24632728e-02,
  1.28702317e+00,-1.00754849e-02, 9.35973842e-01, 6.16893769e-02,
 -6.36312862e-02,-4.50012900e-02, 7.15096422e-02, 7.05497742e-01,
 -4.73633836e-02,-7.01970233e-01,-8.52492668e-02]

qacc:
[ 4.49242944e-02, 2.26951603e+00,-8.66825826e+00, 1.39053196e+01,
 -7.63766376e-02,-2.47927697e+00, 1.27023515e+01,-3.10456305e+01,
 -2.22355372e-01,-1.01036513e+00, 1.10984199e+00, 5.61211649e+00,
 -4.87404873e-01, 6.98201432e-01,-2.74243564e+00, 9.28943512e+00,
 -3.66332826e-01, 2.10522061e+00,-1.73240332e+00, 7.05338190e+01,
 -2.31404761e+02, 2.10041668e+02]

qfrc_actuator:
[ 0.00242907, 0.02791026, 0.00866658, 0.00169054, 0.00010697, 0.02876855,
  0.00914364, 0.00199448,-0.00246851, 0.02767091, 0.00872729, 0.00168669,
  0.00818017,-0.00156218, 0.        ,-0.00290228, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -8.6073133 , -0.70776735, -8.6073133 ,  8.6605776 ,
       -0.29447126, -0.70776735, -0.29447126, 12.21749288,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005138832819020835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.08022878e-14,  6.00873829e-01,  7.99343882e-01, -1.43703092e-14,
       -7.99343882e-01,  6.00873829e-01,  1.00000000e+00, -1.79776308e-14,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03145118, -0.06547443,  0.06151898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.40354661e-06, 2.54819503e-05,-2.03307130e-05, 1.42631471e-05,
 -1.38513246e-05,-5.76642885e-05,-2.07887365e-05,-5.84978454e-05,
 -4.13202975e-05,-3.12312477e-05, 2.13401713e-05, 2.06690696e-05,
 -7.41788753e-05,-1.24142448e-05,-6.67911678e-06, 4.33060226e-05,
 -2.67229408e-02,-1.77355180e-02,-7.90373090e+00, 1.09505037e-02,
 -1.62530707e-01,-1.27139478e-03]


--- Step 1245 ---
qpos:
[-4.73672741e-04, 8.76941244e-01,-2.02232647e-02,-2.75406237e-02,
  7.51621453e-03, 8.63347827e-01,-2.83446776e-02, 9.23024444e-03,
  2.22495514e-02, 8.72742557e-01,-2.01120092e-02, 2.24645707e-02,
  1.28726746e+00,-1.00744832e-02, 9.36228045e-01, 6.16861635e-02,
 -6.37170787e-02,-4.48777119e-02, 7.14432066e-02, 7.05615386e-01,
 -4.93467255e-02,-7.02189879e-01,-8.12477715e-02]

qacc:
[-7.99999347e-02,-1.54700502e+00, 5.71928335e+00,-8.94576410e+00,
  1.80763263e-01,-6.14296781e-01, 4.46772629e+00,-1.55898654e+01,
 -7.83097188e-02, 2.71061463e+00,-1.43531281e+01, 3.58866159e+01,
  4.51771987e-02,-4.15561595e-01,-1.75711500e+00, 5.93142998e+00,
 -3.99791823e-01, 1.59941011e+00,-2.77578316e+00, 5.20892134e+01,
 -2.03946518e+02, 1.91663466e+02]

qfrc_actuator:
[ 0.00241015, 0.02787349, 0.00867403, 0.00168044, 0.00014634, 0.02874401,
  0.00911725, 0.00195882,-0.00246315, 0.02774145, 0.0087545 , 0.00175513,
  0.00817179,-0.00157683, 0.        ,-0.00287488, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  6.76461766, -5.3690525 ,  6.76461766,  6.77347684,
       -2.34710257, -5.3690525 , -2.34710257,  5.67918422,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0049746634138809155
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11587753e-14,  5.91070535e-01,  8.06619875e-01, -1.52281148e-14,
       -8.06619875e-01,  5.91070535e-01,  1.00000000e+00, -1.88789233e-14,
        0.00000000e+00])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03125624, -0.06545344,  0.06152585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48852747e-05,-2.62450652e-05, 1.06628659e-05,-9.44272232e-06,
  3.27765509e-05,-6.43637335e-05,-4.31968654e-05,-4.00585761e-05,
 -1.45129306e-05, 5.82966600e-05, 2.40792383e-05, 6.82406346e-05,
 -5.53372772e-05,-3.38252380e-05,-2.79725942e-06, 2.79218171e-05,
 -2.33614493e-02, 8.45818774e-03,-7.91634535e+00, 8.45236610e-03,
 -1.63464192e-01,-1.21347763e-03]


--- Step 1246 ---
qpos:
[-4.73709797e-04, 8.76946590e-01,-2.02238624e-02,-2.75395257e-02,
  7.51904175e-03, 8.63375683e-01,-2.83353316e-02, 9.23606285e-03,
  2.22483512e-02, 8.72746205e-01,-2.01131565e-02, 2.24653522e-02,
  1.28751156e+00,-1.00739927e-02, 9.36482922e-01, 6.16772609e-02,
 -6.37974601e-02,-4.47650394e-02, 7.13591669e-02, 7.05503684e-01,
 -5.17640344e-02,-7.02613070e-01,-7.69409536e-02]

qacc:
[-9.90858316e-02,-3.10698924e+00, 1.07572401e+01,-1.40577397e+01,
  1.11612632e-01,-1.52310963e+00, 6.45227581e+00,-1.43231072e+01,
 -1.13701475e-01, 2.05294944e-01, 1.81750291e+00,-1.03177411e+01,
  9.74913511e-03,-4.75156288e-01, 1.81586268e+01,-6.21133051e+01,
  1.35278162e+00,-2.72638723e+00,-4.40102334e+00,-4.32992683e+01,
 -1.77498160e+02, 2.45747292e+02]

qfrc_actuator:
[ 0.00239883, 0.02784926, 0.00871437, 0.00167399, 0.00015095, 0.02871814,
  0.00911569, 0.00193533,-0.0024772 , 0.02771117, 0.00871779, 0.0017239 ,
  0.00816331,-0.0016036 , 0.        ,-0.00317702, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.17486606, -6.03802997, -6.17486606, 13.18211782,
       -4.64877176, -6.03802997, -4.64877176, 13.3904876 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038712030238002362
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.43395092e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.43395092e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03092769, -0.06548482,  0.06153635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84949442e-05,-3.72378969e-05, 3.58779572e-05,-7.39807205e-06,
  2.01860981e-05,-7.32536937e-05,-2.18740489e-05,-2.85964963e-05,
 -2.10204037e-05, 1.01339022e-05,-1.93571181e-05,-2.65741795e-05,
 -4.91717121e-05,-4.59906673e-05,-2.77376993e-06,-3.02007203e-04,
 -2.47459304e-02, 3.75191858e-02,-7.92738060e+00, 5.71526106e-03,
 -1.64320814e-01,-1.14633292e-03]


--- Step 1247 ---
qpos:
[-4.74277020e-04, 8.76951791e-01,-2.02240104e-02,-2.75395684e-02,
  7.52198561e-03, 8.63402951e-01,-2.83262964e-02, 9.24088714e-03,
  2.22469650e-02, 8.72749995e-01,-2.01146431e-02, 2.24647238e-02,
  1.28775552e+00,-1.00741393e-02, 9.36737599e-01, 6.16661550e-02,
 -6.38739274e-02,-4.46648071e-02, 7.12767350e-02, 7.04898734e-01,
 -5.42450811e-02,-7.03472190e-01,-7.28156810e-02]

qacc:
[-2.75269505e-01,-3.79757029e+00, 1.80644445e+01,-3.83925120e+01,
  6.12962388e-02,-1.95211011e+00, 1.00324036e+01,-2.63117000e+01,
 -9.70019399e-02,-1.76440633e+00, 1.25181628e+01,-3.64831236e+01,
  3.36598373e-01,-1.10563425e+00, 6.32680010e+00,-2.26317754e+01,
  9.78498203e-01,-3.11004510e+00, 4.01931905e-01,-8.22578716e+01,
 -3.24809991e+02,-7.19074315e+01]

qfrc_actuator:
[ 0.00235666, 0.02785062, 0.00873835, 0.0016165 , 0.00015246, 0.02867405,
  0.0090933 , 0.00188368,-0.00248502, 0.02770918, 0.00869645, 0.00165191,
  0.00815477,-0.0016373 , 0.        ,-0.00328032, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -2.5974173 ,  8.23651627, -2.5974173 ,  2.22713811,
       -2.02117409,  8.23651627, -2.02117409,  7.99897856,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003901861285974355
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.84536774e-14, -2.13402581e-14,  1.00000000e+00,  6.07208820e-28,
        1.00000000e+00,  2.13402581e-14, -1.00000000e+00,  0.00000000e+00,
        2.84536774e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.02220197, -0.04561017,  0.06153025])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.10795423e-05,-1.24964297e-05, 2.04099436e-05,-5.79900042e-05,
  1.10969147e-05,-9.15470651e-05,-4.15095873e-05,-5.61586423e-05,
 -1.79233977e-05,-1.54432746e-06,-2.25770244e-05,-7.27547979e-05,
 -4.88086081e-05,-5.37599810e-05,-4.10574954e-05,-1.21909448e-04,
 -2.19216252e-02, 6.74149567e-02,-7.92684915e+00, 2.69996200e-03,
 -1.64574943e-01,-1.05249847e-03]


--- Step 1248 ---
qpos:
[-4.75724862e-04, 8.76956973e-01,-2.02242194e-02,-2.75399350e-02,
  7.52498128e-03, 8.63429847e-01,-2.83177369e-02, 9.24538308e-03,
  2.22458162e-02, 8.72753215e-01,-2.01153170e-02, 2.24642854e-02,
  1.28799905e+00,-1.00741239e-02, 9.36991650e-01, 6.16568453e-02,
 -6.41173423e-02,-4.44250767e-02, 7.11322160e-02, 7.05198740e-01,
 -5.35483552e-02,-7.03514855e-01,-6.99582709e-02]

qacc:
[-4.57726900e-01,-5.22717452e-01, 3.19027678e+00,-8.67730607e+00,
  2.70566457e-02, 1.61243845e-01, 9.82716591e-02,-4.74702870e+00,
  1.24084370e-01,-2.63071965e+00, 7.48631412e+00,-5.07711369e+00,
 -3.51260332e-01, 5.33680266e-01,-6.32638633e+00, 2.08363860e+01,
 -4.17368981e+01, 3.48745067e+01,-1.55217566e+01, 6.68869699e+02,
  7.56150465e+02,-1.50951106e+03]

qfrc_actuator:
[ 0.0022964 , 0.02784944, 0.00873477, 0.00160046, 0.00015212, 0.02867254,
  0.00907643, 0.00186912,-0.00245354, 0.02767088, 0.0087377 , 0.00166306,
  0.00814087,-0.00162158, 0.        ,-0.00317677, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  0.94424237, -8.58458987,  0.94424237, 33.95069759,
        2.78439237, -8.58458987,  2.78439237,  8.94262652,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.02917551211267509
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.88594315,  0.44297157,  0.13740787,  0.43773789,  0.89653566,
       -0.0678922 , -0.15326537,  0.        , -0.98818507])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08731732, -0.0262043 ,  0.06151637])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.48424221e-05,-6.55918455e-06,-5.68981436e-06,-1.70018311e-05,
  4.92365876e-06,-6.44063156e-05,-4.31228757e-05,-2.10796885e-05,
  2.28649124e-05,-4.70274013e-05, 3.56136377e-05, 8.89097199e-06,
 -5.57861330e-05,-5.79045900e-06,-3.56400623e-05, 9.07615539e-05,
 -3.06865766e-02, 1.15652349e-01,-7.91079688e+00,-1.09803543e-03,
 -1.63833961e-01,-9.47669241e-04]


--- Step 1249 ---
qpos:
[-4.77591693e-04, 8.76962292e-01,-2.02248904e-02,-2.75394476e-02,
  7.52780013e-03, 8.63456805e-01,-2.83097610e-02, 9.25065484e-03,
  2.22453495e-02, 8.72755630e-01,-2.01153554e-02, 2.24647172e-02,
  1.28824205e+00,-1.00736282e-02, 9.37245123e-01, 6.16514566e-02,
 -6.43110148e-02,-4.42490073e-02, 7.10289454e-02, 7.05262216e-01,
 -5.19364817e-02,-7.03718002e-01,-6.84746757e-02]

qacc:
[-2.18051503e-01, 3.23287099e+00,-1.48570226e+01, 3.02550316e+01,
 -9.33324350e-02, 3.30491464e+00,-1.49445580e+01, 2.92649158e+01,
  3.55198903e-01,-1.04814812e+00,-1.48066519e+00, 1.61189009e+01,
 -6.03949510e-01, 1.15268054e+00,-1.26505621e+01, 4.31100270e+01,
  1.24356295e+01,-1.59152258e+01, 1.03120909e+01,-1.61289383e+02,
 -7.09929225e+01,-8.18887722e+02]

qfrc_actuator:
[ 0.00229686, 0.02786442, 0.00871499, 0.00164444, 0.00013294, 0.02871436,
  0.00906318, 0.00191204,-0.00239883, 0.02761144, 0.00876223, 0.00170532,
  0.00811846,-0.0015945 , 0.        ,-0.00296996, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -6.28136977, -5.92715536, -6.28136977, 15.14420821,
       -6.89676172, -5.92715536, -6.89676172, 15.9452847 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0042091310802383555
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31882686e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31882686e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08760744, -0.02633299,  0.06149395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.03653508e-05, 9.28767903e-06,-2.24592765e-05, 4.31622710e-05,
 -1.68532492e-05,-4.72248499e-06,-3.28882994e-05, 3.81945325e-05,
  6.57098974e-05,-7.80623061e-05, 1.94925999e-05, 4.16471265e-05,
 -5.71082583e-05, 1.35774270e-05,-8.93873299e-06, 2.06694136e-04,
 -9.86564282e-02, 1.60832325e-02,-7.90856877e+00, 3.77983493e-03,
 -1.62944275e-01,-9.26741468e-04]


--- Step 1250 ---
qpos:
[-4.79462631e-04, 8.76967416e-01,-2.02256459e-02,-2.75387657e-02,
  7.53040347e-03, 8.63483572e-01,-2.83019125e-02, 9.25570765e-03,
  2.22455492e-02, 8.72758133e-01,-2.01154468e-02, 2.24659302e-02,
  1.28848479e+00,-1.00736200e-02, 9.37498638e-01, 6.16472109e-02,
 -6.44639382e-02,-4.41264848e-02, 7.09550230e-02, 7.05144637e-01,
 -4.95317289e-02,-7.04040885e-01,-6.81474968e-02]

qacc:
[-2.11080695e-03, 3.77392357e-01,-2.53959227e+00, 6.17794505e+00,
 -1.13355615e-01,-3.45535462e-01, 1.79246816e+00,-5.23934768e+00,
  3.46256876e-01, 1.86820969e+00,-9.79542375e+00, 2.33378975e+01,
  2.66034273e-01,-9.24697050e-01,-3.41222343e+00, 1.19772062e+01,
  1.01872594e+01,-1.33867473e+01, 7.33704177e+00,-1.27903822e+02,
 -4.87524498e+01,-6.96078973e+02]

qfrc_actuator:
[ 0.00231588, 0.0278357 , 0.00870367, 0.00165237, 0.0001204 , 0.02869312,
  0.00905238, 0.00189971,-0.00236623, 0.02766407, 0.00877658, 0.00174774,
  0.00809097,-0.00163199, 0.        ,-0.00291709, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.52901625, -7.35355619, -4.52901625, 20.58800107,
       -7.36095009, -7.35355619, -7.36095009, 13.16993374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004315141027833876
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.28642728e-14,  1.28642728e-14,  1.00000000e+00, -1.65489514e-28,
        1.00000000e+00, -1.28642728e-14, -1.00000000e+00,  0.00000000e+00,
        1.28642728e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08784764, -0.02638429,  0.06148114])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.01755651e-07,-2.64436364e-05,-1.07120419e-05, 8.37989708e-06,
 -2.05453808e-05,-2.97487468e-05,-1.47838681e-05,-1.29869566e-05,
  6.42101448e-05, 1.47289356e-05, 2.05136146e-06, 4.05487975e-05,
 -5.81673539e-05,-4.75514423e-05, 1.53301657e-05, 6.24441394e-05,
 -7.77547203e-02, 1.30013612e-02,-7.84430954e+00, 3.69300946e-03,
 -1.59372441e-01,-9.24269451e-04]


--- Step 1251 ---
qpos:
[-4.81393673e-04, 8.76972518e-01,-2.02268548e-02,-2.75383360e-02,
  7.53281598e-03, 8.63509820e-01,-2.82937960e-02, 9.26024251e-03,
  2.22460832e-02, 8.72761135e-01,-2.01155148e-02, 2.24662006e-02,
  1.28872704e+00,-1.00736968e-02, 9.37752344e-01, 6.16423042e-02,
 -6.45843525e-02,-4.40484092e-02, 7.09006443e-02, 7.04888746e-01,
 -4.64023050e-02,-7.04444408e-01,-6.88241122e-02]

qacc:
[-3.15192365e-02, 7.19916198e-01,-1.54461398e+00,-2.07355637e+00,
 -1.00030750e-01,-2.49894365e+00, 1.01020812e+01,-1.91157211e+01,
  1.73521162e-01,-1.34277861e+00, 9.72775864e+00,-2.64474298e+01,
 -3.37257500e-01, 2.96154132e-01, 2.29215329e+00,-7.57682208e+00,
  8.12724875e+00,-1.11117328e+01, 4.88594988e+00,-9.85342754e+01,
 -2.75678062e+01,-6.15720635e+02]

qfrc_actuator:
[ 0.00231029, 0.02783428, 0.00867948, 0.00163898, 0.00011197, 0.02865204,
  0.0090606 , 0.00187267,-0.0023649 , 0.02771234, 0.00878526, 0.00170122,
  0.00806043,-0.00163645, 0.        ,-0.00295536, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([  8.63636364,  -5.74624176,  -6.44728489,  -5.74624176,
        54.64156862, -41.00284614,  -6.44728489, -41.00284614,
        45.18078055,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.004345869642788339
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.38665627e-15, -9.57998441e-15,  1.00000000e+00,  6.11840675e-29,
        1.00000000e+00,  9.57998441e-15, -1.00000000e+00,  0.00000000e+00,
        6.38665627e-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([-0.08804799, -0.02637783,  0.0614758 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.79360039e-06,-1.81655576e-05,-3.07170573e-05,-1.47330938e-05,
 -1.82018631e-05,-6.20430813e-05,-4.83111560e-07,-2.91386459e-05,
  3.22266337e-05, 5.86179917e-05, 1.33570093e-05,-4.50307923e-05,
 -7.58525606e-05,-2.72276782e-05, 8.67784065e-06,-3.40513107e-05,
 -6.43954221e-02, 5.42552467e-03,-7.79879260e+00, 4.36102843e-03,
 -1.56961983e-01,-9.51749180e-04]


--- Step 1252 ---
qpos:
[-4.83380163e-04, 8.76977699e-01,-2.02284299e-02,-2.75380890e-02,
  7.53507587e-03, 8.63535158e-01,-2.82849318e-02, 9.26547015e-03,
  2.22465979e-02, 8.72764600e-01,-2.01160739e-02, 2.24662973e-02,
  1.28896863e+00,-1.00735087e-02, 9.38006051e-01, 6.16369845e-02,
 -6.46705493e-02,-4.39654356e-02, 7.08173751e-02, 7.05198625e-01,
 -4.39688501e-02,-7.04263447e-01,-6.90987467e-02]

qacc:
[-2.90772528e-02, 7.49536372e-01,-1.75361510e+00,-8.75298732e-01,
 -7.94272573e-02,-1.86266016e+00, 1.97384090e+00, 9.48815342e+00,
 -1.05127378e-02, 1.62510379e+00,-4.17407955e+00, 1.61180344e+00,
 -7.28209081e-01, 1.15248730e+00, 1.28720645e+00,-4.41424810e+00,
  8.55440547e+00, 1.22452730e+00,-7.22264863e+00,-1.10691256e+02,
  3.71999155e+02, 4.19843042e+02]

qfrc_actuator:
[ 0.00230775, 0.02784916, 0.00866572, 0.00163093, 0.00010606, 0.02859945,
  0.00909762, 0.0019082 ,-0.00238226, 0.02772205, 0.00875498, 0.00169152,
  0.00802808,-0.00162129, 0.        ,-0.00297597, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  3.08986786, -8.06470666,  3.08986786,  8.02780227,
       -0.23316089, -8.06470666, -0.23316089,  8.54703164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004390242335417835
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.26442112e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.26442112e-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([-0.12368246, -0.04708578,  0.06146976])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.34192732e-06,-2.36359794e-06,-2.18346916e-05,-1.01861351e-05,
 -1.45696153e-05,-8.93336027e-05, 2.28655710e-05, 3.22301022e-05,
 -1.85157598e-06, 4.32521202e-05,-1.81123814e-05,-7.60677713e-06,
 -8.36412658e-05,-7.43180821e-06,-5.48643356e-06,-2.26865291e-05,
 -5.59851527e-02,-3.60419447e-03,-7.76389062e+00, 5.53271392e-03,
 -1.55214379e-01,-1.00242709e-03]


--- Step 1253 ---
qpos:
[-4.85216335e-04, 8.76982694e-01,-2.02303595e-02,-2.75379073e-02,
  7.53703120e-03, 8.63559801e-01,-2.82759641e-02, 9.27075348e-03,
  2.22466248e-02, 8.72768230e-01,-2.01171771e-02, 2.24666649e-02,
  1.28920980e+00,-1.00737027e-02, 9.38259552e-01, 6.16324472e-02,
 -6.47269955e-02,-4.38780951e-02, 7.07039962e-02, 7.05994523e-01,
 -4.21354680e-02,-7.03585251e-01,-6.90226819e-02]

qacc:
[ 7.79655932e-02, 6.10633693e-01,-2.25720128e+00, 1.82882945e+00,
 -1.59837018e-01,-1.09199973e+00, 2.32681984e+00,-1.01871068e+00,
 -2.53859387e-01, 2.29513913e+00,-9.01051306e+00, 1.44468098e+01,
  3.92896627e-02,-5.35733052e-01,-2.67410523e+00, 8.89512858e+00,
  7.43764048e+00, 1.09170154e+00,-7.52741842e+00,-9.45875433e+01,
  3.18024786e+02, 3.62684522e+02]

qfrc_actuator:
[ 2.32480490e-03, 2.78204594e-02, 8.64055714e-03, 1.62610697e-03,
  8.39507240e-05, 2.85583009e-02, 9.09809028e-03, 1.90925772e-03,
 -2.42838564e-03, 2.77084564e-02, 8.71957221e-03, 1.70352085e-03,
  8.00000834e-03,-1.64792811e-03, 0.00000000e+00,-2.93269945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.049388  , -8.08009961,  3.049388  , 12.16084118,
        1.33011968, -8.08009961,  1.33011968,  9.13834396,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004470046309896988
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.24184734e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.24184734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12351972, -0.04710844,  0.06146062])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.44751789e-05,-3.50718909e-05,-2.87162987e-05,-5.88145952e-06,
 -2.90487768e-05,-8.56800535e-05,-1.43267821e-05,-1.40905571e-06,
 -4.69994552e-05, 6.45237149e-06,-2.89877263e-05, 1.30728916e-05,
 -7.95284997e-05,-4.69376792e-05,-1.00762975e-05, 4.01644228e-05,
 -4.20877698e-02, 2.00657403e-02,-7.79704577e+00, 4.85655674e-03,
 -1.56877407e-01,-9.41554038e-04]


--- Step 1254 ---
qpos:
[-4.86867427e-04, 8.76987646e-01,-2.02329123e-02,-2.75381295e-02,
  7.53869621e-03, 8.63584122e-01,-2.82677155e-02, 9.27532633e-03,
  2.22461329e-02, 8.72771661e-01,-2.01182060e-02, 2.24661421e-02,
  1.28945047e+00,-1.00739631e-02, 9.38512533e-01, 6.16317847e-02,
 -6.47838518e-02,-4.38122150e-02, 7.06081905e-02, 7.06163225e-01,
 -4.04657767e-02,-7.03496422e-01,-6.92011914e-02]

qacc:
[ 9.58033772e-02, 8.51527921e-01,-1.41862240e+00,-4.53326685e+00,
 -1.53041127e-01, 1.21783581e-01, 1.94859504e+00,-1.28587556e+01,
 -2.69517222e-01,-2.30230370e+00, 1.15869459e+01,-2.69701000e+01,
 -1.10381963e-01,-6.92097482e-02,-1.24615643e+01, 4.24936603e+01,
 -1.02521732e-01,-5.36508174e+00, 4.39331888e+00,-1.40213731e+02,
 -4.28973559e+02,-6.63406250e+01]

qfrc_actuator:
[ 2.33568171e-03, 2.78191059e-02, 8.60869373e-03, 1.60542852e-03,
  7.00847972e-05, 2.85419267e-02, 9.05921692e-03, 1.87224120e-03,
 -2.45577629e-03, 2.76809981e-02, 8.71684968e-03, 1.65715246e-03,
  7.98515925e-03,-1.64585425e-03, 0.00000000e+00,-2.72786534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.38682926,  7.94456823,  3.38682926, 23.24934097,
       -6.22962227,  7.94456823, -6.22962227, 11.29209852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004479042797395798
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -6.19676499e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  6.19676499e-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([-0.02604051, -0.04353009,  0.06145759])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.78270449e-05,-2.72434316e-05,-4.28699775e-05,-2.32927143e-05,
 -2.76859959e-05,-6.79754655e-05,-5.86563297e-05,-4.12691950e-05,
 -4.99938169e-05,-2.93604234e-05,-4.52781613e-06,-4.68440883e-05,
 -7.28732271e-05,-2.53698573e-05,-4.42652721e-06, 2.04804496e-04,
 -4.85216871e-02, 2.69487082e-02,-7.81921450e+00, 4.94325770e-03,
 -1.58024624e-01,-9.11532371e-04]


--- Step 1255 ---
qpos:
[-4.88356155e-04, 8.76992408e-01,-2.02350074e-02,-2.75383090e-02,
  7.54050322e-03, 8.63608195e-01,-2.82600848e-02, 9.27940277e-03,
  2.22452263e-02, 8.72774608e-01,-2.01182941e-02, 2.24650442e-02,
  1.28969061e+00,-1.00739551e-02, 9.38765421e-01, 6.16335517e-02,
 -6.48421908e-02,-4.37634854e-02, 7.05228186e-02, 7.05788671e-01,
 -3.89061945e-02,-7.03920782e-01,-6.96002340e-02]

qacc:
[ 8.47302489e-02,-1.44241379e+00, 4.59787073e+00,-4.45229206e+00,
  7.43355987e-02, 3.74221932e-01, 2.82875955e-01,-7.70262995e+00,
 -2.14816136e-01,-4.44757231e+00, 1.73623376e+01,-2.84653384e+01,
 -5.14374893e-01, 8.39740393e-01,-7.44208682e+00, 2.59064441e+01,
 -3.70684305e-01,-4.28761751e+00, 2.60843297e+00,-1.09684654e+02,
 -3.71634857e+02,-6.83157964e+01]

qfrc_actuator:
[ 2.34275719e-03, 2.78340916e-02, 8.64422858e-03, 1.61110521e-03,
  9.67786938e-05, 2.85403191e-02, 9.03302504e-03, 1.84862844e-03,
 -2.47170266e-03, 2.76632707e-02, 8.76884103e-03, 1.63007476e-03,
  7.96761152e-03,-1.62671324e-03, 0.00000000e+00,-2.60702469e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.24061975, 2.58436897, 8.24061975, 8.36540181,
       0.86399945, 2.58436897, 0.86399945, 5.88138129, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004583471193558959
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 6.05557981e-15,  6.05557981e-15,  1.00000000e+00, -3.66700468e-29,
        1.00000000e+00, -6.05557981e-15, -1.00000000e+00,  0.00000000e+00,
        6.05557981e-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([-0.02658363, -0.04333706,  0.06144558])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56400236e-05,-1.01882879e-05, 2.38045082e-05, 2.57011502e-06,
  1.35246759e-05,-5.41570954e-05,-4.91506346e-05,-2.94144128e-05,
 -3.99743533e-05,-3.71671736e-05, 4.37307310e-05,-2.94063435e-05,
 -6.64234688e-05,-2.50523232e-06, 1.69863084e-05, 1.30820581e-04,
 -1.96885236e-02, 8.03603982e-03,-7.82389452e+00, 6.11289284e-03,
 -1.58154838e-01,-1.03336080e-03]


--- Step 1256 ---
qpos:
[-4.89901881e-04, 8.76996884e-01,-2.02363599e-02,-2.75380825e-02,
  7.54253718e-03, 8.63632322e-01,-2.82528150e-02, 9.28414137e-03,
  2.22442114e-02, 8.72777813e-01,-2.01182967e-02, 2.24629028e-02,
  1.28993024e+00,-1.00737143e-02, 9.39017965e-01, 6.16397765e-02,
 -6.48746496e-02,-4.37112249e-02, 7.04059726e-02, 7.06014516e-01,
 -3.81298033e-02,-7.03751757e-01,-6.94484362e-02]

qacc:
[-2.90517082e-02,-1.61522215e+00, 3.50173555e+00, 2.53832634e+00,
  1.19123470e-01, 2.44077854e+00,-1.13954924e+01, 2.33960454e+01,
 -5.63316721e-02,-2.04482669e+00, 1.21920366e+01,-3.05802804e+01,
 -3.64731020e-01, 5.69864347e-01,-1.39418977e+01, 4.80938717e+01,
  6.47007371e+00, 8.82701810e-01,-7.86853905e+00,-9.14800671e+01,
  3.82748235e+02, 5.02478095e+02]

qfrc_actuator:
[ 0.00232975, 0.02782354, 0.00868387, 0.00163231, 0.00011199, 0.02858313,
  0.00903238, 0.00188639,-0.00246289, 0.027705  , 0.00878175, 0.00157911,
  0.00794314,-0.00161539, 0.        ,-0.00237691, 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: -0.004769123553635041
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.32793932e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.32793932e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12401847, -0.04787306,  0.06142593])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.49579714e-06,-1.13129309e-05, 4.05346167e-05, 2.16388114e-05,
  2.16328196e-05, 4.79229276e-07,-1.91603168e-05, 3.31090871e-05,
 -1.04216811e-05, 2.86473187e-05, 9.58506736e-06,-5.16215971e-05,
 -6.42206960e-05,-4.21539963e-06, 1.70360293e-05, 2.38355304e-04,
 -1.70192579e-02,-8.40094158e-03,-7.82693666e+00, 7.38188688e-03,
 -1.58285284e-01,-1.12122158e-03]


--- Step 1257 ---
qpos:
[-4.91365107e-04, 8.77001160e-01,-2.02372474e-02,-2.75369051e-02,
  7.54439248e-03, 8.63655909e-01,-2.82454227e-02, 9.29002722e-03,
  2.22432041e-02, 8.72781906e-01,-2.01190938e-02, 2.24611823e-02,
  1.29016931e+00,-1.00730449e-02, 9.39270734e-01, 6.16470374e-02,
 -6.48853768e-02,-4.36559889e-02, 7.02566260e-02, 7.06764150e-01,
 -3.80389714e-02,-7.03066516e-01,-6.88109469e-02]

qacc:
[ 4.32722178e-02, 3.97123719e-01,-5.80169854e+00, 2.16406202e+01,
 -9.36004731e-02, 1.30388548e+00,-1.05296378e+01, 3.05893975e+01,
  3.16997689e-03, 4.25681413e+00,-1.52539545e+01, 2.31554036e+01,
 -7.36639540e-01, 1.32698508e+00,-2.75207665e+00, 1.02105141e+01,
  5.43289208e+00, 7.43877342e-01,-8.12513456e+00,-7.90434962e+01,
  3.33471839e+02, 4.40714283e+02]

qfrc_actuator:
[ 2.34034748e-03, 2.78155901e-02, 8.70774309e-03, 1.68020406e-03,
  8.46570138e-05, 2.85281273e-02, 9.02930312e-03, 1.94225297e-03,
 -2.45713842e-03, 2.77818641e-02, 8.75394631e-03, 1.60326706e-03,
  7.91986011e-03,-1.59108399e-03, 0.00000000e+00,-2.33277074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.66449806,  7.82037281, -3.66449806, 40.34202527,
       14.8567515 ,  7.82037281, 14.8567515 , 15.59799301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004857958620428399
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.28536946e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.28536946e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12374118, -0.04783462,  0.06141467])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.94543366e-06,-5.07118366e-06, 2.72599776e-05, 4.92291852e-05,
 -1.70451138e-05,-5.79153230e-05,-4.44967828e-06, 5.58137352e-05,
  7.52549216e-07, 9.25724876e-05,-2.25183018e-05, 2.47131382e-05,
 -6.19720911e-05, 8.85025168e-06, 2.95848791e-05, 5.84978145e-05,
 -8.49583346e-03, 3.08195322e-03,-7.84315245e+00, 6.90290823e-03,
 -1.59097641e-01,-1.08287412e-03]


--- Step 1258 ---
qpos:
[-4.92532965e-04, 8.77005420e-01,-2.02375762e-02,-2.75355388e-02,
  7.54617054e-03, 8.63678448e-01,-2.82377769e-02, 9.29590262e-03,
  2.22422406e-02, 8.72786273e-01,-2.01200781e-02, 2.24608368e-02,
  1.29040783e+00,-1.00720389e-02, 9.39524478e-01, 6.16477746e-02,
 -6.49065717e-02,-4.36069342e-02, 7.01367751e-02, 7.06839073e-01,
 -3.81592761e-02,-7.03056086e-01,-6.80774104e-02]

qacc:
[ 1.53862084e-01,-1.19354488e+00, 3.42759101e+00,-1.04120478e+00,
 -4.00835732e-02,-2.11242958e+00, 5.56738231e+00,-5.38433042e+00,
  2.26457762e-02, 3.71382094e+00,-1.85229027e+01, 4.24200872e+01,
 -1.03548780e+00, 1.76209344e+00, 2.11899430e+01,-7.19231083e+01,
 -2.61694199e+00,-1.54532727e+00, 7.37393110e+00,-3.04636248e+01,
 -4.84740692e+02, 7.21145104e+01]

qfrc_actuator:
[ 2.36499563e-03, 2.78269819e-02, 8.73989836e-03, 1.69014636e-03,
  8.53767086e-05, 2.84327550e-02, 9.02442594e-03, 1.93722524e-03,
 -2.45328651e-03, 2.77725529e-02, 8.73805715e-03, 1.67145662e-03,
  7.88666325e-03,-1.57702362e-03, 0.00000000e+00,-2.68261785e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.36278133,  7.45338285,  4.36278133, 11.66660225,
       -1.77372728,  7.45338285, -1.77372728,  9.6746015 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0050052091436752376
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.23715124e-06,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.23715124e-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([-0.03124299, -0.04922657,  0.06139828])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.84602105e-05, 1.62012305e-05, 3.61424354e-05, 1.16205391e-05,
 -7.39224665e-06,-1.26918282e-04,-1.57086510e-05,-6.63232148e-06,
  4.23274843e-06, 3.87732098e-05, 1.28919327e-06, 7.18559703e-05,
 -6.77050487e-05, 1.85377937e-06, 1.37127904e-05,-3.44280745e-04,
 -2.08100033e-02,-4.81341505e-03,-7.85070728e+00, 7.24483568e-03,
 -1.59518700e-01,-1.06644780e-03]


--- Step 1259 ---
qpos:
[-4.93955044e-04, 8.77009604e-01,-2.02379869e-02,-2.75343569e-02,
  7.54809565e-03, 8.63700114e-01,-2.82305485e-02, 9.30204187e-03,
  2.22415105e-02, 8.72790443e-01,-2.01215267e-02, 2.24610470e-02,
  1.29064583e+00,-1.00708341e-02, 9.39778576e-01, 6.16420090e-02,
 -6.49377089e-02,-4.35661189e-02, 7.00352763e-02, 7.06316494e-01,
 -3.82006498e-02,-7.03626870e-01,-6.75792054e-02]

qacc:
[-1.32153241e-01,-2.50729546e-01, 1.52607074e+00,-4.52866013e+00,
  7.73712187e-02, 5.54790111e-01,-4.76631415e+00, 1.06432277e+01,
  1.21036441e-01, 2.17794550e+00,-1.04926194e+01, 2.09991410e+01,
 -8.66101846e-01, 1.39051063e+00, 2.01997578e+01,-6.98153015e+01,
 -2.48556206e+00,-2.05983139e+00, 4.58800946e+00,-4.64462158e+01,
 -4.08274526e+02,-1.42344729e+02]

qfrc_actuator:
[ 0.00232682, 0.02779662, 0.00872348, 0.0016777 , 0.0001029 , 0.0283849 ,
  0.00900054, 0.00194962,-0.00243286, 0.0277118 , 0.00869352, 0.00169393,
  0.00785819,-0.00156919, 0.        ,-0.00301318, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.39623393,  2.02238292,  8.39623393,  9.02723631,
       -1.62276807,  2.02238292, -1.62276807, 15.37353504,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005136901586436461
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  2.1612698e-14,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -2.1612698e-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([-0.02924904, -0.04283199,  0.06138291])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.44960448e-05,-1.34376556e-05,-8.24812237e-06,-1.02851400e-05,
  1.39896709e-05,-1.22964428e-04,-5.25140792e-05, 6.22711456e-06,
  2.24711179e-05,-3.58253160e-05,-3.39051033e-05, 2.55742979e-05,
 -6.86405116e-05,-6.78945730e-06,-3.96367631e-05,-3.49749012e-04,
 -2.82248205e-03, 3.05052290e-04,-7.85190981e+00, 6.68632504e-03,
 -1.59554065e-01,-1.08051321e-03]


--- Step 1260 ---
qpos:
[-4.96098159e-04, 8.77013323e-01,-2.02387007e-02,-2.75325757e-02,
  7.55000569e-03, 8.63720969e-01,-2.82236807e-02, 9.30792378e-03,
  2.22412058e-02, 8.72793617e-01,-2.01228530e-02, 2.24622799e-02,
  1.29088342e+00,-1.00695630e-02, 9.40031917e-01, 6.16366337e-02,
 -6.49475482e-02,-4.35227098e-02, 6.99036856e-02, 7.06450771e-01,
 -3.90654964e-02,-7.03550734e-01,-6.64647186e-02]

qacc:
[-3.74725391e-01, 1.46593499e+00,-8.64267078e+00, 1.98271176e+01,
 -7.87736257e-03,-5.92777328e-01, 1.64579441e+00,-4.92703299e+00,
  2.21575502e-01, 4.45447921e-01,-7.81784811e+00, 2.60565786e+01,
 -3.18060538e-01, 4.11670655e-01,-2.27903919e+00, 6.38573107e+00,
  5.32446156e+00, 6.48435633e-01,-7.52296775e+00,-8.33129867e+01,
  4.19959911e+02, 5.41905341e+02]

qfrc_actuator:
[ 2.26912521e-03, 2.77412653e-02, 8.69609376e-03, 1.70537404e-03,
  9.47971190e-05, 2.83480405e-02, 8.98356211e-03, 1.93668596e-03,
 -2.40270525e-03, 2.76205352e-02, 8.68541556e-03, 1.74250323e-03,
  7.84321512e-03,-1.56509380e-03, 0.00000000e+00,-2.97451744e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005155627910252578
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.15341961e-14,  1.07670981e-14,  1.00000000e+00, -2.31860801e-28,
        1.00000000e+00, -1.07670981e-14, -1.00000000e+00,  0.00000000e+00,
        2.15341961e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12153405, -0.04688124,  0.06137633])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.94846958e-05,-6.51063757e-05,-3.15654269e-05, 2.66069612e-05,
 -1.46180747e-06,-1.16777483e-04,-4.88630841e-05,-1.99493018e-05,
  4.09725739e-05,-1.17287609e-04,-1.88225314e-05, 4.63568311e-05,
 -5.80950449e-05,-1.22878047e-05,-6.19513231e-05, 1.29752297e-05,
 -1.11818930e-02, 6.19806955e-03,-7.84883619e+00, 6.35283446e-03,
 -1.59445264e-01,-1.08488466e-03]


--- Step 1261 ---
qpos:
[-4.98749845e-04, 8.77016590e-01,-2.02394258e-02,-2.75308438e-02,
  7.55203594e-03, 8.63740811e-01,-2.82169441e-02, 9.31257832e-03,
  2.22414766e-02, 8.72795701e-01,-2.01230058e-02, 2.24633339e-02,
  1.29112066e+00,-1.00682731e-02, 9.40284346e-01, 6.16360093e-02,
 -6.49697709e-02,-4.34840697e-02, 6.97946679e-02, 7.05952579e-01,
 -3.97768515e-02,-7.04092373e-01,-6.55948799e-02]

qacc:
[-2.64160820e-01,-6.65412202e-01, 1.71656353e+00,-2.22099910e+00,
  6.34035393e-02,-3.49521523e+00, 1.57039656e+01,-3.59960573e+01,
  3.00078349e-01,-5.08378598e+00, 1.67940958e+01,-2.09633009e+01,
 -2.68697330e-02,-8.96915695e-02,-1.56870348e+01, 5.29333849e+01,
 -3.09583307e+00,-1.19223351e+00, 5.64325968e+00,-2.36678583e+01,
 -4.30821327e+02,-1.73495796e+02]

qfrc_actuator:
[ 0.00225355, 0.0277246 , 0.00869788, 0.00170315, 0.00010694, 0.02828257,
  0.00897085, 0.00187347,-0.00236699, 0.02758286, 0.00875202, 0.00173503,
  0.00783103,-0.00156318, 0.        ,-0.00271862, 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: -0.005308894419347697
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.04562545e-14,  1.04562545e-14,  1.00000000e+00, -1.09333258e-28,
        1.00000000e+00, -1.04562545e-14, -1.00000000e+00,  0.00000000e+00,
        1.04562545e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03025801, -0.04270734,  0.06135871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.90124359e-05,-5.85397023e-05,-1.46494381e-05,-5.58635681e-06,
  1.14298154e-05,-1.42282834e-04,-4.37724695e-05,-7.03486770e-05,
  5.54172996e-05,-1.05225641e-04, 4.16450956e-05,-1.22491553e-05,
 -5.00192766e-05,-1.33376813e-05,-2.87055095e-05, 2.48284608e-04,
 -4.76185914e-04,-1.09143682e-03,-7.85009578e+00, 6.18428902e-03,
 -1.59544747e-01,-1.04843480e-03]


--- Step 1262 ---
qpos:
[-5.01729168e-04, 8.77019858e-01,-2.02402859e-02,-2.75302380e-02,
  7.55456285e-03, 8.63759898e-01,-2.82108217e-02, 9.31643894e-03,
  2.22416888e-02, 8.72797981e-01,-2.01234476e-02, 2.24642251e-02,
  1.29135772e+00,-1.00672966e-02, 9.40536137e-01, 6.16417342e-02,
 -6.49720853e-02,-4.34430989e-02, 6.96561502e-02, 7.06119586e-01,
 -4.13316248e-02,-7.03975761e-01,-6.40699289e-02]

qacc:
[-1.70406879e-01,-1.94261577e+00, 1.16679720e+01,-3.09167988e+01,
  2.60944967e-01,-9.16028264e-01, 5.16951874e+00,-1.73734346e+01,
 -3.06380898e-02, 7.30509559e-01,-1.54254912e+00,-9.57626185e-01,
  4.45310915e-01,-1.05964779e+00,-2.01378543e+01, 6.90282918e+01,
  4.97706026e+00, 5.82659076e-01,-7.37501226e+00,-7.54360985e+01,
  4.25836664e+02, 5.63070305e+02]

qfrc_actuator:
[ 0.00224558, 0.02774907, 0.00869925, 0.0016479 , 0.00014884, 0.0282537 ,
  0.00894285, 0.00183442,-0.00239927, 0.02764884, 0.00875583, 0.00173024,
  0.00782584,-0.00158032, 0.        ,-0.00239016, 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: -0.005423507353010691
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.53529296e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.53529296e-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([-0.12069467, -0.04672729,  0.06134378])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.15678482e-05,-1.16029011e-05,-1.27378581e-05,-5.83795480e-05,
  4.73230813e-05,-1.21010061e-04,-6.54287865e-05,-4.80821555e-05,
 -5.63033607e-06, 1.51705129e-05,-1.32319093e-05,-8.10728316e-06,
 -3.78992240e-05,-3.10440593e-05, 1.22858162e-05, 3.38113906e-04,
 -8.64455669e-03, 1.55327150e-02,-7.84788625e+00, 5.07991711e-03,
 -1.59490522e-01,-1.01684387e-03]


--- Step 1263 ---
qpos:
[-5.04901420e-04, 8.77023049e-01,-2.02411268e-02,-2.75306457e-02,
  7.55738965e-03, 8.63778422e-01,-2.82052585e-02, 9.32011670e-03,
  2.22413031e-02, 8.72800302e-01,-2.01249532e-02, 2.24651251e-02,
  1.29159456e+00,-1.00665358e-02, 9.40788697e-01, 6.16449763e-02,
 -6.49884120e-02,-4.34041812e-02, 6.95441119e-02, 7.05621967e-01,
 -4.26767424e-02,-7.04508929e-01,-6.27973298e-02]

qacc:
[-1.00271853e-01,-2.24392798e+00, 1.21197056e+01,-2.96115856e+01,
  1.57493414e-01, 4.41533759e-01,-1.88207243e+00, 2.63290340e-02,
 -3.11414283e-01, 3.04327446e+00,-1.08096411e+01, 1.26315379e+01,
 -1.26046410e-01,-4.11212412e-02, 8.63146395e+00,-2.85464113e+01,
 -3.50306495e+00,-5.13273873e-01, 6.61986046e+00,-7.72308224e+00,
 -4.51420605e+02,-1.97611312e+02]

qfrc_actuator:
[ 0.00224218, 0.02774469, 0.0087005 , 0.00159743, 0.00015492, 0.02824696,
  0.00892397, 0.00182767,-0.0024542 , 0.02761638, 0.00868746, 0.0017271 ,
  0.00781421,-0.0015908 , 0.        ,-0.00253648, 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: -0.005520068027951887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.50843661e-14, -2.51406101e-15,  1.00000000e+00,  3.79230166e-29,
        1.00000000e+00,  2.51406101e-15, -1.00000000e+00,  0.00000000e+00,
        1.50843661e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03141647, -0.04263389,  0.06133048])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85903347e-05,-1.60639819e-05,-4.75621941e-06,-5.25492519e-05,
  2.85703213e-05,-9.04889431e-05,-5.38027284e-05,-1.51776321e-05,
 -5.76269632e-05,-2.71021772e-05,-6.71648476e-05,-3.10548237e-06,
 -4.08037700e-05,-2.54671395e-05, 3.95907059e-05,-1.26779634e-04,
 -3.32980730e-04,-1.80306877e-03,-7.84255167e+00, 5.17249950e-03,
 -1.59286617e-01,-9.86462780e-04]


--- Step 1264 ---
qpos:
[-5.07620464e-04, 8.77025742e-01,-2.02415154e-02,-2.75312857e-02,
  7.56019733e-03, 8.63796451e-01,-2.82000825e-02, 9.32400789e-03,
  2.22408456e-02, 8.72802815e-01,-2.01276384e-02, 2.24656249e-02,
  1.29183092e+00,-1.00655446e-02, 9.41041850e-01, 6.16431567e-02,
 -6.51875453e-02,-4.32390345e-02, 6.93877641e-02, 7.05998562e-01,
 -4.09615872e-02,-7.04233774e-01,-6.27930794e-02]

qacc:
[ 2.35967818e-01,-2.39973989e+00, 8.57917281e+00,-1.29511016e+01,
 -1.01063870e-02, 8.65268985e-01,-4.93721395e+00, 9.61614267e+00,
 -3.80533834e-02, 2.72329094e+00,-7.65465433e+00, 2.47317018e+00,
 -8.10638892e-01, 1.33242503e+00, 1.62018997e+01,-5.53158454e+01,
 -4.57016565e+01, 3.15572578e+01,-1.10773868e+01, 6.26190676e+02,
  7.16285108e+02,-1.48078553e+03]

qfrc_actuator:
[ 0.00229478, 0.02770533, 0.00871932, 0.00158567, 0.00013951, 0.02823584,
  0.00891075, 0.00184001,-0.00243338, 0.02763146, 0.00862992, 0.0017071 ,
  0.00778273,-0.00157951, 0.        ,-0.00280161, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  1.92837107,  8.41832298,  1.92837107, 12.60666956,
       -0.90947129,  8.41832298, -0.90947129,  8.84469469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.027650267799497003
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.8750894 ,  0.4375447 ,  0.20681679,  0.42581422,  0.89919666,
       -0.10063604, -0.23000173,  0.        , -0.97319022])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08844582, -0.02768421,  0.06130858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.36537905e-05,-5.16395454e-05, 1.30882800e-05,-1.36367112e-05,
 -1.83905161e-06,-7.39693791e-05,-3.92566744e-05, 6.26551387e-06,
 -6.90676845e-06,-1.41332434e-05,-7.15220941e-05,-2.35472936e-05,
 -6.14921555e-05,-3.01485606e-06,-3.45085277e-06,-2.68874765e-04,
 -8.32728162e-03, 2.63446158e-02,-7.84225166e+00, 3.26330454e-03,
 -1.59328668e-01,-9.19666667e-04]


--- Step 1265 ---
qpos:
[-5.09785545e-04, 8.77028140e-01,-2.02417310e-02,-2.75320685e-02,
  7.56288724e-03, 8.63814029e-01,-2.81951819e-02, 9.32834707e-03,
  2.22406698e-02, 8.72806051e-01,-2.01311339e-02, 2.24668217e-02,
  1.29206692e+00,-1.00646901e-02, 9.41294427e-01, 6.16425315e-02,
 -6.55320136e-02,-4.29757910e-02, 6.91941323e-02, 7.07058543e-01,
 -3.67213706e-02,-7.03304175e-01,-6.38983146e-02]

qacc:
[ 2.88093714e-01,-1.16643806e+00, 4.19540608e+00,-6.72403716e+00,
 -6.19051102e-02, 1.09447377e+00,-6.65937076e+00, 1.51868541e+01,
  1.45601401e-01, 4.65322144e+00,-1.81471375e+01, 3.09738335e+01,
 -8.42423547e-02,-1.15012944e-01,-4.45667559e+00, 1.43567487e+01,
 -3.63337524e+01, 2.45241790e+01,-9.32098577e+00, 4.94128894e+02,
  5.73653436e+02,-1.24591110e+03]

qfrc_actuator:
[ 0.00232716, 0.02769868, 0.0087305 , 0.00157901, 0.00012915, 0.02822225,
  0.00890098, 0.00186348,-0.00240291, 0.02772816, 0.00861494, 0.0017484 ,
  0.00776069,-0.00159103, 0.        ,-0.00272614, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -0.45179256, -8.62453827, -0.45179256, 15.48733174,
       -0.35888488, -8.62453827, -0.35888488,  8.65516366,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.027377648947910824
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.87411585,  0.43705793,  0.21190056,  0.42475549,  0.89943336,
       -0.10296796, -0.23559339,  0.        , -0.97185171])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.08865757, -0.02767611,  0.06129635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.33659730e-05,-3.34479490e-05, 1.63994701e-06,-8.68549700e-06,
 -1.12434809e-05,-6.32648808e-05,-2.98546600e-05, 1.90266649e-05,
  2.71483998e-05, 7.29656740e-05,-2.75312968e-05, 3.77590410e-05,
 -5.96607600e-05,-2.56962747e-05,-3.77659021e-05, 5.86001258e-05,
 -2.86578573e-02, 1.35031707e-02,-7.82282049e+00, 4.36059249e-03,
 -1.58185131e-01,-9.14528053e-04]


--- Step 1266 ---
qpos:
[-5.11477046e-04, 8.77030395e-01,-2.02421752e-02,-2.75325713e-02,
  7.56525912e-03, 8.63831418e-01,-2.81908720e-02, 9.33326605e-03,
  2.22406341e-02, 8.72809288e-01,-2.01340129e-02, 2.24684964e-02,
  1.29230268e+00,-1.00642845e-02, 9.41546790e-01, 6.16424073e-02,
 -6.58461409e-02,-4.27566127e-02, 6.90553959e-02, 7.07078643e-01,
 -3.28444848e-02,-7.03333842e-01,-6.54411120e-02]

qacc:
[ 2.46038974e-01, 1.02524607e+00,-5.10971861e+00, 1.04193768e+01,
 -1.67451250e-01, 2.59160021e+00,-1.20523510e+01, 2.31739696e+01,
  7.32081107e-02,-7.39124752e-01, 6.16712164e-01, 6.67004609e+00,
  2.35197017e-01,-8.26864464e-01,-1.84861124e+00, 5.96370261e+00,
  7.58526256e+00,-1.10162882e+01, 1.37238357e+01,-2.70764497e+02,
 -7.08381278e+02,-7.77601489e+01]

qfrc_actuator:
[ 0.00234712, 0.02769391, 0.00871944, 0.00159317, 0.00010417, 0.02822509,
  0.00887558, 0.00189332,-0.00240248, 0.02771343, 0.00864333, 0.00177228,
  0.00774964,-0.00161595, 0.        ,-0.00269907, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -4.8265762 , -7.16176927, -4.8265762 ,  3.41483834,
        3.51897537, -7.16176927,  3.51897537,  6.26479843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006084606291914103
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.82464234e-14,  9.12321169e-15,  1.00000000e+00, -1.66465983e-28,
        1.00000000e+00, -9.12321169e-15, -1.00000000e+00,  0.00000000e+00,
        1.82464234e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.03448218, -0.04180799,  0.06126887])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.56233421e-05,-2.35477021e-05,-1.80834094e-05, 1.26089200e-05,
 -3.03284196e-05,-3.83533172e-05,-4.16788644e-05, 2.64183633e-05,
  1.35039384e-05, 2.19606164e-05, 4.13833671e-05, 2.67893292e-05,
 -5.26125713e-05,-4.34180087e-05,-1.35071931e-05, 2.48583519e-05,
 -1.18343391e-01, 1.09419141e-01,-7.69626205e+00, 1.05605780e-03,
 -1.52113128e-01,-6.59337639e-04]


--- Step 1267 ---
qpos:
[-5.12443908e-04, 8.77032477e-01,-2.02424334e-02,-2.75336166e-02,
  7.56712841e-03, 8.63848695e-01,-2.81866980e-02, 9.33846152e-03,
  2.22408520e-02, 8.72812371e-01,-2.01363564e-02, 2.24697793e-02,
  1.29253814e+00,-1.00644148e-02, 9.41798830e-01, 6.16442530e-02,
 -6.61317382e-02,-4.25668928e-02, 6.89565688e-02, 7.06375940e-01,
 -3.02087563e-02,-7.04108750e-01,-6.59646210e-02]

qacc:
[ 3.76740044e-01,-1.86587280e+00, 8.60475588e+00,-1.81505512e+01,
 -2.64236698e-01, 7.98930140e-01,-4.23252172e+00, 9.31893468e+00,
  1.32192181e-01,-2.50397455e+00, 1.02896331e+01,-1.78153662e+01,
  3.22443635e-01,-1.07064817e+00,-6.45025626e+00, 2.18161332e+01,
  7.13248391e+00,-7.36458183e+00, 9.97732667e+00,-6.78345512e+01,
 -5.75009091e+02, 7.60947395e+02]

qfrc_actuator:
[ 2.39499289e-03, 2.76902375e-02, 8.73086762e-03, 1.56618819e-03,
  7.06757807e-05, 2.82377075e-02, 8.87671326e-03, 1.90890081e-03,
 -2.38454386e-03, 2.76855484e-02, 8.66115355e-03, 1.75015130e-03,
  7.72388863e-03,-1.64854523e-03, 0.00000000e+00,-2.59432040e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.75302505, -7.21079259, -4.75302505,  3.50203055,
        3.38431781, -7.21079259,  3.38431781,  6.40557595,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006253485156857939
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.87683425e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.87683425e-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([-0.04216609, -0.05778039,  0.06125031])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.98139405e-05,-2.00786862e-05, 4.76314177e-06,-2.83692596e-05,
 -4.79220983e-05,-1.67688868e-05,-1.11828705e-05, 1.29724834e-05,
  2.44441237e-05,-5.96074456e-06, 2.83757330e-05,-1.92413408e-05,
 -6.70741215e-05,-5.31874820e-05,-7.42251024e-06, 1.03468224e-04,
 -4.91467154e-02, 1.84115584e-02,-7.72974485e+00, 6.42099593e-03,
 -1.53541193e-01,-1.04071763e-03]


--- Step 1268 ---
qpos:
[-5.12948902e-04, 8.77034594e-01,-2.02426534e-02,-2.75349936e-02,
  7.56835710e-03, 8.63865537e-01,-2.81820969e-02, 9.34311378e-03,
  2.22411170e-02, 8.72815405e-01,-2.01379461e-02, 2.24714494e-02,
  1.29277330e+00,-1.00652174e-02, 9.42050442e-01, 6.16499911e-02,
 -6.63570437e-02,-4.23684548e-02, 6.88424381e-02, 7.06476167e-01,
 -2.86463384e-02,-7.04123687e-01,-6.54266536e-02]

qacc:
[ 2.40027595e-01,-7.45286730e-01, 4.11884921e+00,-9.93884317e+00,
 -3.36361696e-01,-2.88167694e+00, 1.17384933e+01,-2.15079648e+01,
  2.49502961e-02,-1.37326891e+00, 3.16759764e+00, 2.36594867e+00,
  5.38403228e-01,-1.52997147e+00,-1.24211891e+01, 4.24555127e+01,
  1.50729688e+01, 2.17950151e+00,-3.82588270e+00,-1.83215532e+01,
  4.99654829e+02, 7.90727149e+02]

qfrc_actuator:
[ 2.40591658e-03, 2.77050545e-02, 8.73771715e-03, 1.55074446e-03,
  3.23799378e-05, 2.82029277e-02, 8.89356052e-03, 1.88050182e-03,
 -2.39177147e-03, 2.77031832e-02, 8.70796702e-03, 1.77209894e-03,
  7.70530096e-03,-1.68548309e-03, 0.00000000e+00,-2.39136890e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.56146828, -8.49403283,  1.56146828,  4.46962967,
       -0.76597572, -8.49403283, -0.76597572,  8.4955534 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0064171025802201576
  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([-0.11992651, -0.04659849,  0.06123192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.45016416e-05, 3.32421403e-06, 2.29530022e-06,-1.66928548e-05,
 -6.10874330e-05,-4.63700937e-05, 1.22781299e-05,-2.92916691e-05,
  4.53666266e-06, 1.92851577e-05, 4.84042486e-05, 2.22963483e-05,
 -7.05305622e-05,-6.29336055e-05, 4.13552990e-06, 2.06834324e-04,
 -5.68067860e-02,-2.67489430e-02,-7.78673067e+00, 9.59558707e-03,
 -1.56182081e-01,-1.26317500e-03]


--- Step 1269 ---
qpos:
[-5.13164521e-04, 8.77036841e-01,-2.02431509e-02,-2.75361907e-02,
  7.56903908e-03, 8.63881741e-01,-2.81768773e-02, 9.34671164e-03,
  2.22413583e-02, 8.72818481e-01,-2.01386677e-02, 2.24730035e-02,
  1.29300808e+00,-1.00662377e-02, 9.42302342e-01, 6.16554220e-02,
 -6.65310842e-02,-4.21623781e-02, 6.87097855e-02, 7.07248089e-01,
 -2.79872633e-02,-7.03505837e-01,-6.40030452e-02]

qacc:
[ 1.50179373e-01, 1.31927431e+00,-5.20981641e+00, 8.66810748e+00,
 -2.86835480e-01,-4.73645312e+00, 2.01195578e+01,-3.88943661e+01,
 -1.18199165e-02,-2.60769558e+00, 9.86881634e+00,-1.32948819e+01,
 -1.31282146e-01,-1.03914315e-01, 1.35303395e+00,-4.11384130e+00,
  1.28162326e+01, 1.90968306e+00,-4.63048685e+00,-1.83743194e+01,
  4.17766213e+02, 6.61911948e+02]

qfrc_actuator:
[ 2.41239568e-03, 2.77130778e-02, 8.72413940e-03, 1.55998073e-03,
  9.29532005e-06, 2.81578307e-02, 8.91932478e-03, 1.82642218e-03,
 -2.39624227e-03, 2.77125799e-02, 8.75399139e-03, 1.76661453e-03,
  7.69635004e-03,-1.68916874e-03, 0.00000000e+00,-2.41624980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.60200773, -8.48648031,  1.60200773,  5.09346605,
       -0.66879897, -8.48648031, -0.66879897,  8.51011328,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006547267019172347
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.23926129e-15,  8.47852258e-15,  1.00000000e+00, -3.59426725e-29,
        1.00000000e+00, -8.47852258e-15, -1.00000000e+00,  0.00000000e+00,
        4.23926129e-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([-0.11973791, -0.04646851,  0.06121721])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.78832311e-05, 9.60224430e-06,-1.31990414e-05, 9.13146714e-06,
 -5.21408310e-05,-7.01987100e-05, 1.65106246e-05,-5.62501164e-05,
 -2.28147522e-06, 3.10738194e-05, 5.67286003e-05,-2.55366554e-06,
 -6.49372692e-05,-3.25918661e-05, 2.08814572e-05,-1.37792669e-05,
 -3.68034625e-02, 5.31156072e-03,-7.82991540e+00, 8.16538038e-03,
 -1.58370068e-01,-1.15754272e-03]


--- Step 1270 ---
qpos:
[-5.13385821e-04, 8.77039315e-01,-2.02438912e-02,-2.75369372e-02,
  7.56950252e-03, 8.63897652e-01,-2.81720592e-02, 9.34965940e-03,
  2.22413752e-02, 8.72821847e-01,-2.01390506e-02, 2.24724125e-02,
  1.29324213e+00,-1.00666880e-02, 9.42554523e-01, 6.16588663e-02,
 -6.66814278e-02,-4.19832259e-02, 6.86048902e-02, 7.07413229e-01,
 -2.83960664e-02,-7.03526316e-01,-6.17325703e-02]

qacc:
[-3.15839657e-03, 1.90503740e+00,-8.25605232e+00, 1.62658261e+01,
 -1.15064885e-01,-6.01910152e-01, 4.33118178e+00,-1.47268903e+01,
 -1.16561994e-01,-4.97287456e+00, 2.73495888e+01,-6.52341832e+01,
 -1.12045058e+00, 2.00236663e+00, 6.47808571e+00,-2.19159478e+01,
  5.92424209e+00,-6.73112345e+00, 6.93931464e+00,-6.78031301e+01,
 -4.85190332e+02, 6.46751811e+02]

qfrc_actuator:
[ 2.39844312e-03, 2.77346666e-02, 8.71635820e-03, 1.58364594e-03,
  1.32524150e-05, 2.81424270e-02, 8.89681922e-03, 1.79316790e-03,
 -2.41675965e-03, 2.77169626e-02, 8.76362108e-03, 1.65625602e-03,
  7.66124518e-03,-1.65533617e-03, 0.00000000e+00,-2.52192948e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.20036818, -7.54610389,  4.20036818, 50.71780071,
       23.42368088, -7.54610389, 23.42368088, 21.6746262 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006694453025896038
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.29211155e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.29211155e-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([-0.04441094, -0.05627099,  0.06120208])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.42215966e-07, 2.45799817e-05,-7.12012546e-06, 2.37960314e-05,
 -2.08474765e-05,-5.40976735e-05,-3.70903729e-05,-3.68223990e-05,
 -2.16059710e-05, 3.32979428e-05, 2.29276242e-05,-1.07119195e-04,
 -8.09913080e-05, 1.25280523e-05, 1.92734493e-06,-1.05204741e-04,
 -5.01422143e-02,-4.15603130e-03,-7.86112114e+00, 8.56883237e-03,
 -1.60061188e-01,-1.08826223e-03]


--- Step 1271 ---
qpos:
[-5.14248589e-04, 8.77041978e-01,-2.02447444e-02,-2.75370537e-02,
  7.57007256e-03, 8.63913274e-01,-2.81678988e-02, 9.35289344e-03,
  2.22409737e-02, 8.72825610e-01,-2.01396623e-02, 2.24708756e-02,
  1.29347548e+00,-1.00664429e-02, 9.42806641e-01, 6.16613556e-02,
 -6.68138387e-02,-4.18247111e-02, 6.85186084e-02, 7.07053502e-01,
 -2.96940608e-02,-7.04090261e-01,-5.87410571e-02]

qacc:
[-3.33471503e-01, 1.86390514e+00,-8.93405344e+00, 1.98638280e+01,
  5.57422441e-02, 2.04089679e+00,-9.04356419e+00, 1.52660310e+01,
 -2.17797515e-01,-7.82650247e-01, 7.54578115e+00,-2.38445625e+01,
 -1.15972477e+00, 2.16420140e+00, 2.86166996e+00,-9.99018408e+00,
  4.48316530e+00,-5.15933317e+00, 4.65338801e+00,-5.15548378e+01,
 -4.14540778e+02, 5.43905743e+02]

qfrc_actuator:
[ 2.33690562e-03, 2.77464951e-02, 8.71213132e-03, 1.61562598e-03,
  3.33250513e-05, 2.81269955e-02, 8.86387689e-03, 1.80793154e-03,
 -2.44669489e-03, 2.77358237e-02, 8.75159623e-03, 1.60931701e-03,
  7.63179504e-03,-1.61744582e-03, 0.00000000e+00,-2.56777051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.48438064,  4.30938782,  7.48438064,  9.83602901,
       -2.08353312,  4.30938782, -2.08353312, 12.25496461,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006724103466050027
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.25554686e-15, -8.25554686e-15,  1.00000000e+00, -6.81540539e-29,
        1.00000000e+00,  8.25554686e-15, -1.00000000e+00,  0.00000000e+00,
       -8.25554686e-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([-0.04478088, -0.05596198,  0.06119486])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.18001112e-05, 2.50702441e-05, 7.83335641e-07, 3.32476049e-05,
  1.01524368e-05,-5.53448371e-05,-5.01276385e-05, 1.04098759e-05,
 -4.03181924e-05, 3.75484606e-05,-6.05137890e-06,-4.68065830e-05,
 -7.47294197e-05, 2.22991857e-05,-1.67512565e-05,-5.28249935e-05,
 -2.56552569e-02, 4.27136868e-03,-7.88495764e+00, 7.49769561e-03,
 -1.61450011e-01,-1.14163007e-03]


--- Step 1272 ---
qpos:
[-5.15611377e-04, 8.77044825e-01,-2.02456007e-02,-2.75374838e-02,
  7.57081661e-03, 8.63928249e-01,-2.81634851e-02, 9.35626097e-03,
  2.22403730e-02, 8.72829586e-01,-2.01409800e-02, 2.24698810e-02,
  1.29370846e+00,-1.00660961e-02, 9.43059002e-01, 6.16602319e-02,
 -6.70278665e-02,-4.16876614e-02, 6.83819830e-02, 7.07521333e-01,
 -3.21181456e-02,-7.03857503e-01,-5.44665371e-02]

qacc:
[-2.59934488e-01,-3.93520794e-01, 3.07693692e+00,-8.62758332e+00,
  9.18592036e-02,-1.28546932e+00, 2.78123421e+00,-4.01472492e-01,
 -1.03934111e-01, 3.36855474e+00,-1.38929791e+01, 2.42512466e+01,
 -5.33597252e-01, 8.18780756e-01, 1.12922457e+01,-3.89293351e+01,
 -2.04042117e+01,-5.36629298e+00,-1.25859078e+01, 4.24618875e+01,
  5.20872297e+02, 8.86153400e+02]

qfrc_actuator:
[ 2.31846574e-03, 2.77524134e-02, 8.71000415e-03, 1.59897735e-03,
  4.50766525e-05, 2.80939092e-02, 8.87834715e-03, 1.81532434e-03,
 -2.44649167e-03, 2.77276449e-02, 8.70925807e-03, 1.63559381e-03,
  7.62174027e-03,-1.61297961e-03, 0.00000000e+00,-2.75547149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.64788632, -8.61202765,  0.64788632, 29.89624579,
        1.59938952, -8.61202765,  1.59938952,  8.75668636,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.015270662045252695
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80442515, -0.40221257,  0.43717871, -0.35339546,  0.91554631,
        0.19205885, -0.47750584,  0.        , -0.87862857])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.11845868, -0.04558444,  0.06119245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.81713280e-05, 2.14602786e-05, 4.28462710e-06,-1.49025871e-05,
  1.65736757e-05,-7.43504247e-05,-2.93754682e-06, 3.45424319e-06,
 -1.91817763e-05, 9.47514473e-06,-3.69695327e-05, 2.67637452e-05,
 -4.94661609e-05,-7.64580132e-06,-1.82521859e-05,-1.93871999e-04,
 -2.58872580e-02, 4.55555884e-02,-7.89582085e+00, 4.54997591e-03,
 -1.62392675e-01,-1.10915091e-03]


--- Step 1273 ---
qpos:
[-5.16952216e-04, 8.77047568e-01,-2.02466018e-02,-2.75384078e-02,
  7.57189930e-03, 8.63942767e-01,-2.81592353e-02, 9.35900408e-03,
  2.22393131e-02, 8.72833989e-01,-2.01431800e-02, 2.24688487e-02,
  1.29394108e+00,-1.00656742e-02, 9.43311079e-01, 6.16581854e-02,
 -6.72124575e-02,-4.15696562e-02, 6.82886054e-02, 7.07096004e-01,
 -3.45106882e-02,-7.04463863e-01,-5.05462198e-02]

qacc:
[ 1.13311950e-02,-7.50417304e-01, 4.55623511e+00,-1.27859528e+01,
  1.78021202e-01,-1.43068314e+00, 6.86120538e+00,-1.70715829e+01,
 -2.39319080e-01, 2.94970910e+00,-9.54020358e+00, 9.98217786e+00,
 -3.72317241e-01, 5.25352790e-01, 2.38707579e+00,-8.91701941e+00,
  7.35917862e+00,-4.76112666e+00, 1.08119662e+01,-1.04987797e+02,
 -6.04630687e+02,-1.74204516e+02]

qfrc_actuator:
[ 2.34375221e-03, 2.77192096e-02, 8.69131968e-03, 1.57159575e-03,
  6.94782224e-05, 2.80684551e-02, 8.86735929e-03, 1.78282766e-03,
 -2.48151527e-03, 2.77565245e-02, 8.66705322e-03, 1.63367970e-03,
  7.60201381e-03,-1.61049955e-03, 0.00000000e+00,-2.79446425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.75640631,  7.20856268,  4.75640631,  9.05498535,
       -0.27621802,  7.20856268, -0.27621802,  8.81861982,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006900644474021361
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.0498859e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.0498859e-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([-0.0399919 , -0.039907  ,  0.06117012])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.11102852e-06,-2.10192060e-05,-1.42539052e-05,-2.66066563e-05,
  3.22747942e-05,-6.78836223e-05,-2.67443486e-05,-3.57512977e-05,
 -4.42437401e-05, 2.76034426e-05,-4.38950986e-05,-2.26870501e-06,
 -5.12991787e-05,-9.88115968e-06,-3.49470285e-05,-5.32999294e-05,
 -2.47073075e-02,-1.40141467e-02,-7.92683315e+00, 5.98725918e-03,
 -1.64444793e-01,-1.01384548e-03]


--- Step 1274 ---
qpos:
[-5.17935310e-04, 8.77049962e-01,-2.02480123e-02,-2.75389109e-02,
  7.57328987e-03, 8.63957048e-01,-2.81555635e-02, 9.36168173e-03,
  2.22380058e-02, 8.72838779e-01,-2.01456335e-02, 2.24674172e-02,
  1.29417323e+00,-1.00649182e-02, 9.43562894e-01, 6.16559635e-02,
 -6.75364990e-02,-4.13565118e-02, 6.81913577e-02, 7.07267709e-01,
 -3.38949207e-02,-7.04466422e-01,-4.84827958e-02]

qacc:
[ 1.85802929e-01, 1.54869733e+00,-7.96477860e+00, 1.61519320e+01,
  1.61549406e-01, 1.16569008e+00,-4.33543472e+00, 4.30291181e+00,
 -1.28901080e-01, 3.98436318e-01, 1.00669585e+00,-7.79434928e+00,
 -6.23809349e-01, 1.10093871e+00, 1.78293692e-01,-1.10657963e+00,
 -3.48626129e+01, 2.37847917e+01,-9.67546990e-01, 4.04565805e+02,
  5.31839574e+02,-1.69062360e+03]

qfrc_actuator:
[ 2.37719988e-03, 2.76804995e-02, 8.66284363e-03, 1.59133800e-03,
  8.34829072e-05, 2.80654026e-02, 8.84141230e-03, 1.78035969e-03,
 -2.48407731e-03, 2.77895876e-02, 8.66089225e-03, 1.61521422e-03,
  7.58182370e-03,-1.59147277e-03, 0.00000000e+00,-2.79873503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 1.2499843 , 8.54542662, 1.2499843 , 3.91991425,
       0.68989975, 8.54542662, 0.68989975, 8.53544839, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.025020807679794393
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.58265086e-01,  4.29132543e-01,  2.81471674e-01,  4.07764110e-01,
        9.03241530e-01, -1.33727969e-01, -3.11623929e-01, -1.38777878e-17,
       -9.50205518e-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([-0.09069059, -0.02808319,  0.06115348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.44564136e-05,-5.45977849e-05,-3.55044996e-05, 1.78300813e-05,
  2.93472117e-05,-4.84472407e-05,-4.46524735e-05,-7.03094162e-06,
 -2.38367873e-05, 3.92425912e-05,-5.96099565e-06,-1.88468443e-05,
 -5.32952089e-05, 5.75345945e-06,-2.53806205e-05,-1.25139756e-05,
 -2.14928196e-02, 7.47025033e-02,-7.90455644e+00, 1.31804168e-04,
 -1.63334990e-01,-9.11936178e-04]


--- Step 1275 ---
qpos:
[-5.18352018e-04, 8.77052163e-01,-2.02495731e-02,-2.75388663e-02,
  7.57453483e-03, 8.63971219e-01,-2.81523610e-02, 9.36462932e-03,
  2.22373075e-02, 8.72843473e-01,-2.01477297e-02, 2.24664855e-02,
  1.29440505e+00,-1.00642067e-02, 9.43814654e-01, 6.16526567e-02,
 -6.79700609e-02,-4.10710046e-02, 6.80901092e-02, 7.07916996e-01,
 -3.07988049e-02,-7.03989336e-01,-4.79997436e-02]

qacc:
[ 2.94342464e-01, 1.29383371e+00,-7.28737612e+00, 1.71339370e+01,
 -7.67806665e-02, 1.71948761e+00,-7.48311804e+00, 1.29886436e+01,
  3.16765240e-01,-9.68007557e-02,-1.94927333e+00, 1.00997776e+01,
 -2.62078578e-01, 2.65829426e-01, 3.20665014e+00,-1.13099631e+01,
 -2.73801043e+01, 1.80907153e+01,-1.00018070e+00, 3.16943673e+02,
  4.24749906e+02,-1.41283004e+03]

qfrc_actuator:
[ 2.41519971e-03, 2.76920313e-02, 8.66432052e-03, 1.62088463e-03,
  5.56394937e-05, 2.80757534e-02, 8.82472220e-03, 1.79559975e-03,
 -2.41393258e-03, 2.77717723e-02, 8.67608190e-03, 1.64045226e-03,
  7.56137685e-03,-1.59831215e-03, 0.00000000e+00,-2.85356133e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.23935917, -8.34098599, -2.23935917, 11.91001329,
       -0.87889818, -8.34098599, -0.87889818,  8.87232719,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.024669502315094464
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.55756855e-01,  4.27878427e-01,  2.90861233e-01,  4.05117496e-01,
        9.03836297e-01, -1.37694456e-01, -3.21807427e-01, -1.38777878e-17,
       -9.46805144e-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([-0.09102748, -0.02810927,  0.06113945])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.45650325e-05,-2.56047230e-05,-1.35611836e-05, 2.63274699e-05,
 -1.38908386e-05,-2.66336796e-05,-3.25873171e-05, 1.14503815e-05,
  5.86897108e-05, 1.99287639e-06, 2.18921632e-05, 2.63455433e-05,
 -5.10060587e-05,-1.74290711e-05,-1.68161320e-05,-5.96466980e-05,
 -5.65350885e-02, 5.43826743e-03,-7.87855458e+00, 3.33206076e-03,
 -1.61228052e-01,-8.87928425e-04]


--- Step 1276 ---
qpos:
[-5.18998503e-04, 8.77054165e-01,-2.02505353e-02,-2.75392109e-02,
  7.57534500e-03, 8.63984601e-01,-2.81488148e-02, 9.36742154e-03,
  2.22375226e-02, 8.72847216e-01,-2.01492424e-02, 2.24669948e-02,
  1.29463659e+00,-1.00638268e-02, 9.44065707e-01, 6.16533767e-02,
 -6.83655542e-02,-4.08297014e-02, 6.80524593e-02, 7.07493456e-01,
 -2.80227511e-02,-7.04532473e-01,-4.79763428e-02]

qacc:
[-1.18995249e-01,-2.73660386e+00, 1.10139257e+01,-1.85506074e+01,
 -2.28041355e-01,-2.32052585e+00, 7.41825685e+00,-1.00790262e+01,
  4.75407678e-01, 7.79609586e-02,-8.18719022e+00, 3.28957224e+01,
  2.76318996e-01,-8.30217634e-01,-1.32212043e+01, 4.46952017e+01,
  9.51714803e+00,-1.10509999e+01, 1.58996229e+01,-2.67119986e+02,
 -7.39349907e+02,-9.14956311e+01]

qfrc_actuator:
[ 2.36681593e-03, 2.76981855e-02, 8.70142641e-03, 1.60276095e-03,
  2.07702034e-05, 2.80053509e-02, 8.83146141e-03, 1.78565016e-03,
 -2.35417924e-03, 2.76704996e-02, 8.68581965e-03, 1.70892576e-03,
  7.54078123e-03,-1.62042635e-03, 0.00000000e+00,-2.63594671e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.3046842 , -7.48708694, -4.3046842 ,  2.79378899,
        3.35917547, -7.48708694,  3.35917547,  6.70501307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0072433538627411365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.87390097e-15, -7.66373593e-15,  1.00000000e+00,  2.20248181e-29,
        1.00000000e+00,  7.66373593e-15, -1.00000000e+00,  0.00000000e+00,
        2.87390097e-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([-0.04252275, -0.03903982,  0.06113139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21416433e-05,-9.86918919e-06, 3.10534070e-05,-1.91778026e-05,
 -4.14789891e-05,-9.19051501e-05,-2.52195973e-06,-1.20262711e-05,
  8.79974773e-05,-9.45946833e-05, 1.37379254e-05, 6.98257990e-05,
 -5.51196585e-05,-3.69563703e-05,-1.86895307e-05, 2.11132686e-04,
 -1.18529384e-01, 3.56520882e-02,-7.76880598e+00, 2.51872326e-03,
 -1.55507565e-01,-7.25568732e-04]


--- Step 1277 ---
qpos:
[-5.20236974e-04, 8.77055861e-01,-2.02507203e-02,-2.75394238e-02,
  7.57591451e-03, 8.63997110e-01,-2.81448425e-02, 9.37007790e-03,
  2.22379901e-02, 8.72850208e-01,-2.01505322e-02, 2.24672853e-02,
  1.29486772e+00,-1.00636621e-02, 9.44316510e-01, 6.16573154e-02,
 -6.87295675e-02,-4.06243488e-02, 6.80598673e-02, 7.06188813e-01,
 -2.54950242e-02,-7.05911674e-01,-4.83329283e-02]

qacc:
[-3.07060184e-01,-2.30401844e+00, 7.07354521e+00,-5.81488685e+00,
 -1.25927291e-01,-2.62019147e+00, 8.24545861e+00,-1.06399101e+01,
  1.31482186e-01,-2.06463959e+00, 6.84571224e+00,-1.04360090e+01,
  3.48430674e-02,-3.88761138e-01,-1.00915274e+01, 3.47603100e+01,
  7.87001120e+00,-8.98766678e+00, 1.12644888e+01,-2.13991039e+02,
 -6.06771736e+02,-7.97926621e+01]

qfrc_actuator:
[ 2.32042949e-03, 2.76834437e-02, 8.74146830e-03, 1.61001068e-03,
  1.75380603e-05, 2.79582304e-02, 8.85163288e-03, 1.77865673e-03,
 -2.37221927e-03, 2.76265618e-02, 8.69191736e-03, 1.69568371e-03,
  7.51477816e-03,-1.63364775e-03, 0.00000000e+00,-2.47257664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.24663419, -7.52016456, -4.24663419,  2.65965497,
        3.37504521, -7.52016456,  3.37504521,  6.73047684,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007174378282468898
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.73741627e-15,  1.93435407e-15,  1.00000000e+00, -1.49669026e-29,
        1.00000000e+00, -1.93435407e-15, -1.00000000e+00,  0.00000000e+00,
        7.73741627e-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([-0.04285741, -0.03867178,  0.06113282])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.70425439e-05,-1.47085626e-05, 4.11586291e-05, 7.52780243e-06,
 -2.29715279e-05,-9.99049641e-05, 3.25951494e-07,-1.12816146e-05,
  2.42910572e-05,-9.10708676e-05,-9.35118806e-06,-1.54667787e-05,
 -6.70815801e-05,-3.32096133e-05, 1.21150154e-05, 1.72081974e-04,
 -7.47506395e-02,-1.11015854e-02,-7.78004010e+00, 5.33324950e-03,
 -1.55992335e-01,-1.02845293e-03]


--- Step 1278 ---
qpos:
[-5.21303349e-04, 8.77057583e-01,-2.02508150e-02,-2.75391979e-02,
  7.57616196e-03, 8.64009599e-01,-2.81412771e-02, 9.37223153e-03,
  2.22382786e-02, 8.72853517e-01,-2.01516596e-02, 2.24672808e-02,
  1.29509824e+00,-1.00633141e-02, 9.44567648e-01, 6.16605029e-02,
 -6.90216621e-02,-4.04080271e-02, 6.80625826e-02, 7.05677675e-01,
 -2.40473762e-02,-7.06529197e-01,-4.75103872e-02]

qacc:
[ 8.95022753e-02, 6.85791090e-01,-4.24306216e+00, 1.16627018e+01,
 -1.69554002e-01, 7.54127703e-02, 1.81518631e+00,-9.85107174e+00,
 -9.30061260e-02,-6.41990827e-01, 4.14142451e+00,-9.73821961e+00,
 -6.63615052e-01, 9.88553976e-01, 2.79951039e+00,-8.99405376e+00,
  1.79796592e+01, 2.74229569e+00,-1.17315503e+00, 2.65170348e+01,
  5.07885046e+02, 8.26450493e+02]

qfrc_actuator:
[ 2.36445874e-03, 2.76918563e-02, 8.74734839e-03, 1.63211927e-03,
 -2.23726256e-06, 2.79964884e-02, 8.84413849e-03, 1.75572703e-03,
 -2.40113428e-03, 2.77237213e-02, 8.73146340e-03, 1.68775355e-03,
  7.48022583e-03,-1.62376485e-03, 0.00000000e+00,-2.52008242e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.30299846, -8.53750384,  1.30299846,  5.27279943,
       -0.51334899, -8.53750384, -0.51334899,  8.55801604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007323432920216928
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.13699037e-14, -1.51598716e-14,  1.00000000e+00,  1.72366279e-28,
        1.00000000e+00,  1.51598716e-14, -1.00000000e+00,  0.00000000e+00,
        1.13699037e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.11833506, -0.0450923 ,  0.06111919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.65827583e-05, 8.96758267e-06, 8.16344489e-06, 2.30490598e-05,
 -3.07133350e-05,-1.83597220e-05,-2.86119113e-05,-2.74469680e-05,
 -1.72334546e-05, 4.35818848e-05, 1.90346427e-05,-1.24607202e-05,
 -8.16335074e-05,-1.21885145e-05, 1.99990024e-05,-3.74620447e-05,
 -9.97283699e-02,-5.08815234e-02,-7.78814360e+00, 8.15092470e-03,
 -1.56506899e-01,-1.21284332e-03]


--- Step 1279 ---
qpos:
[-5.22009502e-04, 8.77059687e-01,-2.02515272e-02,-2.75390511e-02,
  7.57594647e-03, 8.64022565e-01,-2.81383938e-02, 9.37370173e-03,
  2.22386694e-02, 8.72857263e-01,-2.01522833e-02, 2.24692113e-02,
  1.29532801e+00,-1.00622782e-02, 9.44818938e-01, 6.16624544e-02,
 -6.92528463e-02,-4.01821392e-02, 6.80555987e-02, 7.05826682e-01,
 -2.35053864e-02,-7.06517397e-01,-4.57095099e-02]

qacc:
[ 1.86689792e-01, 2.06729466e+00,-6.30502808e+00, 5.64667672e+00,
 -2.43949347e-01, 1.12775117e+00,-2.22338856e-01,-1.08653056e+01,
  5.33828020e-02, 3.15066317e+00,-1.85670572e+01, 5.09304488e+01,
 -1.20136374e+00, 2.20785422e+00, 4.02676564e+00,-1.36045107e+01,
  1.52275973e+01, 2.39153076e+00,-2.42483180e+00, 1.90479356e+01,
  4.21978050e+02, 6.88381074e+02]

qfrc_actuator:
[ 2.39119958e-03, 2.77139525e-02, 8.71535498e-03, 1.62727826e-03,
 -3.17608292e-05, 2.80499649e-02, 8.82070719e-03, 1.72365675e-03,
 -2.38298606e-03, 2.77805037e-02, 8.77329720e-03, 1.78968996e-03,
  7.45122914e-03,-1.58257899e-03, 0.00000000e+00,-2.58491546e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.34532329, -8.53093677,  1.34532329,  6.36552922,
       -0.35810914, -8.53093677, -0.35810914,  8.57989005,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0074514156522574385
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -2.23492369e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  2.23492369e-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([-0.118335  , -0.04496915,  0.06110905])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.47152697e-05, 2.97469757e-05,-2.83507572e-05,-3.72872567e-06,
 -4.41334166e-05, 3.57914456e-05,-3.18282656e-05,-3.44085202e-05,
  9.86806312e-06, 8.44802265e-05, 5.27328366e-05, 1.04217332e-04,
 -8.00524143e-05, 2.02042975e-05,-1.38661498e-06,-6.58344094e-05,
 -5.28105836e-02, 1.03625891e-05,-7.83478064e+00, 5.56437373e-03,
 -1.58825242e-01,-1.08342551e-03]


--- Step 1280 ---
qpos:
[-5.22927894e-04, 8.77061935e-01,-2.02525148e-02,-2.75396466e-02,
  7.57588751e-03, 8.64035348e-01,-2.81353823e-02, 9.37583969e-03,
  2.22390360e-02, 8.72861107e-01,-2.01527401e-02, 2.24720693e-02,
  1.29555725e+00,-1.00610538e-02, 9.45070593e-01, 6.16602596e-02,
 -6.94331177e-02,-3.99479263e-02, 6.80340147e-02, 7.06523210e-01,
 -2.37249505e-02,-7.05977965e-01,-4.30951652e-02]

qacc:
[-1.10548744e-01,-5.71323792e-01, 5.43721203e+00,-1.79344996e+01,
  8.24512616e-02, 7.74264530e-01,-5.93041655e+00, 1.74181729e+01,
 -1.24066995e-02, 1.56979880e+00,-9.32801795e+00, 2.50442610e+01,
 -7.53906833e-01, 1.18437277e+00, 1.30970248e+01,-4.49509737e+01,
  1.27282195e+01, 2.08126427e+00,-3.65000828e+00, 1.29784373e+01,
  3.52660143e+02, 5.74824581e+02]

qfrc_actuator:
[ 2.35405251e-03, 2.77083863e-02, 8.69681427e-03, 1.58885702e-03,
  4.14687786e-06, 2.80233206e-02, 8.82365703e-03, 1.75749446e-03,
 -2.39006741e-03, 2.77418016e-02, 8.76283955e-03, 1.83116605e-03,
  7.42559992e-03,-1.57644717e-03, 0.00000000e+00,-2.80138053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.43976643, -8.51550641,  1.43976643,  7.52039567,
       -0.18868323, -8.51550641, -0.18868323,  8.60446186,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007421789997959206
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.47948288e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.47948288e-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([-0.1185971 , -0.04492943,  0.06111075])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.04468283e-05, 5.01476047e-06,-1.60301250e-05,-3.82046488e-05,
  1.49213002e-05,-1.50183339e-05, 5.10216674e-06, 3.35742226e-05,
 -2.31821813e-06, 2.38127471e-05, 1.70672647e-05, 4.89419318e-05,
 -6.85160015e-05,-7.70906698e-06,-1.35274641e-05,-2.21588814e-04,
 -4.33349799e-02, 3.18646867e-03,-7.87136689e+00, 5.09206157e-03,
 -1.60801874e-01,-9.87206884e-04]


--- Step 1281 ---
qpos:
[-5.23990287e-04, 8.77063910e-01,-2.02529760e-02,-2.75410452e-02,
  7.57612831e-03, 8.64047508e-01,-2.81318180e-02, 9.37804829e-03,
  2.22393458e-02, 8.72864672e-01,-2.01532740e-02, 2.24744338e-02,
  1.29578606e+00,-1.00600024e-02, 9.45321908e-01, 6.16574841e-02,
 -6.95703079e-02,-3.97680878e-02, 6.80578107e-02, 7.07137644e-01,
 -2.30208915e-02,-7.05473348e-01,-4.16382783e-02]

qacc:
[-7.44549323e-02,-3.48457476e+00, 1.52823042e+01,-2.98030935e+01,
  1.58116079e-01,-2.22075059e+00, 6.42555717e+00,-5.63039723e+00,
 -2.95150858e-02,-1.16778081e+00, 5.71340309e+00,-1.39270782e+01,
 -1.98730395e-01, 2.03701723e-02, 1.25600695e+00,-5.11273083e+00,
  1.07702968e+01,-1.35935890e+01, 1.13450131e+01,-8.25136240e+01,
 -7.64463535e+00,-7.37097176e+02]

qfrc_actuator:
[ 2.35001160e-03, 2.76863091e-02, 8.72175537e-03, 1.54873531e-03,
  2.56211706e-05, 2.79668248e-02, 8.84189800e-03, 1.75878861e-03,
 -2.39444843e-03, 2.76814792e-02, 8.73889478e-03, 1.80109406e-03,
  7.39667170e-03,-1.59112355e-03, 0.00000000e+00,-2.82137807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.34312131,  4.54591534,  7.34312131,  9.89658649,
       -2.03566688,  4.54591534, -2.03566688, 11.92462305,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007291871836886954
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.5159296e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.5159296e-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([-0.09312335, -0.02736104,  0.06111996])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.38795554e-05,-2.42631894e-05, 2.26719465e-05,-4.12065508e-05,
  2.85691749e-05,-6.27322091e-05, 1.68015826e-05, 1.45339833e-06,
 -5.48651445e-06,-4.14745041e-05,-1.52602695e-05,-2.75174880e-05,
 -7.17267745e-05,-3.14669976e-05,-3.63798493e-05,-3.53504816e-05,
 -5.57682374e-02,-2.18683018e-02,-7.89989925e+00, 5.74224081e-03,
 -1.62463483e-01,-9.07918361e-04]


--- Step 1282 ---
qpos:
[-5.24957583e-04, 8.77065613e-01,-2.02531477e-02,-2.75422066e-02,
  7.57627144e-03, 8.64059631e-01,-2.81284998e-02, 9.37954446e-03,
  2.22396004e-02, 8.72867044e-01,-2.01530315e-02, 2.24757893e-02,
  1.29601432e+00,-1.00588248e-02, 9.45572991e-01, 6.16544278e-02,
 -6.98290837e-02,-3.95142290e-02, 6.80573616e-02, 7.08260115e-01,
 -2.02371845e-02,-7.04452666e-01,-4.12856845e-02]

qacc:
[ 4.97012648e-02,-6.80371609e-01, 9.04664732e-01, 2.93205683e+00,
 -5.15134403e-02,-8.26464707e-01, 5.88495629e+00,-1.77961431e+01,
 -2.78761643e-02,-5.81761856e+00, 2.27205517e+01,-4.05494627e+01,
 -5.26297816e-01, 7.41609411e-01, 5.34054279e-01,-2.30301712e+00,
 -3.03964105e+01, 1.85050583e+01,-6.06129825e+00, 3.40879177e+02,
  4.17675567e+02,-1.10749625e+03]

qfrc_actuator:
[ 2.36585105e-03, 2.76724360e-02, 8.73658875e-03, 1.56120877e-03,
  2.72431134e-06, 2.79816956e-02, 8.83333258e-03, 1.72313402e-03,
 -2.39716686e-03, 2.75730167e-02, 8.76029312e-03, 1.74689592e-03,
  7.37110125e-03,-1.58249355e-03, 0.00000000e+00,-2.83191801e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.60828261, -8.48529339, -1.60828261, 48.22967347,
       -7.50442312, -8.48529339, -7.50442312, 10.0587344 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.02210515531260437
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.44996415e-01,  4.22498207e-01,  3.27835819e-01,  3.93892040e-01,
        9.06363760e-01, -1.52819488e-01, -3.61704465e-01,  2.77555756e-17,
       -9.32292808e-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([-0.09332861, -0.02720421,  0.06112588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.15638493e-06,-2.45619670e-05, 1.11809670e-05, 1.14172213e-05,
 -9.31573888e-06,-1.69938816e-05,-1.95289539e-05,-3.77600542e-05,
 -5.35524357e-06,-1.36069224e-04, 9.97309062e-06,-5.70468619e-05,
 -7.56424317e-05,-1.38361989e-05,-2.39218255e-05,-1.79323640e-05,
 -4.73700505e-02,-3.97804115e-03,-7.86115917e+00, 4.56760894e-03,
 -1.60252261e-01,-8.72498801e-04]


--- Step 1283 ---
qpos:
[-5.25777231e-04, 8.77067594e-01,-2.02537268e-02,-2.75418511e-02,
  7.57622411e-03, 8.64071617e-01,-2.81256205e-02, 9.38131829e-03,
  2.22396266e-02, 8.72868327e-01,-2.01527907e-02, 2.24768723e-02,
  1.29624223e+00,-1.00578918e-02, 9.45824193e-01, 6.16488815e-02,
 -7.00593150e-02,-3.93036509e-02, 6.81001211e-02, 7.08528261e-01,
 -1.78426351e-02,-7.04245687e-01,-4.13201674e-02]

qacc:
[ 7.64528699e-02, 4.63172659e+00,-2.23656957e+01, 4.90300128e+01,
 -1.00312369e-01, 1.61429837e+00,-7.19257055e+00, 1.28028466e+01,
 -1.18312967e-01,-1.99584528e+00, 6.17677500e+00,-1.00879292e+01,
 -1.74057758e-01,-3.44244366e-02, 7.69536616e+00,-2.66637537e+01,
  7.13614207e+00,-1.08201940e+01, 1.08021567e+01,-2.65999491e+02,
 -5.93190059e+02,-2.58726400e+01]

qfrc_actuator:
[ 2.37568458e-03, 2.77168525e-02, 8.72763103e-03, 1.64002562e-03,
 -1.10124579e-05, 2.79680384e-02, 8.80926111e-03, 1.73707552e-03,
 -2.41661922e-03, 2.75077052e-02, 8.75481660e-03, 1.73219289e-03,
  7.35822321e-03,-1.59561496e-03, 0.00000000e+00,-2.96111946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.10074136, -6.96916167, -5.10074136,  4.10359154,
        3.31754366, -6.96916167,  3.31754366,  6.20824775,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007214442592199909
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.61805963e-16,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
       -9.61805963e-16])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04443487, -0.03682375,  0.06113137])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42318436e-05, 3.34460366e-05,-1.22670975e-05, 7.83743841e-05,
 -1.81691690e-05,-2.91301258e-05,-3.14185820e-05, 1.17770160e-05,
 -2.20393179e-05,-1.41845150e-04,-3.43489873e-05,-2.13049819e-05,
 -6.10812637e-05,-3.29195347e-05,-1.69235418e-05,-1.34168636e-04,
 -1.20661588e-01, 4.81378434e-02,-7.78178851e+00, 2.59877118e-03,
 -1.56259355e-01,-6.77901973e-04]


--- Step 1284 ---
qpos:
[-5.25909497e-04, 8.77070075e-01,-2.02545435e-02,-2.75405953e-02,
  7.57600118e-03, 8.64083211e-01,-2.81224373e-02, 9.38391655e-03,
  2.22396071e-02, 8.72869554e-01,-2.01542396e-02, 2.24784453e-02,
  1.29646982e+00,-1.00573894e-02, 9.46074487e-01, 6.16481675e-02,
 -7.02655389e-02,-3.91284116e-02, 6.81716360e-02, 7.08090978e-01,
 -1.57570198e-02,-7.04714063e-01,-4.16769980e-02]

qacc:
[ 3.56943581e-01, 3.17868537e+00,-1.41660042e+01, 2.97410493e+01,
 -9.19076575e-02, 3.30581576e-01,-5.41072172e+00, 1.94830104e+01,
 -2.47164515e-02, 5.65295374e+00,-2.23336814e+01, 3.35565671e+01,
  3.72595743e-01,-1.08037155e+00,-1.59545015e+01, 5.38155643e+01,
  6.00182971e+00,-8.83465731e+00, 7.18886682e+00,-2.15291013e+02,
 -4.91159024e+02,-2.60126052e+01]

qfrc_actuator:
[ 2.43508186e-03, 2.77602955e-02, 8.72273255e-03, 1.68626345e-03,
 -1.91213088e-05, 2.79551320e-02, 8.82943501e-03, 1.78006955e-03,
 -2.41041144e-03, 2.75396701e-02, 8.68042481e-03, 1.75860660e-03,
  7.33698434e-03,-1.62146690e-03, 0.00000000e+00,-2.69762775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.03268481, -7.01846568, -5.03268481,  4.03738466,
        3.29775946, -7.01846568,  3.29775946,  6.27166105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007187647038039882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.72313261e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        7.72313261e-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([-0.04448215, -0.03649912,  0.06113621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.62430127e-05, 6.29268872e-05, 3.19845685e-06, 4.87684482e-05,
 -1.67546609e-05,-3.54935316e-05, 1.05741565e-05, 4.08628483e-05,
 -4.40923682e-06,-5.53981354e-05,-1.08671533e-04, 1.87283464e-05,
 -6.53421548e-05,-4.61875504e-05,-2.73999238e-05, 2.52764207e-04,
 -4.97189391e-02, 1.34829561e-02,-7.79825305e+00, 4.67532246e-03,
 -1.56904839e-01,-9.29733190e-04]


--- Step 1285 ---
qpos:
[-5.25344881e-04, 8.77072606e-01,-2.02551624e-02,-2.75398036e-02,
  7.57564573e-03, 8.64094394e-01,-2.81184027e-02, 9.38628242e-03,
  2.22396046e-02, 8.72870893e-01,-2.01568192e-02, 2.24806063e-02,
  1.29669712e+00,-1.00577284e-02, 9.46324395e-01, 6.16518851e-02,
 -7.04520138e-02,-3.89817793e-02, 6.82596416e-02, 7.07071061e-01,
 -1.39146399e-02,-7.05739026e-01,-4.23004188e-02]

qacc:
[ 3.62239585e-01,-1.44250291e+00, 7.19245622e+00,-1.55655517e+01,
 -6.89842803e-02,-3.39675756e+00, 1.23073015e+01,-1.73933096e+01,
  8.12322311e-03, 4.51466355e+00,-1.83673095e+01, 3.02703401e+01,
  7.12196266e-01,-1.93349044e+00,-1.40013376e+01, 4.80440055e+01,
  4.93725146e+00,-7.15177341e+00, 4.12265165e+00,-1.73043283e+02,
 -4.05320938e+02,-2.52058444e+01]

qfrc_actuator:
[ 2.47036071e-03, 2.77318112e-02, 8.72026267e-03, 1.65970576e-03,
 -2.37920935e-05, 2.79429855e-02, 8.87558912e-03, 1.76882674e-03,
 -2.40665159e-03, 2.75761442e-02, 8.63738319e-03, 1.79128429e-03,
  7.31073979e-03,-1.67242591e-03, 0.00000000e+00,-2.47113598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.95634649, -7.07258131, -4.95634649,  3.90479521,
        3.31580388, -7.07258131,  3.31580388,  6.31270382,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007014555060981802
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  1.58274191e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -1.58274191e-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([-0.04410523, -0.03622118,  0.06115058])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.71479772e-05, 9.40467645e-06, 1.25910848e-05,-2.28094327e-05,
 -1.26456159e-05,-2.83673212e-05, 4.14202966e-05,-1.16282284e-05,
  1.63466929e-06,-1.61682495e-05,-6.72236094e-05, 2.69057840e-05,
 -7.54602672e-05,-7.52377681e-05, 1.33918102e-05, 2.36562206e-04,
 -3.29581874e-02,-1.39877824e-02,-7.80999285e+00, 6.58872673e-03,
 -1.57467545e-01,-1.08140347e-03]


--- Step 1286 ---
qpos:
[-5.24416234e-04, 8.77074977e-01,-2.02559262e-02,-2.75396294e-02,
  7.57520012e-03, 8.64105459e-01,-2.81141057e-02, 9.38677107e-03,
  2.22396335e-02, 8.72872539e-01,-2.01595298e-02, 2.24827004e-02,
  1.29692414e+00,-1.00587416e-02, 9.46574964e-01, 6.16529276e-02,
 -7.05947060e-02,-3.88275438e-02, 6.83294268e-02, 7.06665581e-01,
 -1.29633050e-02,-7.06183707e-01,-4.19556968e-02]

qacc:
[ 1.89117454e-01,-1.07910184e+00, 6.14053883e+00,-1.64649214e+01,
 -4.72861609e-02,-4.74645120e+00, 2.46287385e+01,-5.74588301e+01,
  1.61217367e-02, 6.33600728e-01,-1.38739901e+00, 2.11511641e-01,
  2.02286546e-01,-9.56110057e-01, 9.02886820e+00,-3.02232009e+01,
  1.09456790e+01, 1.90078624e+00,-4.55508560e+00, 1.86134794e+01,
  3.96385402e+02, 6.73729041e+02]

qfrc_actuator:
[ 2.47313141e-03, 2.76959254e-02, 8.70115702e-03, 1.62598025e-03,
 -2.63728663e-05, 2.79314711e-02, 8.88340416e-03, 1.67251099e-03,
 -2.40440488e-03, 2.76329310e-02, 8.64877375e-03, 1.79192106e-03,
  7.30280275e-03,-1.70236082e-03, 0.00000000e+00,-2.62342904e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 4.28684759, 7.49731383, 4.28684759, 5.15032315,
       1.9932638 , 7.49731383, 1.9932638 , 7.49664636, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.007157831541441881
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.55106057e-14, -7.75530283e-15,  1.00000000e+00,  1.20289444e-28,
        1.00000000e+00,  7.75530283e-15, -1.00000000e+00,  0.00000000e+00,
        1.55106057e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12149974, -0.04550187,  0.06114228])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.50695399e-05,-2.90518603e-05,-1.64191278e-05,-3.33367388e-05,
 -8.59985871e-06,-1.96247696e-05, 6.53364574e-06,-9.63502889e-05,
  3.03301230e-06, 3.49991356e-05, 7.07289023e-07,-1.86003624e-06,
 -6.94870239e-05,-6.27000498e-05, 2.81586635e-05,-1.38404848e-04,
 -4.75818074e-02,-3.63748575e-02,-7.81851793e+00, 8.35394723e-03,
 -1.57955246e-01,-1.17185912e-03]


--- Step 1287 ---
qpos:
[-5.23485627e-04, 8.77077209e-01,-2.02569358e-02,-2.75395103e-02,
  7.57469780e-03, 8.64116583e-01,-2.81101282e-02, 9.38646499e-03,
  2.22396913e-02, 8.72874007e-01,-2.01618616e-02, 2.24837760e-02,
  1.29715065e+00,-1.00596063e-02, 9.46825984e-01, 6.16495059e-02,
 -7.07016154e-02,-3.86669829e-02, 6.83776341e-02, 7.06793666e-01,
 -1.27868267e-02,-7.06126940e-01,-4.07916018e-02]

qacc:
[ 9.12496144e-04, 3.89078654e-01,-1.42221456e+00, 9.65318906e-01,
 -3.00702633e-02,-6.65304856e-01, 5.84019087e+00,-1.91284484e+01,
  1.52684989e-02,-3.38737189e+00, 1.60377696e+01,-3.41391795e+01,
 -7.30403120e-01, 1.11782910e+00, 1.41816562e+01,-4.85658078e+01,
  8.94569951e+00, 1.58136435e+00,-5.39449766e+00, 8.47074829e+00,
  3.44009787e+02, 5.77550257e+02]

qfrc_actuator:
[ 2.45645132e-03, 2.76912940e-02, 8.69008606e-03, 1.62379840e-03,
 -2.76889909e-05, 2.79379593e-02, 8.86846435e-03, 1.63340503e-03,
 -2.40308726e-03, 2.75951498e-02, 8.65677082e-03, 1.73824778e-03,
  7.28988310e-03,-1.68400674e-03, 0.00000000e+00,-2.85563783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.4252301 ,   6.71964696,   5.4252301 ,
        21.18134987, -10.1284245 ,   6.71964696, -10.1284245 ,
        16.81373274,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007192546092321055
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.71787216e-15,  7.71787216e-15,  1.00000000e+00, -5.95655506e-29,
        1.00000000e+00, -7.71787216e-15, -1.00000000e+00,  0.00000000e+00,
        7.71787216e-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([-0.12162001, -0.04543376,  0.06114223])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.83480084e-07,-2.57413431e-05,-2.02604389e-05,-4.64607514e-06,
 -5.40800154e-06,-7.56426916e-06,-2.16447606e-05,-4.16198559e-05,
  2.78293079e-06,-1.81639642e-05, 1.52540375e-05,-5.21866904e-05,
 -6.84607091e-05,-1.02406685e-05,-9.48357476e-06,-2.37943342e-04,
 -1.98924229e-02,-2.47204166e-03,-7.84083029e+00, 6.72903796e-03,
 -1.59044276e-01,-1.10855433e-03]


--- Step 1288 ---
qpos:
[-5.22846103e-04, 8.77079201e-01,-2.02578106e-02,-2.75387413e-02,
  7.57434898e-03, 8.64127174e-01,-2.81056497e-02, 9.38709250e-03,
  2.22395867e-02, 8.72875010e-01,-2.01635952e-02, 2.24835319e-02,
  1.29737647e+00,-1.00596873e-02, 9.47076935e-01, 6.16433220e-02,
 -7.07793202e-02,-3.85011099e-02, 6.84011589e-02, 7.07380008e-01,
 -1.32803832e-02,-7.05635284e-01,-3.89358532e-02]

qacc:
[-1.51075604e-01, 6.45167485e-01,-5.49632307e+00, 1.66879740e+01,
  8.12237219e-02,-1.82116824e-01,-4.31422978e+00, 2.00638103e+01,
 -8.39428298e-02,-4.99744205e+00, 2.25036780e+01,-4.59607294e+01,
 -1.30806882e+00, 2.47186093e+00, 8.31624239e+00,-2.90692285e+01,
  7.30116747e+00, 1.32803057e+00,-6.17059002e+00, 1.46960325e+00,
  2.97394681e+02, 4.93120469e+02]

qfrc_actuator:
[ 2.42831721e-03, 2.76877060e-02, 8.70174739e-03, 1.65797993e-03,
 -1.04910816e-05, 2.79018623e-02, 8.89360643e-03, 1.68155126e-03,
 -2.42008979e-03, 2.75542483e-02, 8.68002725e-03, 1.67071934e-03,
  7.26335272e-03,-1.63723222e-03, 0.00000000e+00,-2.99091589e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.62432525,   6.55391046,   5.62432525,
        20.70949433, -10.36071735,   6.55391046, -10.36071735,
        17.52755075,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.007106197522383478
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.56233066e-14, -7.81165329e-15,  1.00000000e+00,  1.22043854e-28,
        1.00000000e+00,  7.81165329e-15, -1.00000000e+00,  0.00000000e+00,
        1.56233066e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1219463 , -0.04544104,  0.06115078])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.80524813e-05,-2.24111440e-05, 3.67869401e-06, 3.22860417e-05,
  1.46253465e-05,-4.68775002e-05, 1.93535347e-05, 4.62405769e-05,
 -1.56636301e-05,-5.01619659e-05, 1.95830427e-05,-6.87949749e-05,
 -6.98415081e-05, 2.94870952e-05,-3.66156388e-05,-1.51083161e-04,
 -1.42413305e-02,-1.29203639e-04,-7.85835395e+00, 6.38567181e-03,
 -1.59994084e-01,-1.05767174e-03]


--- Step 1289 ---
qpos:
[-5.22338467e-04, 8.77081115e-01,-2.02588820e-02,-2.75375672e-02,
  7.57418190e-03, 8.64137207e-01,-2.81011243e-02, 9.38867172e-03,
  2.22392994e-02, 8.72875960e-01,-2.01649377e-02, 2.24827874e-02,
  1.29760175e+00,-1.00594679e-02, 9.47327661e-01, 6.16355099e-02,
 -7.08327193e-02,-3.83310618e-02, 6.83986249e-02, 7.08367675e-01,
 -1.43413648e-02,-7.04753208e-01,-3.65031244e-02]

qacc:
[-6.86149654e-02, 1.28173867e+00,-6.42403009e+00, 1.37982722e+01,
  9.57951243e-02, 1.08896806e+00,-8.97261104e+00, 2.57823313e+01,
 -9.46858038e-02,-2.19316422e+00, 9.83061219e+00,-1.90794444e+01,
 -7.12730242e-01, 1.19298682e+00, 4.62368364e+00,-1.65710737e+01,
  6.07639883e+00, 1.04377812e+00,-6.51473515e+00,-2.05924863e+00,
  2.64804997e+02, 4.14676401e+02]

qfrc_actuator:
[ 2.42910822e-03, 2.76849007e-02, 8.69126065e-03, 1.67779141e-03,
 -1.24902456e-07, 2.78585348e-02, 8.88884705e-03, 1.72738047e-03,
 -2.43015199e-03, 2.75828423e-02, 8.71206824e-03, 1.64884435e-03,
  7.23401731e-03,-1.62735798e-03, 0.00000000e+00,-3.06795191e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.54523911,  7.3435399 ,  4.54523911, 22.94558631,
       -8.85660586,  7.3435399 , -8.85660586, 14.11810566,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006925990201675752
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.01490467e-15,  8.01490467e-15,  1.00000000e+00, -6.42386969e-29,
        1.00000000e+00, -8.01490467e-15, -1.00000000e+00,  0.00000000e+00,
        8.01490467e-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([-0.12145263, -0.04476338,  0.06116591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27108741e-05,-1.32411847e-05,-1.35542886e-05, 1.96059062e-05,
  1.73166777e-05,-6.38497665e-05,-1.05761702e-05, 4.53666782e-05,
 -1.76028378e-05, 1.62850478e-06, 2.17180329e-05,-2.46842248e-05,
 -6.44204385e-05, 5.27909013e-07,-3.77299270e-05,-9.10743726e-05,
 -2.30516291e-02,-1.81620785e-02,-7.87143653e+00, 6.78508708e-03,
 -1.60781725e-01,-1.01271610e-03]


--- Step 1290 ---
qpos:
[-5.21337977e-04, 8.77083053e-01,-2.02598278e-02,-2.75365458e-02,
  7.57397976e-03, 8.64147328e-01,-2.80974969e-02, 9.39077028e-03,
  2.22388639e-02, 8.72876934e-01,-2.01662166e-02, 2.24817982e-02,
  1.29782684e+00,-1.00599573e-02, 9.47577733e-01, 6.16301225e-02,
 -7.08858225e-02,-3.81853036e-02, 6.84296705e-02, 7.08631176e-01,
 -1.55070514e-02,-7.04569960e-01,-3.43883507e-02]

qacc:
[ 2.56185976e-01,-6.33370764e-01, 2.94725235e+00,-5.80446495e+00,
 -1.89900283e-02, 3.68954004e+00,-1.51829704e+01, 2.55478550e+01,
 -7.69915697e-02,-6.48413337e-01, 3.39119953e+00,-7.74359799e+00,
  5.80435399e-01,-1.57706927e+00,-8.32867906e+00, 2.76413315e+01,
  7.39827555e-02,-6.07247574e+00, 8.39493737e+00,-1.41563156e+02,
 -5.02324545e+02,-9.39478828e+01]

qfrc_actuator:
[ 2.48271680e-03, 2.77002511e-02, 8.70326775e-03, 1.67121290e-03,
 -1.17000436e-05, 2.78821179e-02, 8.84864788e-03, 1.75367528e-03,
 -2.43596479e-03, 2.75818988e-02, 8.71384245e-03, 1.63631748e-03,
  7.21365979e-03,-1.67495931e-03, 0.00000000e+00,-2.93254541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   2.53686876,   8.25536636,   2.53686876,
        57.07271099, -14.88445831,   8.25536636, -14.88445831,
        13.21034808,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006832584519124926
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11711509e-14, -3.24978936e-14,  1.00000000e+00,  3.63038875e-28,
        1.00000000e+00,  3.24978936e-14, -1.00000000e+00,  0.00000000e+00,
        1.11711509e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04372338, -0.03517902,  0.06117488])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.74887523e-05, 5.94539770e-06, 8.27297654e-06,-7.23537182e-06,
 -3.34598018e-06,-1.26365137e-05,-5.32365757e-05, 2.40515080e-05,
 -1.42807916e-05, 3.38157541e-06, 3.93598153e-06,-1.21840700e-05,
 -5.88276593e-05,-6.17359864e-05,-3.10185473e-05, 1.24691408e-04,
 -4.15639225e-02,-4.89096336e-02,-7.88040043e+00, 7.57478077e-03,
 -1.61405818e-01,-9.68151158e-04]


--- Step 1291 ---
qpos:
[-5.20142413e-04, 8.77085311e-01,-2.02604940e-02,-2.75356607e-02,
  7.57368904e-03, 8.64158012e-01,-2.80946309e-02, 9.39240510e-03,
  2.22385079e-02, 8.72877914e-01,-2.01674553e-02, 2.24806706e-02,
  1.29805153e+00,-1.00604639e-02, 9.47827293e-01, 6.16286777e-02,
 -7.09397471e-02,-3.80588259e-02, 6.84841777e-02, 7.08276041e-01,
 -1.67409276e-02,-7.04986177e-01,-3.25466147e-02]

qacc:
[ 1.01432242e-01,-6.40444344e-01, 3.46900658e+00,-6.50592310e+00,
 -4.72576396e-02, 1.91479040e+00,-3.79051426e+00,-3.43096815e+00,
  4.13111194e-02,-3.87973793e-01, 1.98159124e+00,-4.44784421e+00,
 -8.70296080e-02,-3.76357055e-02,-1.26542104e+01, 4.31853398e+01,
 -2.05346567e-01,-4.82013873e+00, 5.86537767e+00,-1.14837191e+02,
 -4.29391904e+02,-8.80044469e+01]

qfrc_actuator:
[ 2.47868078e-03, 2.77441766e-02, 8.72852766e-03, 1.66694884e-03,
 -1.85432365e-05, 2.79454247e-02, 8.82361622e-03, 1.73279587e-03,
 -2.42143671e-03, 2.75809288e-02, 8.71538047e-03, 1.62934374e-03,
  7.20400432e-03,-1.66739383e-03, 0.00000000e+00,-2.72633295e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.75823965,  3.79427127,  7.75823965,  9.26321155,
       -1.28173133,  3.79427127, -1.28173133, 11.25715116,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006868914380067023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.11120664e-14, -1.61630057e-14,  1.00000000e+00,  1.79604393e-28,
        1.00000000e+00,  1.61630057e-14, -1.00000000e+00,  0.00000000e+00,
        1.11120664e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04380849, -0.03503046,  0.06117433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.88065171e-05, 4.86127806e-05, 2.72458460e-05,-3.86815176e-06,
 -8.43611932e-06, 4.60022909e-05,-3.34802611e-05,-2.28191983e-05,
  7.65874496e-06, 1.19765930e-06, 2.30342929e-06,-6.92769472e-06,
 -5.87937361e-05,-1.83423859e-05,-2.85162921e-06, 2.08609605e-04,
 -7.39725936e-03,-8.73994876e-03,-7.86798672e+00, 4.72212221e-03,
 -1.60694523e-01,-9.42759132e-04]


--- Step 1292 ---
qpos:
[-5.19621374e-04, 8.77088034e-01,-2.02612107e-02,-2.75348303e-02,
  7.57331493e-03, 8.64168988e-01,-2.80917665e-02, 9.39341257e-03,
  2.22384658e-02, 8.72878889e-01,-2.01686613e-02, 2.24794704e-02,
  1.29827566e+00,-1.00605889e-02, 9.48076647e-01, 6.16306930e-02,
 -7.11190905e-02,-3.78632203e-02, 6.85166913e-02, 7.08489987e-01,
 -1.57718952e-02,-7.04824993e-01,-3.18577224e-02]

qacc:
[-3.50726053e-01, 6.43905355e-01,-1.17214775e+00,-3.53994080e-02,
 -4.39562701e-02,-9.00254780e-01, 6.41861586e+00,-1.74900228e+01,
  1.63134444e-01,-2.47761095e-01, 1.18024438e+00,-2.48618876e+00,
 -5.66238924e-01, 9.94495869e-01,-1.07148606e+01, 3.71263838e+01,
 -3.13546911e+01, 1.72819885e+01,-5.49840621e+00, 3.69131464e+02,
  4.50575151e+02,-1.17068289e+03]

qfrc_actuator:
[ 2.40465337e-03, 2.77694372e-02, 8.72602963e-03, 1.66411815e-03,
 -2.24797107e-05, 2.79610443e-02, 8.82566024e-03, 1.70213992e-03,
 -2.39487249e-03, 2.75799505e-02, 8.71677461e-03, 1.62569363e-03,
  7.17949263e-03,-1.64488892e-03, 0.00000000e+00,-2.55113521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 5.67642261, 6.50884039, 5.67642261, 5.84785608,
       2.43188439, 6.50884039, 2.43188439, 6.51549376, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.019958202496121253
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.84023465,  0.42011733,  0.34279317,  0.38899051,  0.9074698 ,
       -0.15869768, -0.37774609,  0.        , -0.92590922])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09515417, -0.02554906,  0.06117773])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.49790134e-05, 5.78550494e-05, 1.07485238e-05, 1.13120133e-07,
 -7.94320242e-06, 3.31694178e-05, 6.52023176e-06,-3.03108622e-05,
  3.02503227e-05,-1.41402662e-07, 1.68885342e-06,-3.65203591e-06,
 -6.33123471e-05, 5.41132991e-06, 1.81879578e-05, 1.85603942e-04,
 -6.73862320e-03, 2.22702453e-02,-7.85779047e+00, 2.48135298e-03,
 -1.60194853e-01,-8.91615360e-04]


--- Step 1293 ---
qpos:
[-5.19699531e-04, 8.77091154e-01,-2.02624405e-02,-2.75346895e-02,
  7.57287868e-03, 8.64179567e-01,-2.80883759e-02, 9.39513249e-03,
  2.22385542e-02, 8.72879613e-01,-2.01700034e-02, 2.24782796e-02,
  1.29849934e+00,-1.00606955e-02, 9.48325862e-01, 6.16361389e-02,
 -7.13967136e-02,-3.76150580e-02, 6.85282939e-02, 7.09159163e-01,
 -1.29731957e-02,-7.04194832e-01,-3.21654420e-02]

qacc:
[-3.11866271e-01, 5.35312954e-01, 1.75382409e+00,-1.31435386e+01,
 -3.21510126e-02,-5.27763226e-01,-1.88706302e+00, 1.36683959e+01,
  6.78245215e-02, 6.73952598e-02,-7.62987993e-01, 1.33050104e+00,
 -1.90952955e-01, 1.41641479e-01,-1.05503064e+01, 3.66398806e+01,
 -2.45699419e+01, 1.31391635e+01,-5.22773521e+00, 2.93052714e+02,
  3.63566569e+02,-9.86894251e+02]

qfrc_actuator:
[ 2.37818585e-03, 2.77654721e-02, 8.68934256e-03, 1.62661519e-03,
 -2.46419281e-05, 2.79125930e-02, 8.84349454e-03, 1.73697767e-03,
 -2.39685810e-03, 2.75434712e-02, 8.70032120e-03, 1.62402726e-03,
  7.15142098e-03,-1.64931764e-03, 0.00000000e+00,-2.37788827e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.25872727, -8.54414317, -1.25872727, 12.49104676,
       -0.56787377, -8.54414317, -0.56787377,  8.72002307,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.019685501739536142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83958201,  0.41979101,  0.34478624,  0.38832184,  0.9076208 ,
       -0.15946986, -0.37987918,  0.        , -0.92503611])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09538651, -0.02535059,  0.06118369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.77253570e-05, 3.05417529e-05,-2.34279599e-05,-3.46562256e-05,
 -5.93647618e-06,-3.01430954e-05, 2.43281003e-05, 3.58721836e-05,
  1.25697566e-05,-3.63743951e-05,-1.63978218e-05,-1.68341572e-06,
 -6.39326916e-05,-1.77230264e-05, 2.39288622e-05, 1.84755189e-04,
 -2.37038276e-02, 1.95609585e-03,-7.84418241e+00, 3.56558404e-03,
 -1.59283855e-01,-8.77861425e-04]


--- Step 1294 ---
qpos:
[-5.19858248e-04, 8.77094587e-01,-2.02640895e-02,-2.75349944e-02,
  7.57240153e-03, 8.64189690e-01,-2.80852589e-02, 9.39766541e-03,
  2.22383233e-02, 8.72880207e-01,-2.01713568e-02, 2.24780902e-02,
  1.29872261e+00,-1.00606177e-02, 9.48575467e-01, 6.16409557e-02,
 -7.16478794e-02,-3.74052877e-02, 6.85754215e-02, 7.09044644e-01,
 -1.05235401e-02,-7.04319918e-01,-3.28390330e-02]

qacc:
[-4.22495515e-02, 6.68208146e-01, 9.66201549e-02,-7.36064516e+00,
 -2.14501733e-02, 1.83363533e+00,-1.08459308e+01, 2.56924156e+01,
 -1.65792537e-01, 1.91972437e+00,-1.13231544e+01, 2.87688553e+01,
 -5.01189081e-01, 8.03005374e-01, 2.50164196e+00,-7.85469397e+00,
  6.61434717e+00,-9.59800710e+00, 8.88123519e+00,-2.45523898e+02,
 -5.46973684e+02,-2.43356441e+01]

qfrc_actuator:
[ 2.39820139e-03, 2.77793605e-02, 8.66813003e-03, 1.60447084e-03,
 -2.57274624e-05, 2.78617763e-02, 8.81701783e-03, 1.77451750e-03,
 -2.43366841e-03, 2.75569502e-02, 8.70882030e-03, 1.67675593e-03,
  7.14252740e-03,-1.63419062e-03, 0.00000000e+00,-2.42019778e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.92041782, -7.09762392, -4.92041782,  3.5704607 ,
        3.5119301 , -7.09762392,  3.5119301 ,  6.20172303,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006838588872111882
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.07333752e-16, -8.11734003e-15,  1.00000000e+00,  4.11820058e-30,
        1.00000000e+00,  8.11734003e-15, -1.00000000e+00,  0.00000000e+00,
        5.07333752e-16])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04401937, -0.0342589 ,  0.06118253])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.75551087e-06, 2.45745651e-05,-1.90047794e-05,-2.23252644e-05,
 -3.91418718e-06,-6.13936076e-05,-2.85759973e-05, 3.77649454e-05,
 -3.07663336e-05,-1.03236298e-05,-1.08587271e-06, 5.05721573e-05,
 -5.03921780e-05,-3.13079033e-06, 2.62544780e-05,-3.01778868e-05,
 -6.76610894e-02, 3.58502798e-02,-7.77927527e+00, 2.56050718e-03,
 -1.56050320e-01,-7.74491177e-04]


--- Step 1295 ---
qpos:
[-5.19929895e-04, 8.77097818e-01,-2.02649720e-02,-2.75352331e-02,
  7.57152810e-03, 8.64199300e-01,-2.80824006e-02, 9.40029022e-03,
  2.22380810e-02, 8.72880867e-01,-2.01718840e-02, 2.24787947e-02,
  1.29894551e+00,-1.00601329e-02, 9.48825664e-01, 6.16412457e-02,
 -7.18770822e-02,-3.72267351e-02, 6.86447175e-02, 7.08283121e-01,
 -8.34870511e-03,-7.05068670e-01,-3.38155426e-02]

qacc:
[ 4.57904520e-02,-2.27280993e+00, 7.43564415e+00,-7.36716990e+00,
 -2.08223076e-01, 2.33694537e-01,-2.20536269e+00, 4.58746432e+00,
 -5.44332137e-03,-3.82682953e-01,-2.28449286e+00, 1.63867434e+01,
 -8.57665244e-01, 1.57276889e+00, 1.45897204e+01,-4.96658908e+01,
  5.49074370e+00,-7.80441047e+00, 5.54211405e+00,-1.97270139e+02,
 -4.51871450e+02,-2.45157581e+01]

qfrc_actuator:
[ 2.41032253e-03, 2.77683788e-02, 8.70957161e-03, 1.60932624e-03,
 -6.16686568e-05, 2.78275103e-02, 8.80004920e-03, 1.77778781e-03,
 -2.41996546e-03, 2.76003832e-02, 8.76772590e-03, 1.72562070e-03,
  7.13450094e-03,-1.60750349e-03, 0.00000000e+00,-2.66016436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -4.85255199, -7.14419457, -4.85255199,  3.44018903,
        3.5293982 , -7.14419457,  3.5293982 ,  6.23909014,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006738547570750389
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.11892553e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.11892553e-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([-0.04390673, -0.03393053,  0.06119167])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.38782182e-06,-2.18820786e-06, 4.33895817e-05, 4.81248237e-06,
 -3.78110190e-05,-7.31503604e-05,-3.19704154e-05, 3.62152352e-07,
 -1.10131431e-06, 3.95955833e-05, 5.83958591e-05, 4.93708176e-05,
 -3.84707809e-05, 1.47099052e-05, 2.21886116e-06,-2.39793388e-04,
 -2.87222179e-02,-3.10823369e-03,-7.79775992e+00, 5.16558058e-03,
 -1.56893034e-01,-9.81127700e-04]


--- Step 1296 ---
qpos:
[-5.20437185e-04, 8.77100767e-01,-2.02652621e-02,-2.75353898e-02,
  7.57024611e-03, 8.64208602e-01,-2.80792741e-02, 9.40217963e-03,
  2.22381039e-02, 8.72881454e-01,-2.01723923e-02, 2.24794620e-02,
  1.29916809e+00,-1.00595722e-02, 9.49075851e-01, 6.16386703e-02,
 -7.20573348e-02,-3.70400472e-02, 6.86959820e-02, 7.08085010e-01,
 -6.99580296e-03,-7.05284283e-01,-3.37751046e-02]

qacc:
[-2.25927592e-01,-1.85834652e+00, 5.73899094e+00,-5.06017964e+00,
 -2.14465244e-01,-2.66746728e+00, 1.20271021e+01,-2.49611008e+01,
  1.37830883e-01,-2.24935375e-01, 8.20290965e-01,-1.44082235e+00,
 -4.32219165e-01, 6.45885414e-01, 8.65877527e+00,-3.02670053e+01,
  1.22375435e+01, 2.03383327e+00,-4.50788774e+00, 6.07657387e+01,
  3.69287135e+02, 6.61655661e+02]

qfrc_actuator:
[ 2.36431374e-03, 2.77428664e-02, 8.73432958e-03, 1.61229523e-03,
 -8.26462311e-05, 2.78389198e-02, 8.82438523e-03, 1.74313966e-03,
 -2.39388723e-03, 2.75551293e-02, 8.74952645e-03, 1.71861622e-03,
  7.11102966e-03,-1.60968197e-03, 0.00000000e+00,-2.80154427e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.90545781, -8.58876726,  0.90545781, 13.53844897,
        0.51679494, -8.58876726,  0.51679494,  8.69084596,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0065479651786669035
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.69552372e-14,  1.69552372e-14,  1.00000000e+00, -2.87480067e-28,
        1.00000000e+00, -1.69552372e-14, -1.00000000e+00,  0.00000000e+00,
        1.69552372e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12353095, -0.04449497,  0.06120677])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.19805299e-05,-1.76371154e-05, 2.97996213e-05, 4.46726198e-06,
 -3.89740511e-05,-3.63424859e-05, 5.19977292e-06,-3.89039604e-05,
  2.55527426e-05,-8.94798449e-06,-1.12109896e-06,-2.32733962e-06,
 -4.32705138e-05,-7.46793406e-06,-3.19487626e-05,-1.55920218e-04,
 -3.21341029e-02,-3.52401021e-02,-7.81137323e+00, 7.53150457e-03,
 -1.57606514e-01,-1.10672624e-03]


--- Step 1297 ---
qpos:
[-5.21251543e-04, 8.77103462e-01,-2.02652246e-02,-2.75351492e-02,
  7.56901800e-03, 8.64217516e-01,-2.80755876e-02, 9.40362777e-03,
  2.22380465e-02, 8.72882232e-01,-2.01739569e-02, 2.24790469e-02,
  1.29939029e+00,-1.00589600e-02, 9.49325965e-01, 6.16333686e-02,
 -7.21959923e-02,-3.68461554e-02, 6.87260271e-02, 7.08365582e-01,
 -6.34023534e-03,-7.05050466e-01,-3.28913977e-02]

qacc:
[-1.59267880e-01,-4.31475466e-01,-6.19723252e-01, 7.14731500e+00,
  2.87800665e-02,-2.98158824e+00, 1.17536594e+01,-2.00053013e+01,
 -4.24621381e-02, 9.76599291e-01, 1.45482161e+00,-1.86405472e+01,
 -4.59766498e-01, 6.41938274e-01, 8.14647475e+00,-2.86077444e+01,
  1.03987503e+01, 1.80095993e+00,-5.30483904e+00, 4.45706556e+01,
  3.13195380e+02, 5.54118595e+02]

qfrc_actuator:
[ 2.35492540e-03, 2.77265488e-02, 8.74894503e-03, 1.63184266e-03,
 -5.89695725e-05, 2.78244773e-02, 8.85532795e-03, 1.72203625e-03,
 -2.41391382e-03, 2.75455381e-02, 8.68554083e-03, 1.66091104e-03,
  7.08362497e-03,-1.61125892e-03, 0.00000000e+00,-2.93688066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.03342069, -8.57431155,  1.03342069, 43.70986238,
        4.22724077, -8.57431155,  4.22724077,  9.14585272,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006569110886498579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.45032946e-15, -8.45032946e-15,  1.00000000e+00,  7.14080679e-29,
        1.00000000e+00,  8.45032946e-15, -1.00000000e+00,  0.00000000e+00,
        8.45032946e-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([-0.12370098, -0.04439796,  0.06120712])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95924144e-05,-1.99052240e-05, 1.47791775e-05, 1.99076997e-05,
  5.13132883e-06,-3.56118026e-05, 2.26305438e-05,-2.32588150e-05,
 -7.73248875e-06,-1.49339186e-05,-6.60543598e-05,-5.81741870e-05,
 -5.52843019e-05,-1.24904461e-05,-3.60292636e-05,-1.49056285e-04,
 -1.80549109e-02,-3.20946371e-03,-7.83210399e+00, 6.20855956e-03,
 -1.58580808e-01,-1.05865850e-03]


--- Step 1298 ---
qpos:
[-5.21898378e-04, 8.77106049e-01,-2.02652981e-02,-2.75350096e-02,
  7.56815540e-03, 8.64226202e-01,-2.80718994e-02, 9.40517461e-03,
  2.22378265e-02, 8.72883314e-01,-2.01752999e-02, 2.24778404e-02,
  1.29961182e+00,-1.00574802e-02, 9.49575577e-01, 6.16287778e-02,
 -7.23005370e-02,-3.66461322e-02, 6.87317158e-02, 7.09059087e-01,
 -6.28763439e-03,-7.04425928e-01,-3.13015815e-02]

qacc:
[ 8.70203987e-02,-4.18158417e-02, 3.65643351e-01,-1.85336532e+00,
  1.92158459e-01,-1.02273770e-01,-4.88483479e-01, 2.36159712e+00,
 -8.45261868e-02,-1.84658876e+00, 1.05077932e+01,-2.47834224e+01,
 -1.17308657e+00, 2.31599374e+00,-2.81293333e+00, 8.92997251e+00,
  8.52823058e+00, 1.53285413e+00,-6.08911328e+00, 3.02444959e+01,
  2.71801775e+02, 4.70682630e+02]

qfrc_actuator:
[ 2.38530764e-03, 2.77158324e-02, 8.73975012e-03, 1.62548394e-03,
 -2.65520351e-05, 2.78124787e-02, 8.85433032e-03, 1.72681235e-03,
 -2.42585869e-03, 2.76103679e-02, 8.71941969e-03, 1.62710335e-03,
  7.05920409e-03,-1.55922298e-03, 0.00000000e+00,-2.89005764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.05388454,   4.9829198 ,   7.05388454,
        17.04353186, -11.90129409,   4.9829198 , -11.90129409,
        25.48398666,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006485007470707432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.27996047e-15, -8.55992094e-15,  1.00000000e+00,  3.66361232e-29,
        1.00000000e+00,  8.55992094e-15, -1.00000000e+00,  0.00000000e+00,
        4.27996047e-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([-0.12404259, -0.04437731,  0.06121537])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.61376596e-05,-1.80085457e-05,-1.08166391e-05,-6.31544725e-06,
  3.48543835e-05,-2.84782474e-05,-6.47100323e-06, 3.55955405e-06,
 -1.56647934e-05, 4.03356937e-05, 2.06508394e-05,-3.78636967e-05,
 -6.05456896e-05, 3.73196798e-05,-3.69504026e-05, 3.30183804e-05,
 -2.12520497e-02,-2.71875679e-04,-7.85080716e+00, 6.03173761e-03,
 -1.59567206e-01,-1.01651006e-03]


--- Step 1299 ---
qpos:
[-5.22642384e-04, 8.77108767e-01,-2.02658332e-02,-2.75356442e-02,
  7.56785798e-03, 8.64235211e-01,-2.80693302e-02, 9.40677336e-03,
  2.22376399e-02, 8.72884829e-01,-2.01763737e-02, 2.24765612e-02,
  1.29983298e+00,-1.00559440e-02, 9.49824487e-01, 6.16283984e-02,
 -7.23952108e-02,-3.64762211e-02, 6.87628167e-02, 7.09088800e-01,
 -6.47300418e-03,-7.04450002e-01,-3.00228111e-02]

qacc:
[-5.08592379e-02,-1.31198608e-01, 3.98137903e+00,-1.67242265e+01,
  2.96172597e-01, 3.65481731e+00,-1.26360837e+01, 1.50917296e+01,
  1.74134228e-02,-3.27398849e-01, 2.30743943e+00,-4.31614482e+00,
 -9.88442409e-02, 5.30869200e-02,-1.37445524e+01, 4.65958272e+01,
  2.46772009e+00,-7.52802114e+00, 6.35306665e+00,-1.85857787e+02,
 -4.66495241e+02,-3.88866998e+01]

qfrc_actuator:
[ 2.36818994e-03, 2.77261858e-02, 8.71657649e-03, 1.58616816e-03,
  1.07768476e-05, 2.78374466e-02, 8.79899754e-03, 1.72900005e-03,
 -2.41508736e-03, 2.76486516e-02, 8.74015115e-03, 1.62552880e-03,
  7.03661244e-03,-1.56461905e-03, 0.00000000e+00,-2.66527515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.72073681, 3.87001291, 7.72073681, 7.59633261,
       2.0748783 , 3.87001291, 2.0748783 , 4.49694868, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.006539096728122425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.48911609e-15, -3.39564643e-14,  1.00000000e+00,  2.88260368e-28,
        1.00000000e+00,  3.39564643e-14, -1.00000000e+00,  0.00000000e+00,
        8.48911609e-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([-0.04371101, -0.03286643,  0.06121339])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.36146923e-06,-2.27744874e-06,-2.84630123e-05,-4.05880532e-05,
  5.39072103e-05, 7.62486717e-06,-6.19890912e-05, 7.91295542e-07,
  3.24082479e-06, 6.34664547e-05, 3.03003471e-05, 1.34052486e-07,
 -5.01074417e-05,-1.11217909e-05,-1.63885276e-05, 2.21190973e-04,
 -3.49211802e-02,-1.54504311e-02,-7.86699336e+00, 6.47903231e-03,
 -1.60493121e-01,-9.75096663e-04]


--- Step 1300 ---
qpos:
[-5.23904553e-04, 8.77111331e-01,-2.02657310e-02,-2.75367847e-02,
  7.56768973e-03, 8.64244435e-01,-2.80678145e-02, 9.40943102e-03,
  2.22375373e-02, 8.72886482e-01,-2.01774092e-02, 2.24767085e-02,
  1.30005403e+00,-1.00552806e-02, 9.50073649e-01, 6.16273171e-02,
 -7.24830707e-02,-3.63302269e-02, 6.88102714e-02, 7.08551942e-01,
 -6.83056122e-03,-7.05029018e-01,-2.90098518e-02]

qacc:
[-2.68849528e-01,-3.02773412e+00, 1.26264383e+01,-2.22734878e+01,
  6.71983696e-02, 5.39915006e+00,-2.33162357e+01, 4.31777315e+01,
  4.36240554e-02, 3.00743069e+00,-1.64853001e+01, 4.10133698e+01,
  5.98090063e-01,-1.68891665e+00, 2.44517654e+00,-8.11671554e+00,
  1.70346352e+00,-5.97923524e+00, 4.08844274e+00,-1.48176593e+02,
 -3.98036951e+02,-4.38942766e+01]

qfrc_actuator:
[ 2.32276996e-03, 2.77312310e-02, 8.75642123e-03, 1.56329715e-03,
 -2.55122298e-06, 2.78486303e-02, 8.74768901e-03, 1.78289992e-03,
 -2.40857004e-03, 2.76352500e-02, 8.73510550e-03, 1.69614992e-03,
  7.01511522e-03,-1.62176302e-03, 0.00000000e+00,-2.71030696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.64154282,  4.02412726,  7.64154282,  9.28860657,
       -1.23856477,  4.02412726, -1.23856477, 10.98831355,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006521797883701191
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.12790829e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        2.12790829e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04370409, -0.03266126,  0.06121606])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.99280085e-05,-3.90133524e-06, 3.44483099e-05,-2.47461651e-05,
  1.23199906e-05, 2.44743505e-06,-5.74389016e-05, 5.20756822e-05,
  8.08604803e-06, 2.83272048e-05, 1.17988908e-05, 7.43931870e-05,
 -5.35906004e-05,-7.07446965e-05, 1.41790678e-05,-3.54808551e-05,
 -8.93265131e-03, 9.16771838e-04,-7.85989089e+00, 5.28815950e-03,
 -1.60082097e-01,-1.00313526e-03]


--- Step 1301 ---
qpos:
[-5.25690428e-04, 8.77113819e-01,-2.02652124e-02,-2.75374956e-02,
  7.56749901e-03, 8.64253510e-01,-2.80659868e-02, 9.41266471e-03,
  2.22373314e-02, 8.72887665e-01,-2.01778449e-02, 2.24770502e-02,
  1.30027459e+00,-1.00546793e-02, 9.50323346e-01, 6.16217052e-02,
 -7.25663726e-02,-3.62031379e-02, 6.88658976e-02, 7.07532241e-01,
 -7.31125202e-03,-7.06079419e-01,-2.82228418e-02]

qacc:
[-2.71851102e-01,-3.77099211e-01,-6.08067123e-01, 7.42279832e+00,
 -1.15243405e-02, 1.18955294e-01,-3.13968751e+00, 1.27200037e+01,
 -5.30905797e-02,-1.89428258e+00, 5.03452644e+00,-2.28298215e+00,
 -5.46993415e-01, 6.61106696e-01, 1.44910439e+01,-4.94996839e+01,
  1.13952342e+00,-4.72629583e+00, 2.04287216e+00,-1.18085452e+02,
 -3.38223884e+02,-4.52554487e+01]

qfrc_actuator:
[ 2.29633374e-03, 2.77333260e-02, 8.77990480e-03, 1.58583947e-03,
 -1.05582643e-05, 2.78515226e-02, 8.77018751e-03, 1.81354144e-03,
 -2.42242153e-03, 2.75732077e-02, 8.75022187e-03, 1.70210254e-03,
  6.98893968e-03,-1.62028576e-03, 0.00000000e+00,-2.94950400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.66917373,  3.97121533,  7.66917373,  9.19205369,
       -1.07314341,  3.97121533, -1.07314341, 10.7088081 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006392587442957946
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.34183746e-15,  1.73673498e-14,  1.00000000e+00, -7.54062101e-29,
        1.00000000e+00, -1.73673498e-14, -1.00000000e+00,  0.00000000e+00,
        4.34183746e-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([-0.04337322, -0.03247959,  0.06122625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.04611742e-05, 5.90584322e-06, 2.60476094e-05, 2.30840425e-05,
 -2.14548991e-06,-5.60545393e-06, 1.76400731e-05, 2.97514750e-05,
 -9.95616065e-06,-4.06070598e-05, 2.49899563e-05, 9.02141479e-06,
 -7.41423510e-05,-2.52549957e-05,-3.01115791e-06,-2.40658643e-04,
 -1.30922861e-02, 1.36046604e-02,-7.85337253e+00, 4.35968536e-03,
 -1.59799506e-01,-9.91413663e-04]


--- Step 1302 ---
qpos:
[-5.27513701e-04, 8.77116211e-01,-2.02652021e-02,-2.75378636e-02,
  7.56743437e-03, 8.64262079e-01,-2.80631215e-02, 9.41554473e-03,
  2.22368069e-02, 8.72888514e-01,-2.01782264e-02, 2.24754107e-02,
  1.30049453e+00,-1.00535419e-02, 9.50573213e-01, 6.16116011e-02,
 -7.26250875e-02,-3.60730157e-02, 6.88967268e-02, 7.07111847e-01,
 -8.58619843e-03,-7.06549367e-01,-2.65914336e-02]

qacc:
[-1.96981750e-02, 1.99927612e+00,-8.75614040e+00, 1.55655175e+01,
  6.70593417e-02,-4.29142252e+00, 1.58266791e+01,-2.32396894e+01,
 -1.65503742e-01,-4.66785300e+00, 2.43696244e+01,-5.85012298e+01,
 -1.12828901e+00, 2.01523135e+00, 1.38794534e+01,-4.80502270e+01,
  6.14673834e+00, 7.58305609e-01,-6.19923184e+00, 1.11252807e+01,
  4.02628833e+02, 5.89702846e+02]

qfrc_actuator:
[ 2.31700585e-03, 2.76981276e-02, 8.74027976e-03, 1.59939146e-03,
  2.47991155e-06, 2.78142113e-02, 8.81827367e-03, 1.79478198e-03,
 -2.44834077e-03, 2.75357903e-02, 8.74135352e-03, 1.59890500e-03,
  6.97064631e-03,-1.58409742e-03, 0.00000000e+00,-3.17682231e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.31908111, 4.58452054, 7.31908111, 8.26730378,
       0.58919553, 4.58452054, 0.58919553, 7.69572659, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0064202194320495815
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.16157531e-14, -1.72926025e-14,  1.00000000e+00,  3.73792626e-28,
        1.00000000e+00,  1.72926025e-14, -1.00000000e+00,  0.00000000e+00,
        2.16157531e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12461572, -0.04315237,  0.06122398])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60897352e-06,-2.55926207e-05,-3.44182902e-05, 1.51532171e-05,
  1.20160837e-05,-3.57643763e-05, 5.00405938e-05,-1.78313722e-05,
 -3.07125982e-05,-5.46030055e-05,-1.38713694e-05,-1.03898881e-04,
 -6.82979303e-05, 1.43842271e-05,-3.42465609e-05,-2.42507236e-04,
 -3.52775085e-02, 2.28214897e-02,-7.84779209e+00, 3.66216180e-03,
 -1.59621009e-01,-9.58545836e-04]


--- Step 1303 ---
qpos:
[-5.29034255e-04, 8.77118525e-01,-2.02656500e-02,-2.75384166e-02,
  7.56769727e-03, 8.64270554e-01,-2.80603410e-02, 9.41785709e-03,
  2.22359718e-02, 8.72889222e-01,-2.01783541e-02, 2.24742356e-02,
  1.30071403e+00,-1.00518001e-02, 9.50822460e-01, 6.16021543e-02,
 -7.26703948e-02,-3.59822531e-02, 6.89591149e-02, 7.06762276e-01,
 -8.81554417e-03,-7.06918946e-01,-2.59802730e-02]

qacc:
[ 1.57048748e-01, 7.96605985e-01,-2.20905760e+00,-1.99443081e-01,
  1.72058516e-01,-1.05489684e+00, 5.97876291e+00,-1.56006334e+01,
 -1.61151159e-01, 6.05566274e-02,-2.44636681e+00, 1.01814541e+01,
 -7.89343106e-01, 1.57053426e+00,-2.84835900e+00, 8.74873537e+00,
  3.35188665e+00,-9.83991500e+00, 7.88969246e+00, 8.22012828e+00,
  7.87884655e+01,-7.28727069e+02]

qfrc_actuator:
[ 2.34791349e-03, 2.76938624e-02, 8.71680565e-03, 1.58971149e-03,
  2.80056580e-05, 2.78064537e-02, 8.80985146e-03, 1.76483387e-03,
 -2.46349134e-03, 2.75664592e-02, 8.77165785e-03, 1.62759411e-03,
  6.96776305e-03,-1.54540837e-03, 0.00000000e+00,-3.12894997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006482054845398252
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.56382005e-15, -1.71276401e-14,  1.00000000e+00,  1.46678028e-28,
        1.00000000e+00,  1.71276401e-14, -1.00000000e+00,  0.00000000e+00,
        8.56382005e-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([-0.09719968, -0.02362889,  0.06121959])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91637150e-05,-2.50872217e-05,-3.24913669e-05,-1.16740389e-05,
  3.12377815e-05,-1.84156716e-05,-1.03550152e-05,-3.01173571e-05,
 -2.99309371e-05,-7.20174815e-06, 1.37208587e-05, 2.38491901e-05,
 -4.05753958e-05, 2.65968788e-05,-4.72996823e-05, 2.89375730e-05,
 -6.83111205e-03, 2.28036649e-02,-7.85159839e+00, 2.95335744e-03,
 -1.59876973e-01,-9.13288443e-04]


--- Step 1304 ---
qpos:
[-5.30580845e-04, 8.77120719e-01,-2.02658606e-02,-2.75387789e-02,
  7.56827339e-03, 8.64279075e-01,-2.80577329e-02, 9.41943518e-03,
  2.22352668e-02, 8.72889593e-01,-2.01777879e-02, 2.24737519e-02,
  1.30093336e+00,-1.00504238e-02, 9.51070946e-01, 6.15969517e-02,
 -7.27047824e-02,-3.59245016e-02, 6.90433272e-02, 7.06478762e-01,
 -8.12160350e-03,-7.07200087e-01,-2.62647321e-02]

qacc:
[-1.33343784e-02,-4.29111131e-01, 4.96285908e-01, 2.50771977e+00,
  1.64408201e-01,-9.66768089e-01, 6.63714567e+00,-1.91051848e+01,
  6.81959306e-02,-9.61324567e-01,-1.38330450e-01, 1.12435786e+01,
  4.09807589e-01,-1.01934744e+00,-1.39651274e+01, 4.71651342e+01,
  2.72993698e+00,-8.25275258e+00, 5.45608046e+00, 8.84910297e+00,
  7.05419948e+01,-6.41591581e+02]

qfrc_actuator:
[ 2.33137940e-03, 2.77081763e-02, 8.73868042e-03, 1.60198831e-03,
  4.30194164e-05, 2.78162181e-02, 8.80373671e-03, 1.72852803e-03,
 -2.43655604e-03, 2.75491564e-02, 8.80749184e-03, 1.66275162e-03,
  6.94750412e-03,-1.57651228e-03, 0.00000000e+00,-2.90156334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.55543308,   5.62255048,   6.55543308,
        37.95744638, -34.18597955,   5.62255048, -34.18597955,
        48.49441418,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006470858776392981
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.28931871e-15,  1.07232968e-14,  1.00000000e+00, -4.59956375e-29,
        1.00000000e+00, -1.07232968e-14, -1.00000000e+00,  0.00000000e+00,
        4.28931871e-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([-0.0972535 , -0.02353444,  0.06122234])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51079388e-06,-6.96683091e-06, 1.22746581e-05, 9.84912357e-06,
  2.98739884e-05,-4.18619985e-06,-1.23292642e-05,-3.80604478e-05,
  1.25344521e-05,-1.74931750e-05, 3.68590521e-05, 3.57890245e-05,
 -3.85638986e-05,-3.44071354e-05,-2.08537779e-05, 2.22413120e-04,
 -5.20353657e-03, 5.33703170e-03,-7.84991375e+00, 3.62542728e-03,
 -1.59637843e-01,-9.17853135e-04]


--- Step 1305 ---
qpos:
[-5.31867748e-04, 8.77122196e-01,-2.02652761e-02,-2.75386085e-02,
  7.56908877e-03, 8.64286810e-01,-2.80543469e-02, 9.42129762e-03,
  2.22349785e-02, 8.72890175e-01,-2.01777584e-02, 2.24726721e-02,
  1.30115259e+00,-1.00499217e-02, 9.51319040e-01, 6.15961311e-02,
 -7.27228442e-02,-3.58641739e-02, 6.90989735e-02, 7.06690397e-01,
 -8.06856252e-03,-7.07000621e-01,-2.59557982e-02]

qacc:
[ 1.35704329e-01,-2.07048433e+00, 3.76439976e+00, 4.69937521e+00,
  1.26507893e-01,-2.62491505e+00, 6.65254599e+00,-2.39940641e+00,
  2.16026874e-01, 5.52126689e-01, 9.53110193e-01,-1.05664022e+01,
  8.71282574e-01,-2.13647442e+00,-1.38682323e+01, 4.75478281e+01,
  4.08145186e+00, 6.44043454e-01,-7.14151182e+00,-2.08680821e+01,
  3.34027816e+02, 4.44686053e+02]

qfrc_actuator:
[ 2.35759847e-03, 2.76449487e-02, 8.76949983e-03, 1.62713760e-03,
  5.16093024e-05, 2.77476297e-02, 8.83463344e-03, 1.74205911e-03,
 -2.40243833e-03, 2.75565812e-02, 8.77509153e-03, 1.63036693e-03,
  6.92746161e-03,-1.63101107e-03, 0.00000000e+00,-2.67683359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.02781596,   5.01961948,   7.02781596,
        25.36383811, -23.41962625,   5.01961948, -23.41962625,
        41.42546724,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.006411241773972995
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.73168173e-14, -4.32920432e-15,  1.00000000e+00,  7.49680403e-29,
        1.00000000e+00,  4.32920432e-15, -1.00000000e+00,  0.00000000e+00,
        1.73168173e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12487341, -0.04302529,  0.06122991])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50057377e-05,-6.42131741e-05, 3.12198416e-05, 2.54654924e-05,
  2.28032855e-05,-7.53290511e-05, 2.71049656e-05, 1.21645061e-05,
  4.01464515e-05, 6.77737402e-06,-3.02416502e-05,-3.11633049e-05,
 -5.07262203e-05,-7.02740770e-05, 1.27193897e-05, 2.33884089e-04,
 -4.16469216e-03,-4.15464972e-03,-7.84415043e+00, 4.31085347e-03,
 -1.59316808e-01,-9.37586273e-04]


--- Step 1306 ---
qpos:
[-5.32678484e-04, 8.77122939e-01,-2.02645147e-02,-2.75377467e-02,
  7.57006709e-03, 8.64293992e-01,-2.80511473e-02, 9.42265417e-03,
  2.22347330e-02, 8.72891377e-01,-2.01781305e-02, 2.24721867e-02,
  1.30137154e+00,-1.00498095e-02, 9.51567499e-01, 6.15949916e-02,
 -7.27329489e-02,-3.58305337e-02, 6.91684226e-02, 7.06967152e-01,
 -7.15446259e-03,-7.06714533e-01,-2.64731583e-02]

qacc:
[ 2.47834101e-01,-3.99568082e-02,-4.17651631e+00, 1.63833408e+01,
  8.56604749e-02,-1.24916770e+00, 5.53118006e+00,-1.35836889e+01,
  2.18576253e-02, 3.16216925e+00,-1.25971872e+01, 2.30700665e+01,
  9.32057794e-02,-5.55138482e-01, 1.49063127e+00,-4.45742263e+00,
  1.98926990e+00,-6.67187544e+00, 3.45068227e+00, 1.12944746e+01,
  6.81360762e+01,-5.95157092e+02]

qfrc_actuator:
[ 2.39144149e-03, 2.75890989e-02, 8.76952802e-03, 1.65959199e-03,
  5.62935165e-05, 2.77038547e-02, 8.81584497e-03, 1.71375692e-03,
 -2.41760757e-03, 2.76316870e-02, 8.77371424e-03, 1.66498352e-03,
  6.91820101e-03,-1.64563405e-03, 0.00000000e+00,-2.70407045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006317867781756525
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.39318716e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.39318716e-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([-0.09737914, -0.0232688 ,  0.06123993])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.58609264e-05,-8.42527015e-05,-8.52100267e-06, 3.12789958e-05,
  1.55237119e-05,-7.99897384e-05,-3.06763485e-05,-3.03746804e-05,
  4.14925415e-06, 7.13056505e-05,-4.78507882e-06, 3.32541255e-05,
 -5.50661806e-05,-4.08094780e-05, 2.77819971e-05,-1.35267997e-05,
 -2.40007186e-03,-8.30911265e-04,-7.84867519e+00, 4.08176303e-03,
 -1.59541416e-01,-9.19919315e-04]


--- Step 1307 ---
qpos:
[-5.33233337e-04, 8.77123215e-01,-2.02637902e-02,-2.75372124e-02,
  7.57096100e-03, 8.64301263e-01,-2.80490083e-02, 9.42294886e-03,
  2.22342303e-02, 8.72892783e-01,-2.01778386e-02, 2.24720979e-02,
  1.30159013e+00,-1.00501179e-02, 9.51816182e-01, 6.15925666e-02,
 -7.27304633e-02,-3.57946597e-02, 6.92068539e-02, 7.07664844e-01,
 -6.78053789e-03,-7.06017682e-01,-2.65240698e-02]

qacc:
[ 1.33093844e-01,-1.18809722e+00, 4.72110116e+00,-9.98185522e+00,
 -4.51109916e-02, 8.92743679e-01, 1.46852610e+00,-1.82152112e+01,
 -1.33283048e-01,-7.69590394e-01, 1.45925407e+00, 4.19508675e+00,
  4.67574087e-03,-4.71484914e-01, 4.20109459e+00,-1.42397365e+01,
  3.14758612e+00, 5.58437221e-01,-7.75442977e+00,-3.00514116e+01,
  2.85119935e+02, 3.62797966e+02]

qfrc_actuator:
[ 2.39403327e-03, 2.75734853e-02, 8.76913424e-03, 1.64279977e-03,
  4.08623254e-05, 2.77283062e-02, 8.76789870e-03, 1.66103125e-03,
 -2.44438929e-03, 2.76403924e-02, 8.80878284e-03, 1.68559104e-03,
  6.88879937e-03,-1.67197140e-03, 0.00000000e+00,-2.77302329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.96537752,   5.10590764,   6.96537752,
        24.57105967, -21.73779501,   5.10590764, -21.73779501,
        38.29063072,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0062113004528277505
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.93712221e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.93712221e-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([-0.12547206, -0.04311751,  0.06125183])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46421135e-05,-6.31636832e-05,-1.77728823e-05,-2.00878689e-05,
 -8.05424211e-06,-2.81108017e-05,-6.93816885e-05,-5.78236905e-05,
 -2.47750649e-05, 4.89911656e-05, 5.03520727e-05, 2.41442637e-05,
 -7.11940213e-05,-4.72793305e-05, 4.94813022e-06,-6.76037026e-05,
 -4.09015225e-03, 6.79825786e-03,-7.84217647e+00, 4.01539119e-03,
 -1.59223684e-01,-9.25856611e-04]


--- Step 1308 ---
qpos:
[-5.33464078e-04, 8.77123280e-01,-2.02632275e-02,-2.75365625e-02,
  7.57190072e-03, 8.64307994e-01,-2.80470474e-02, 9.42331935e-03,
  2.22334408e-02, 8.72894587e-01,-2.01771253e-02, 2.24715574e-02,
  1.30180822e+00,-1.00504601e-02, 9.52064353e-01, 6.15933559e-02,
 -7.28381569e-02,-3.56902076e-02, 6.92035566e-02, 7.08868328e-01,
 -4.60094183e-03,-7.04792116e-01,-2.74335171e-02]

qacc:
[ 1.68405333e-01, 4.10472328e-01,-2.35568430e+00, 4.76746978e+00,
  2.41554972e-02,-6.03175969e-02,-1.14100937e+00, 3.13525365e+00,
 -1.48934420e-01,-1.57819138e+00, 8.30121720e+00,-1.70872656e+01,
 -1.77057192e-01, 6.09486003e-02,-1.04505666e+01, 3.54850556e+01,
 -2.75447991e+01, 1.71445356e+01,-1.04321453e+01, 3.30537892e+02,
  3.92484731e+02,-9.32696913e+02]

qfrc_actuator:
[ 2.41340937e-03, 2.75820390e-02, 8.76863031e-03, 1.65045991e-03,
  4.90493234e-05, 2.76867579e-02, 8.75666427e-03, 1.66542034e-03,
 -2.46010294e-03, 2.76626842e-02, 8.82930892e-03, 1.66224781e-03,
  6.86863483e-03,-1.66964538e-03, 0.00000000e+00,-2.59962218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.017121038170367916
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.83606729,  0.41803364,  0.35530179,  0.38473373,  0.90843155,
       -0.1634995 , -0.39111565,  0.        , -0.92034154])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09750989, -0.02296583,  0.06126508])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.12228673e-05,-3.13042551e-05,-1.64407585e-05, 3.94793025e-06,
  4.35325347e-06,-7.42657693e-05,-2.76648387e-05,-3.56704689e-07,
 -2.76257370e-05, 6.10830444e-05, 3.76704531e-05,-1.90335524e-05,
 -7.31814935e-05,-2.35465776e-05,-1.07413209e-05, 1.69001900e-04,
 -1.66999704e-02, 5.00208143e-03,-7.84581729e+00, 4.22179540e-03,
 -1.59406907e-01,-9.26302808e-04]


--- Step 1309 ---
qpos:
[-5.33419368e-04, 8.77123411e-01,-2.02631903e-02,-2.75344559e-02,
  7.57290965e-03, 8.64313705e-01,-2.80450168e-02, 9.42378395e-03,
  2.22326050e-02, 8.72896402e-01,-2.01765560e-02, 2.24715225e-02,
  1.30202579e+00,-1.00507734e-02, 9.52312154e-01, 6.15981881e-02,
 -7.29332352e-02,-3.56084437e-02, 6.92230999e-02, 7.09419185e-01,
 -2.55478371e-03,-7.04199572e-01,-2.86505837e-02]

qacc:
[ 1.42860019e-01, 4.55777994e+00,-2.22549962e+01, 4.82241960e+01,
  3.67680833e-02,-1.34538910e+00, 2.44746775e+00,-1.81944364e-01,
 -2.41569505e-02, 1.45429825e+00,-7.30221166e+00, 1.62749349e+01,
 -2.14944216e-01, 1.58829310e-01,-1.27402664e+01, 4.38071113e+01,
  3.15381512e+00,-5.67205306e+00, 5.71014668e+00,-1.48517458e+02,
 -4.55471362e+02,-7.24156543e+01]

qfrc_actuator:
[ 2.42493287e-03, 2.76050250e-02, 8.75044726e-03, 1.72573720e-03,
  5.35581430e-05, 2.76062030e-02, 8.74924611e-03, 1.66786013e-03,
 -2.45129060e-03, 2.76218399e-02, 8.80558113e-03, 1.68423434e-03,
  6.84338591e-03,-1.66809272e-03, 0.00000000e+00,-2.39130997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.54793601,  8.61896415, -0.54793601, 52.23594119,
        2.77176913,  8.61896415,  2.77176913,  8.81257415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006034309842758767
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.19925438e-15,  9.19925438e-15,  1.00000000e+00, -8.46262811e-29,
        1.00000000e+00, -9.19925438e-15, -1.00000000e+00,  0.00000000e+00,
        9.19925438e-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([-0.0419201 , -0.03155573,  0.0612718 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.65401598e-05, 2.25266009e-06,-2.65423502e-05, 7.34431095e-05,
  6.57133719e-06,-1.27987726e-04,-2.62464076e-05,-1.72028235e-06,
 -4.46799360e-06, 2.26075721e-07,-7.14802091e-06, 2.55347164e-05,
 -7.37667734e-05,-1.99357608e-05, 1.02824241e-05, 2.15525475e-04,
 -6.26221949e-02, 6.18073654e-02,-7.80753870e+00, 2.06351528e-03,
 -1.57676308e-01,-8.06466881e-04]


--- Step 1310 ---
qpos:
[-5.32803808e-04, 8.77123535e-01,-2.02633286e-02,-2.75321698e-02,
  7.57378902e-03, 8.64318764e-01,-2.80437563e-02, 9.42394077e-03,
  2.22319899e-02, 8.72897642e-01,-2.01762332e-02, 2.24718353e-02,
  1.30224273e+00,-1.00509998e-02, 9.52560152e-01, 6.16037986e-02,
 -7.30194116e-02,-3.55449270e-02, 6.92571421e-02, 7.09409206e-01,
 -5.92574262e-04,-7.04152191e-01,-3.01316995e-02]

qacc:
[ 2.96550430e-01, 8.49649939e-01,-3.80053629e+00, 7.19096088e+00,
 -6.83464551e-02, 6.52574223e-01,-2.28196780e+00,-1.33175869e+00,
  1.14773725e-01, 6.45994107e-01,-4.87231970e+00, 1.17086704e+01,
 -5.16355312e-01, 6.58746520e-01,-2.03318703e+00, 7.59578998e+00,
  2.22547309e+00,-4.56179074e+00, 3.62471450e+00,-1.15655995e+02,
 -3.91710573e+02,-7.28330374e+01]

qfrc_actuator:
[ 2.46716908e-03, 2.76009714e-02, 8.73983792e-03, 1.73368166e-03,
  3.80657119e-05, 2.75739490e-02, 8.70843598e-03, 1.65132906e-03,
 -2.42788841e-03, 2.75433440e-02, 8.77345047e-03, 1.69713695e-03,
  6.80445505e-03,-1.66705305e-03, 0.00000000e+00,-2.35944435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.12144109, 4.88588311, 7.12144109, 8.41844503,
       0.31762826, 4.88588311, 0.31762826, 8.17340313, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.006076245433203023
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.13576514e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.13576514e-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([-0.04206674, -0.03140274,  0.06127093])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.50032656e-05,-5.13545085e-06,-1.08770798e-05, 8.54892889e-06,
 -1.23811093e-05,-1.09468430e-04,-7.05985304e-05,-2.29689660e-05,
  2.12563850e-05,-7.88009824e-05,-3.20998002e-05, 1.31584142e-05,
 -8.67254409e-05,-1.99568467e-05, 2.42292729e-05, 4.41560831e-05,
 -1.73100937e-02, 3.12527935e-02,-7.81935758e+00, 4.27593103e-03,
 -1.58108303e-01,-9.57009625e-04]


--- Step 1311 ---
qpos:
[-5.32025187e-04, 8.77123588e-01,-2.02637863e-02,-2.75308237e-02,
  7.57450630e-03, 8.64323521e-01,-2.80432199e-02, 9.42384931e-03,
  2.22314436e-02, 8.72898797e-01,-2.01761277e-02, 2.24708552e-02,
  1.30245899e+00,-1.00506834e-02, 9.52808645e-01, 6.16064276e-02,
 -7.30994642e-02,-3.54960689e-02, 6.92981778e-02, 7.08917022e-01,
  1.32188526e-03,-7.04571666e-01,-3.18382859e-02]

qacc:
[ 8.45213673e-02,-1.13732344e+00, 7.87879895e+00,-2.35656971e+01,
 -8.55245019e-02, 1.11306481e+00,-3.49874538e+00, 5.82398003e-01,
  3.55651965e-02,-2.16628539e+00, 1.30189616e+01,-3.49874437e+01,
 -1.12311477e+00, 1.97966295e+00, 9.79870573e+00,-3.30741201e+01,
  1.53095259e+00,-3.66467486e+00, 1.74837021e+00,-8.94292877e+01,
 -3.36022069e+02,-7.05672814e+01]

qfrc_actuator:
[ 2.45641680e-03, 2.75807420e-02, 8.71588026e-03, 1.68416822e-03,
  2.84962426e-05, 2.75884709e-02, 8.68390763e-03, 1.64153236e-03,
 -2.43148616e-03, 2.75671046e-02, 8.77194346e-03, 1.63353416e-03,
  6.78397225e-03,-1.63088562e-03, 0.00000000e+00,-2.52056261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 7.14372641, 4.85324116, 7.14372641, 8.44682685,
       0.27898859, 4.85324116, 0.27898859, 8.22570649, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.006007805556492274
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.23983819e-15,  1.84796764e-14,  1.00000000e+00, -1.70749220e-28,
        1.00000000e+00, -1.84796764e-14, -1.00000000e+00,  0.00000000e+00,
        9.23983819e-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([-0.04188054, -0.03126122,  0.06127776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.57079439e-05,-2.49813922e-05,-2.60667273e-05,-4.99474889e-05,
 -1.54724499e-05,-6.23874482e-05,-5.66802035e-05,-1.73869244e-05,
  6.62298641e-06,-2.64015797e-05,-2.12955530e-05,-6.78375538e-05,
 -7.60174090e-05, 1.22321687e-05, 9.85623604e-06,-1.56981700e-04,
 -2.62977064e-03, 2.27896989e-03,-7.82839236e+00, 6.49771007e-03,
 -1.58486726e-01,-1.06801478e-03]


--- Step 1312 ---
qpos:
[-5.31607827e-04, 8.77123645e-01,-2.02645661e-02,-2.75304353e-02,
  7.57508422e-03, 8.64328054e-01,-2.80425982e-02, 9.42426394e-03,
  2.22314623e-02, 8.72900575e-01,-2.01770003e-02, 2.24690808e-02,
  1.30267488e+00,-1.00503057e-02, 9.53056910e-01, 6.16091331e-02,
 -7.31539511e-02,-3.54421627e-02, 6.93111218e-02, 7.08965881e-01,
  2.42991887e-03,-7.04478722e-01,-3.27292791e-02]

qacc:
[-1.87973214e-01,-1.06930917e+00, 7.85069122e+00,-2.38924701e+01,
 -7.30667960e-02, 5.07341821e-01,-4.37481152e+00, 1.31628934e+01,
  2.92747778e-01, 1.92209639e+00,-2.30311399e+00,-1.03395272e+01,
 -3.19112889e-01, 4.19420916e-01,-5.50105770e-01, 1.47394174e+00,
  6.39142174e+00, 1.26205067e+00,-7.02291505e+00,-7.03752550e+00,
  3.59935287e+02, 5.81461928e+02]

qfrc_actuator:
[ 2.41405089e-03, 2.75863774e-02, 8.70188033e-03, 1.63673313e-03,
  2.25648936e-05, 2.76132145e-02, 8.70491586e-03, 1.67134515e-03,
 -2.38020964e-03, 2.76342092e-02, 8.73562227e-03, 1.59654033e-03,
  6.77458566e-03,-1.62739001e-03, 0.00000000e+00,-2.50998039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 6.50670221, 5.67887341, 6.50670221, 6.19466247,
       2.79763629, 5.67887341, 2.79763629, 5.43090634, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0059741970615406065
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.64590895e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.64590895e-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([-0.12760382, -0.04492262,  0.06128105])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.48109409e-05,-1.58535089e-05,-2.40979295e-05,-5.03809231e-05,
 -1.32997409e-05,-2.27126673e-05, 4.96514523e-07, 2.48320512e-05,
  5.44634880e-05, 4.50084201e-05,-4.67539700e-05,-4.01829593e-05,
 -5.16038212e-05,-1.10638238e-05,-1.94664682e-05, 1.59437201e-06,
 -7.56219348e-03,-2.51917595e-02,-7.83534631e+00, 8.71358935e-03,
 -1.58814747e-01,-1.15564721e-03]


--- Step 1313 ---
qpos:
[-5.31443345e-04, 8.77123750e-01,-2.02653254e-02,-2.75303033e-02,
  7.57537080e-03, 8.64332405e-01,-2.80412229e-02, 9.42497896e-03,
  2.22318845e-02, 8.72902416e-01,-2.01782095e-02, 2.24675947e-02,
  1.30289044e+00,-1.00496683e-02, 9.53304779e-01, 6.16139141e-02,
 -7.32076193e-02,-3.53915815e-02, 6.93352221e-02, 7.08555362e-01,
  2.94725850e-03,-7.04875444e-01,-3.30336398e-02]

qacc:
[-1.31425615e-01,-5.22003360e-01, 3.03302784e+00,-7.53225531e+00,
 -1.52519517e-01,-1.72635450e+00, 4.53843988e+00,-4.12136747e-01,
  2.09430911e-01, 1.61499018e+00,-6.85691201e+00, 1.23389269e+01,
 -3.48620801e-01, 6.33495727e-01,-6.82803847e+00, 2.30893652e+01,
  2.04662446e-01,-8.31251468e-01, 2.78908118e+00, 5.81542536e+00,
 -3.44343203e+02, 4.09094449e+02]

qfrc_actuator:
[ 2.40643378e-03, 2.76074869e-02, 8.71173832e-03, 1.62644402e-03,
  1.10590757e-06, 2.76263813e-02, 8.75272618e-03, 1.68876333e-03,
 -2.36754289e-03, 2.76201281e-02, 8.71476539e-03, 1.61103557e-03,
  6.77185349e-03,-1.60772789e-03, 0.00000000e+00,-2.39824344e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00601357822889604
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.2309685e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
        9.2309685e-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([-0.04709775, -0.04839491,  0.06127878])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.43646538e-05, 5.11117788e-06, 1.87731468e-06,-1.27818603e-05,
 -2.77901656e-05, 1.51738104e-06, 4.39989458e-05, 1.69373498e-05,
  3.88805041e-05,-3.17556300e-07,-1.87155390e-05, 1.40246287e-05,
 -3.59845875e-05, 5.88789562e-06,-1.26554264e-05, 1.08414522e-04,
 -7.25166379e-04, 2.68154160e-03,-7.84236466e+00, 7.76764750e-03,
 -1.59055424e-01,-1.14690209e-03]


--- Step 1314 ---
qpos:
[-5.31262736e-04, 8.77123549e-01,-2.02655865e-02,-2.75295933e-02,
  7.57557049e-03, 8.64336754e-01,-2.80393298e-02, 9.42588929e-03,
  2.22316544e-02, 8.72904053e-01,-2.01795272e-02, 2.24659673e-02,
  1.30310578e+00,-1.00486153e-02, 9.53552774e-01, 6.16179525e-02,
 -7.32402113e-02,-3.53365389e-02, 6.93300782e-02, 7.08673434e-01,
  2.69208171e-03,-7.04776566e-01,-3.26298846e-02]

qacc:
[ 8.81629170e-03,-6.04557376e-01,-8.64601456e-01, 1.02838291e+01,
 -4.53198204e-02,-1.04625854e+00, 2.90271281e+00,-3.50018769e-01,
 -3.38937027e-01,-2.56575718e-01, 1.12132486e+00,-3.24482096e+00,
 -5.45860259e-01, 1.12221770e+00, 2.46235542e+00,-8.26703102e+00,
  5.26906273e+00, 1.11533295e+00,-7.31105218e+00,-3.30832737e+01,
  3.50159192e+02, 5.31133909e+02]

qfrc_actuator:
[ 2.41970209e-03, 2.75845763e-02, 8.73569704e-03, 1.65587681e-03,
  6.04331665e-06, 2.76326507e-02, 8.78041013e-03, 1.69874799e-03,
 -2.44911696e-03, 2.75931531e-02, 8.70293688e-03, 1.60240156e-03,
  6.77844893e-03,-1.57858873e-03, 0.00000000e+00,-2.44087464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006073875017660581
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.0000000e+00,  9.1393305e-15,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00, -9.1393305e-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([-0.12751616, -0.04476328,  0.06127422])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54785999e-06,-2.02118806e-05, 2.48082233e-05, 2.94686868e-05,
 -8.28586254e-06, 1.68112926e-05, 3.39587515e-05, 1.18928471e-05,
 -6.28645105e-05,-3.04435473e-05,-1.37172620e-05,-9.02156714e-06,
 -1.33728879e-05, 2.23985784e-05, 2.59516845e-06,-3.90788141e-05,
 -5.77571778e-03,-5.14685102e-03,-7.84600309e+00, 8.36609170e-03,
 -1.59193330e-01,-1.17415369e-03]


--- Step 1315 ---
qpos:
[-5.30992608e-04, 8.77123128e-01,-2.02655245e-02,-2.75288803e-02,
  7.57594565e-03, 8.64341526e-01,-2.80381262e-02, 9.42728654e-03,
  2.22307918e-02, 8.72905493e-01,-2.01801844e-02, 2.24648853e-02,
  1.30332112e+00,-1.00475410e-02, 9.53800782e-01, 6.16211134e-02,
 -7.32550576e-02,-3.52777033e-02, 6.92941438e-02, 7.09248508e-01,
  1.76782962e-03,-7.04246762e-01,-3.16216406e-02]

qacc:
[ 4.67927495e-02,-1.18749398e+00, 3.79915541e+00,-4.10325521e+00,
  9.16444399e-02, 3.48373343e+00,-1.36686492e+01, 2.28915272e+01,
 -3.28164338e-01,-9.82425721e-01, 8.22536713e-01, 7.70764201e+00,
 -6.99084064e-02, 1.25831567e-01, 2.67260671e+00,-9.31452952e+00,
  4.43644675e+00, 9.48258096e-01,-7.69764420e+00,-3.17088121e+01,
  3.03633082e+02, 4.56843114e+02]

qfrc_actuator:
[ 2.42758115e-03, 2.75710940e-02, 8.74987785e-03, 1.65515303e-03,
  2.67306579e-05, 2.76524269e-02, 8.74269468e-03, 1.72201010e-03,
 -2.47982536e-03, 2.76119408e-02, 8.74968989e-03, 1.63346220e-03,
  6.77999098e-03,-1.57952850e-03, 0.00000000e+00,-2.48537593e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   7.35168577,   4.53205176,   7.35168577,
        16.05721963, -12.03777106,   4.53205176, -12.03777106,
        28.16348182,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.00604137071562065
  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([-0.12761624, -0.04474757,  0.06127673])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.62105063e-06,-1.83945023e-05, 1.40850191e-05,-1.56744900e-07,
  1.67463338e-05, 3.65784215e-05,-2.96983255e-05, 2.53784901e-05,
 -6.09558864e-05,-1.49000746e-06, 3.84634921e-05, 2.91085671e-05,
 -1.42082422e-06, 1.01813542e-06,-8.25926914e-06,-4.75514532e-05,
 -5.20064010e-04,-1.09675264e-03,-7.84858389e+00, 8.00870647e-03,
 -1.59326221e-01,-1.15540135e-03]


--- Step 1316 ---
qpos:
[-5.31184815e-04, 8.77122866e-01,-2.02659738e-02,-2.75285176e-02,
  7.57653178e-03, 8.64346638e-01,-2.80376743e-02, 9.42931231e-03,
  2.22298097e-02, 8.72906588e-01,-2.01802403e-02, 2.24652423e-02,
  1.30353643e+00,-1.00466981e-02, 9.54048458e-01, 6.16257074e-02,
 -7.32761296e-02,-3.52162707e-02, 6.92722032e-02, 7.09349332e-01,
  3.06427350e-04,-7.04217937e-01,-3.00088090e-02]

qacc:
[-2.40639573e-01, 9.17966706e-01,-1.49139057e+00,-3.86234960e+00,
  1.10292972e-01, 3.83935392e+00,-1.56938763e+01, 2.75290270e+01,
 -6.15331909e-02, 8.23586670e-01,-9.67569176e+00, 3.38739703e+01,
  2.54839849e-01,-6.02317328e-01,-4.83452792e+00, 1.61635247e+01,
 -1.55644136e+00, 6.49262441e-01, 3.49847640e+00, 3.07430240e+01,
 -3.52612227e+02, 3.96489640e+02]

qfrc_actuator:
[ 2.37888893e-03, 2.75810578e-02, 8.72266243e-03, 1.63667920e-03,
  3.88877136e-05, 2.76621298e-02, 8.70224498e-03, 1.75286895e-03,
 -2.46202057e-03, 2.75872502e-02, 8.77760829e-03, 1.70546198e-03,
  6.76783917e-03,-1.59828746e-03, 0.00000000e+00,-2.40629869e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006019136730264871
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.22244397e-15,  9.22244397e-15,  1.00000000e+00, -8.50534727e-29,
        1.00000000e+00, -9.22244397e-15, -1.00000000e+00,  0.00000000e+00,
        9.22244397e-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([-0.04721698, -0.04822723,  0.06127822])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.45464050e-05, 2.58892841e-06,-2.92830029e-05,-1.87774081e-05,
  2.01295609e-05, 2.49869920e-05,-3.57256469e-05, 3.18806744e-05,
 -1.15220224e-05,-1.63680486e-05, 3.33519036e-05, 7.38346216e-05,
 -1.31189472e-05,-1.84551944e-05,-1.34755375e-05, 7.43167242e-05,
 -9.98193841e-03,-1.67580326e-02,-7.84716190e+00, 8.36543993e-03,
 -1.59307803e-01,-1.14401208e-03]


--- Step 1317 ---
qpos:
[-5.31898954e-04, 8.77122760e-01,-2.02670836e-02,-2.75280223e-02,
  7.57710490e-03, 8.64351869e-01,-2.80373472e-02, 9.43133172e-03,
  2.22288856e-02, 8.72908257e-01,-2.01808019e-02, 2.24653815e-02,
  1.30375155e+00,-1.00462220e-02, 9.54296261e-01, 6.16291699e-02,
 -7.33055707e-02,-3.51610974e-02, 6.92687598e-02, 7.08879614e-01,
 -9.92888634e-04,-7.04746545e-01,-2.86533489e-02]

qacc:
[-2.71678780e-01, 2.32287321e+00,-8.54237962e+00, 1.17740830e+01,
 -6.95825156e-03, 4.92222039e-01,-1.50073450e+00, 1.50355769e+00,
  2.96159893e-02, 1.72335129e+00,-4.12455011e+00, 7.42069081e-01,
  1.03440748e-01,-5.20165497e-01, 3.59096513e+00,-1.23196441e+01,
 -2.09229699e+00,-1.56483869e+00, 4.62429228e+00,-2.46835486e+01,
 -3.96208222e+02,-1.56830643e+02]

qfrc_actuator:
[ 2.35002788e-03, 2.75870447e-02, 8.68906698e-03, 1.64341254e-03,
  2.80682792e-05, 2.76657023e-02, 8.69599808e-03, 1.75244421e-03,
 -2.45087315e-03, 2.76432156e-02, 8.75851557e-03, 1.69439784e-03,
  6.73682077e-03,-1.62749373e-03, 0.00000000e+00,-2.46806565e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005971836895833527
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.85909804e-14,  1.85909804e-14,  1.00000000e+00, -3.45624551e-28,
        1.00000000e+00, -1.85909804e-14, -1.00000000e+00,  0.00000000e+00,
        1.85909804e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04201069, -0.03086983,  0.06128101])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.02899482e-05, 5.87823541e-07,-3.73121691e-05, 5.46624275e-06,
 -1.23856449e-06, 1.14059405e-05,-4.43212681e-06, 1.80223111e-08,
  5.60257781e-06, 5.68362034e-05,-1.58190751e-05,-9.17653364e-06,
 -4.32152965e-05,-3.57324448e-05,-1.41979292e-06,-6.02015669e-05,
 -7.43895932e-05,-2.08126955e-03,-7.84699083e+00, 6.92699683e-03,
 -1.59429100e-01,-1.09041066e-03]


--- Step 1318 ---
qpos:
[-5.32853427e-04, 8.77122659e-01,-2.02682705e-02,-2.75278170e-02,
  7.57778766e-03, 8.64356801e-01,-2.80365948e-02, 9.43265545e-03,
  2.22280622e-02, 8.72910726e-01,-2.01814596e-02, 2.24649836e-02,
  1.30396641e+00,-1.00462964e-02, 9.54544062e-01, 6.16315259e-02,
 -7.33425520e-02,-3.51109730e-02, 6.92757409e-02, 7.07918973e-01,
 -2.15103153e-03,-7.05754045e-01,-2.75196169e-02]

qacc:
[-1.24953464e-01,-3.74828276e-01, 2.56769118e+00,-7.46019841e+00,
  5.79375051e-02,-3.01331252e+00, 1.31086743e+01,-2.56127930e+01,
  5.19797512e-02, 2.19889262e-01, 3.01778202e+00,-1.27487913e+01,
  2.14680065e-01,-8.65690050e-01, 3.31724152e+00,-1.16572008e+01,
 -1.88501388e+00,-1.26223228e+00, 2.60612715e+00,-2.14764956e+01,
 -3.40594017e+02,-1.35605937e+02]

qfrc_actuator:
[ 2.35106270e-03, 2.75905866e-02, 8.68750259e-03, 1.62942230e-03,
  3.91078114e-05, 2.76301767e-02, 8.70994666e-03, 1.71588014e-03,
 -2.44384984e-03, 2.77112879e-02, 8.76534075e-03, 1.67008167e-03,
  6.71047569e-03,-1.66274059e-03, 0.00000000e+00,-2.52358452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   5.25776743,   6.85147127,   5.25776743,
        25.21357951, -12.72123054,   6.85147127, -12.72123054,
        18.3985401 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005919003310765017
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.37846261e-15, -2.34461565e-15,  1.00000000e+00,  2.19888902e-29,
        1.00000000e+00,  2.34461565e-15, -1.00000000e+00,  0.00000000e+00,
        9.37846261e-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([-0.04192308, -0.03083538,  0.06128366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31575874e-05,-3.59490442e-06,-5.84029007e-06,-1.51479063e-05,
  1.04516627e-05,-3.01929770e-05, 1.57117618e-05,-3.62398981e-05,
  9.72921635e-06, 9.61577594e-05, 1.62889464e-05,-2.26085172e-05,
 -6.02819364e-05,-5.22868674e-05,-1.23216430e-05,-6.02310448e-05,
 -7.90623684e-03, 2.25807277e-02,-7.84467126e+00, 5.11128517e-03,
 -1.59379860e-01,-1.02970737e-03]


--- Step 1319 ---
qpos:
[-5.34095810e-04, 8.77122346e-01,-2.02690892e-02,-2.75281293e-02,
  7.57896063e-03, 8.64361628e-01,-2.80354763e-02, 9.43385484e-03,
  2.22271497e-02, 8.72913491e-01,-2.01823626e-02, 2.24636820e-02,
  1.30418098e+00,-1.00470371e-02, 9.54791556e-01, 6.16348497e-02,
 -7.33613002e-02,-3.50569540e-02, 6.92548185e-02, 7.07557965e-01,
 -4.15964748e-03,-7.06176958e-01,-2.56617937e-02]

qacc:
[-1.49340219e-01,-2.37501457e+00, 1.02408512e+01,-1.96213867e+01,
  2.57825722e-01,-1.41396111e+00, 5.36933100e+00,-8.03226450e+00,
 -4.65564465e-02,-7.82233063e-01, 7.17424884e+00,-2.26439590e+01,
  3.86085731e-01,-1.25326955e+00,-3.40947931e+00, 1.11951562e+01,
  4.55824477e+00, 9.73668993e-01,-6.97588914e+00,-5.29167994e+01,
  4.06035960e+02, 5.65292095e+02]

qfrc_actuator:
[ 2.33445695e-03, 2.75749962e-02, 8.70483759e-03, 1.60336737e-03,
  8.08979083e-05, 2.76425742e-02, 8.73551230e-03, 1.71158226e-03,
 -2.45711957e-03, 2.76796533e-02, 8.73425120e-03, 1.62046807e-03,
  6.68694710e-03,-1.70128121e-03, 0.00000000e+00,-2.46841116e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006044653273559991
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -4.59175644e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  4.59175644e-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([-0.12652639, -0.04376982,  0.06127176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77456848e-05,-1.94443721e-05, 1.53596174e-05,-2.67038086e-05,
  4.67597791e-05,-2.91794706e-06, 1.99644634e-05,-5.76380066e-06,
 -8.57230654e-06, 2.44789483e-05,-1.00180374e-05,-4.53714959e-05,
 -7.13852067e-05,-6.29313248e-05,-1.68201869e-05, 4.91851595e-05,
 -3.13023539e-02, 3.78957006e-02,-7.84231002e+00, 3.87396102e-03,
 -1.59370516e-01,-9.78033130e-04]


--- Step 1320 ---
qpos:
[-5.35204704e-04, 8.77122072e-01,-2.02700887e-02,-2.75284004e-02,
  7.58006339e-03, 8.64366355e-01,-2.80338156e-02, 9.43567051e-03,
  2.22261163e-02, 8.72916571e-01,-2.01841642e-02, 2.24614952e-02,
  1.30439503e+00,-1.00476978e-02, 9.55039289e-01, 6.16357584e-02,
 -7.33644673e-02,-3.49996055e-02, 6.92044692e-02, 7.07709154e-01,
 -6.90351594e-03,-7.06089787e-01,-2.31798887e-02]

qacc:
[ 6.92468105e-02, 6.42128948e-01,-2.38797259e+00, 3.36255552e+00,
 -3.64851045e-02,-3.79149146e-01,-1.44331734e+00, 1.13168592e+01,
 -6.35927361e-02, 1.10527778e+00, 4.00923660e-01,-1.45170431e+01,
 -5.85748062e-01, 8.09655422e-01, 7.67506546e+00,-2.62723486e+01,
  3.89529354e+00, 8.32373886e-01,-7.35672380e+00,-4.52405247e+01,
  3.50576088e+02, 4.88031476e+02]

qfrc_actuator:
[ 2.36066846e-03, 2.75836471e-02, 8.69759258e-03, 1.60592259e-03,
  5.19507468e-05, 2.76481435e-02, 8.76793722e-03, 1.74410364e-03,
 -2.46466302e-03, 2.76771415e-02, 8.68060065e-03, 1.57401024e-03,
  6.67044737e-03,-1.68820423e-03, 0.00000000e+00,-2.59699105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006059645841102641
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.16079135e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        9.16079135e-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([-0.12645829, -0.04372472,  0.06126863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28625652e-05,-1.79423700e-07,-1.02820077e-05, 1.73724746e-06,
 -6.69865622e-06, 7.69377563e-06, 3.40332355e-05, 3.29636578e-05,
 -1.16592330e-05, 7.10406181e-06,-5.14115457e-05,-4.66392869e-05,
 -7.32095784e-05,-1.61561984e-05,-5.95523910e-06,-1.28871807e-04,
 -5.28608609e-03, 2.64521810e-02,-7.83523892e+00, 3.52323287e-03,
 -1.59081151e-01,-9.35852600e-04]


--- Step 1321 ---
qpos:
[-5.35713942e-04, 8.77122076e-01,-2.02715757e-02,-2.75286482e-02,
  7.58076041e-03, 8.64370802e-01,-2.80316120e-02, 9.43719375e-03,
  2.22251669e-02, 8.72920109e-01,-2.01864750e-02, 2.24590687e-02,
  1.30460856e+00,-1.00479941e-02, 9.55287253e-01, 6.16327691e-02,
 -7.34725509e-02,-3.48854544e-02, 6.91407588e-02, 7.08398725e-01,
 -7.33381780e-03,-7.05428984e-01,-2.20773660e-02]

qacc:
[ 3.11223969e-01, 1.77560404e+00,-5.89699612e+00, 6.87406276e+00,
 -2.12751212e-01,-2.48605175e+00, 9.56402261e+00,-1.52909838e+01,
  4.31900730e-02, 1.53334438e+00,-3.57781341e+00,-9.38233843e-02,
 -8.79222826e-01, 1.51090816e+00, 1.21595149e+01,-4.19359483e+01,
 -2.62291188e+01, 1.42006422e+01,-3.34027222e+00, 3.26892577e+02,
  4.24631181e+02,-1.29667774e+03]

qfrc_actuator:
[ 2.41226409e-03, 2.76066761e-02, 8.67600121e-03, 1.60753931e-03,
  1.64308527e-05, 2.76141497e-02, 8.78640256e-03, 1.72701516e-03,
 -2.45095046e-03, 2.77274713e-02, 8.66742280e-03, 1.56529398e-03,
  6.65819620e-03,-1.66238919e-03, 0.00000000e+00,-2.79732181e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 0.72946576, 8.60550153, 0.72946576, 5.66830464,
       0.25159457, 8.60550153, 0.25159457, 8.61503663, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.01630332502623968
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.27638315e-01,  4.13819157e-01,  3.79168202e-01,  3.76217019e-01,
        9.10359108e-01, -1.72357331e-01, -4.16503991e-01,  2.77555756e-17,
       -9.09133887e-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([-0.09817444, -0.02239616,  0.06125732])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.77849896e-05, 2.08980790e-05,-2.28240060e-05, 1.28939768e-06,
 -3.87072337e-05,-2.13801559e-05, 2.53353647e-05,-1.49516428e-05,
  8.10991669e-06, 4.16257887e-05,-1.96649307e-05,-1.10971640e-05,
 -5.94064570e-05, 6.02011140e-06,-2.24737445e-05,-2.09524705e-04,
 -1.63582149e-03,-6.71638998e-03,-7.82348625e+00, 3.99282843e-03,
 -1.58628973e-01,-9.04790215e-04]


--- Step 1322 ---
qpos:
[-5.35799254e-04, 8.77122173e-01,-2.02726983e-02,-2.75292558e-02,
  7.58122647e-03, 8.64375720e-01,-2.80291569e-02, 9.43738765e-03,
  2.22243468e-02, 8.72923766e-01,-2.01882982e-02, 2.24565297e-02,
  1.30482167e+00,-1.00482457e-02, 9.55535325e-01, 6.16253656e-02,
 -7.36635821e-02,-3.47284305e-02, 6.90638190e-02, 7.09525701e-01,
 -5.83547847e-03,-7.04306805e-01,-2.21619515e-02]

qacc:
[ 2.20473122e-01,-1.63629553e+00, 7.52733452e+00,-1.43976431e+01,
 -1.21428078e-01,-2.81242463e+00, 1.65469555e+01,-4.03077211e+01,
  6.74573335e-02,-1.43548309e+00, 5.82231502e+00,-8.63589500e+00,
 -5.63546555e-01, 7.92261483e-01, 1.35128901e+01,-4.69870294e+01,
 -2.07369337e+01, 1.07181768e+01,-3.30733357e+00, 2.60924442e+02,
  3.43341152e+02,-1.09421314e+03]

qfrc_actuator:
[ 2.42531274e-03, 2.76203257e-02, 8.69943890e-03, 1.59084191e-03,
  1.28361801e-05, 2.76809061e-02, 8.81402719e-03, 1.66307035e-03,
 -2.44239358e-03, 2.77382268e-02, 8.69625114e-03, 1.56117864e-03,
  6.63253427e-03,-1.66475289e-03, 0.00000000e+00,-3.02050160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.11095696, -8.37440371, -2.11095696, 11.1620421 ,
       -0.63665411, -8.37440371, -0.63665411,  8.79684664,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.016172208869943982
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.82531345,  0.41265672,  0.38545057,  0.37388972,  0.91088662,
       -0.17461972, -0.42315977,  0.        , -0.90605508])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09829201, -0.02237073,  0.06125226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.08519575e-05, 2.06967591e-05, 2.49978489e-05,-1.65658619e-05,
 -2.20150770e-05, 5.92622189e-05, 2.57587681e-05,-6.42867565e-05,
  1.24697543e-05, 2.94323008e-05, 3.46129515e-05,-3.22644348e-06,
 -5.98447973e-05,-1.42100274e-05,-3.85695279e-05,-2.38872019e-04,
 -1.80798927e-02,-1.64823393e-02,-7.85454806e+00, 4.16645854e-03,
 -1.59903845e-01,-8.71614827e-04]


--- Step 1323 ---
qpos:
[-5.35970170e-04, 8.77122470e-01,-2.02733195e-02,-2.75297375e-02,
  7.58137349e-03, 8.64380869e-01,-2.80263450e-02, 9.43718171e-03,
  2.22234608e-02, 8.72927087e-01,-2.01895288e-02, 2.24540126e-02,
  1.30503424e+00,-1.00481836e-02, 9.55782721e-01, 6.16189778e-02,
 -7.38278479e-02,-3.45988572e-02, 6.90198695e-02, 7.09883727e-01,
 -4.51888980e-03,-7.03941436e-01,-2.26081323e-02]

qacc:
[-4.42407553e-02,-8.75783777e-01, 2.97641318e+00,-1.74691849e+00,
 -1.67506405e-01,-1.51281448e+00, 7.52704779e+00,-1.51906516e+01,
 -3.37721508e-02,-2.05370406e+00, 6.58639239e+00,-6.90805772e+00,
 -6.05265579e-01, 1.00067260e+00,-4.02659485e+00, 1.27196548e+01,
  6.69137760e+00,-6.86262335e+00, 8.24755571e+00,-1.85673061e+02,
 -5.40235734e+02,-7.50051278e+01]

qfrc_actuator:
[ 2.39741644e-03, 2.76461733e-02, 8.73148456e-03, 1.59903509e-03,
 -7.12111085e-06, 2.76832047e-02, 8.82946910e-03, 1.64317613e-03,
 -2.45476167e-03, 2.76898879e-02, 8.71398482e-03, 1.55979248e-03,
  6.60416166e-03,-1.64834469e-03, 0.00000000e+00,-2.95352055e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.77580132,  5.35493168,  6.77580132, 13.16937767,
       -5.73579727,  5.35493168, -5.73579727, 15.89408886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006334642548824661
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.19077678e-15, -1.75262142e-14,  1.00000000e+00,  3.83960232e-29,
        1.00000000e+00,  1.75262142e-14, -1.00000000e+00,  0.00000000e+00,
        2.19077678e-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([-0.04389536, -0.03056594,  0.06124417])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.24001413e-06, 4.18863344e-05, 3.88341835e-05, 9.62329935e-06,
 -3.04246837e-05, 3.78624775e-05, 2.85716399e-05,-1.77260673e-05,
 -6.35922423e-06,-2.49379181e-05, 2.79539990e-05, 1.01082511e-06,
 -6.76415342e-05, 3.11223077e-07,-4.84379425e-05, 4.77769981e-05,
 -5.83096011e-02, 2.87593330e-02,-7.82576456e+00, 2.25358916e-03,
 -1.58479698e-01,-7.58749791e-04]


--- Step 1324 ---
qpos:
[-5.36354758e-04, 8.77123113e-01,-2.02738747e-02,-2.75301061e-02,
  7.58124463e-03, 8.64386221e-01,-2.80241781e-02, 9.43715785e-03,
  2.22224703e-02, 8.72929802e-01,-2.01900571e-02, 2.24515266e-02,
  1.30524628e+00,-1.00479053e-02, 9.56029315e-01, 6.16173726e-02,
 -7.39720232e-02,-3.44913430e-02, 6.89991348e-02, 7.09585049e-01,
 -3.32409966e-03,-7.04224514e-01,-2.33632669e-02]

qacc:
[-1.11108415e-01, 5.05157962e-01,-1.61462805e+00, 3.20985591e+00,
 -1.45414424e-01, 2.44253751e+00,-9.09058075e+00, 1.31270833e+01,
 -5.36580459e-02,-2.69691483e+00, 8.32494205e+00,-8.46451308e+00,
 -3.11718065e-01, 4.59445444e-01,-1.56037845e+01, 5.29162748e+01,
  5.02263730e+00,-5.51476846e+00, 5.80371548e+00,-1.46127863e+02,
 -4.61980731e+02,-7.56797232e+01]

qfrc_actuator:
[ 2.38079839e-03, 2.76614424e-02, 8.73290701e-03, 1.60406808e-03,
 -1.89628671e-05, 2.76646331e-02, 8.78413743e-03, 1.64931452e-03,
 -2.46178856e-03, 2.76420053e-02, 8.74251440e-03, 1.55995451e-03,
  6.57951582e-03,-1.63871283e-03, 0.00000000e+00,-2.69835464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.4309708 ,  5.76449404,  6.4309708 ,  9.8951656 ,
       -1.40434158,  5.76449404, -1.40434158, 10.20307177,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006420391494230175
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.86341411e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        4.86341411e-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([-0.04436862, -0.03040103,  0.06123681])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.05779442e-05, 4.71200768e-05, 1.51925619e-05, 8.35833758e-06,
 -2.63140348e-05, 7.59293639e-06,-3.46674103e-05, 8.39314496e-06,
 -1.00842578e-05,-5.60780198e-05, 2.68442574e-05, 8.09296337e-08,
 -6.48208177e-05,-5.39217110e-06,-1.92108690e-05, 2.51109873e-04,
 -1.10904700e-02, 1.05157481e-02,-7.83353985e+00, 3.52621439e-03,
 -1.58723228e-01,-8.88134855e-04]


--- Step 1325 ---
qpos:
[-5.36942598e-04, 8.77123667e-01,-2.02738962e-02,-2.75307329e-02,
  7.58109833e-03, 8.64392007e-01,-2.80227077e-02, 9.43752727e-03,
  2.22215748e-02, 8.72931906e-01,-2.01899063e-02, 2.24494101e-02,
  1.30545790e+00,-1.00477592e-02, 9.56276066e-01, 6.16161035e-02,
 -7.41011883e-02,-3.44014912e-02, 6.89926860e-02, 7.08725930e-01,
 -2.20712626e-03,-7.05059056e-01,-2.43805753e-02]

qacc:
[-1.05275711e-01,-2.14162334e+00, 8.54998434e+00,-1.37984920e+01,
 -9.73153564e-03, 3.32541349e+00,-1.26874449e+01, 2.02926483e+01,
  5.00089339e-02,-1.94415845e+00, 4.19942929e+00, 1.56049371e+00,
 -2.02935924e-01, 6.04753861e-02,-7.75889843e-01, 3.06726041e+00,
  3.75251921e+00,-4.41559935e+00, 3.57146774e+00,-1.14412916e+02,
 -3.93466869e+02,-7.30807270e+01]

qfrc_actuator:
[ 2.37110959e-03, 2.76346341e-02, 8.75169560e-03, 1.58941485e-03,
 -8.09821322e-06, 2.77044854e-02, 8.75645875e-03, 1.67065048e-03,
 -2.44779317e-03, 2.76125527e-02, 8.77717468e-03, 1.57878013e-03,
  6.55179666e-03,-1.65092732e-03, 0.00000000e+00,-2.68950368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.5286202 ,  5.6536621 ,  6.5286202 ,  9.72516809,
       -1.25730732,  5.6536621 , -1.25730732, 10.08825125,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006370367866586457
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.90160431e-15, -8.71396321e-15,  1.00000000e+00,  4.27123996e-29,
        1.00000000e+00,  8.71396321e-15, -1.00000000e+00,  0.00000000e+00,
        4.90160431e-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([-0.0444274 , -0.03024871,  0.06123882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.95840785e-05, 3.02295175e-06, 3.06803903e-05,-1.19472627e-05,
 -1.65502179e-06, 3.71498151e-05,-3.01505493e-05, 2.06138043e-05,
  9.14126311e-06,-5.53223052e-05, 2.63732861e-05, 1.73533908e-05,
 -6.70335647e-05,-2.80560049e-05, 1.64017383e-05, 1.97646882e-05,
 -4.76478309e-03,-8.68480369e-03,-7.83898009e+00, 4.93672044e-03,
 -1.58986770e-01,-9.65511666e-04]


--- Step 1326 ---
qpos:
[-5.37684783e-04, 8.77123916e-01,-2.02735531e-02,-2.75311448e-02,
  7.58101283e-03, 8.64398057e-01,-2.80218613e-02, 9.43851130e-03,
  2.22211838e-02, 8.72933400e-01,-2.01902110e-02, 2.24493413e-02,
  1.30566894e+00,-1.00474325e-02, 9.56522858e-01, 6.16149685e-02,
 -7.42191774e-02,-3.43257235e-02, 6.89924384e-02, 7.07389503e-01,
 -1.13608459e-03,-7.06358615e-01,-2.56184780e-02]

qacc:
[-7.98701168e-02,-9.77325930e-01, 1.99695317e+00, 1.35663000e+00,
  3.15001914e-02, 3.35245133e+00,-1.40466797e+01, 2.54928021e+01,
  2.62171504e-01, 4.67751921e+00,-2.64972537e+01, 6.31191389e+01,
 -5.78862135e-01, 8.49740768e-01,-3.11560372e-01, 1.25096463e+00,
  2.79402429e+00,-3.52104588e+00, 1.55029861e+00,-8.89006198e+01,
 -3.33367080e+02,-6.83102293e+01]

qfrc_actuator:
[ 2.36565340e-03, 2.76006289e-02, 8.76265704e-03, 1.59878112e-03,
 -1.51043299e-06, 2.77080690e-02, 8.72192860e-03, 1.70082095e-03,
 -2.40358948e-03, 2.75589013e-02, 8.74424524e-03, 1.67946359e-03,
  6.52224423e-03,-1.64048260e-03, 0.00000000e+00,-2.68388703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.70743616,  5.44031957,  6.70743616,  9.74023536,
       -1.36097687,  5.44031957, -1.36097687, 10.31432857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006209885253368533
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.46957947e-15,  8.93915893e-15,  1.00000000e+00, -3.99542812e-29,
        1.00000000e+00, -8.93915893e-15, -1.00000000e+00,  0.00000000e+00,
        4.46957947e-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([-0.04415446, -0.03010519,  0.06124835])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.48786633e-05,-2.65033474e-05, 1.49490807e-05, 1.03251787e-05,
  5.80491335e-06, 1.88625932e-05,-2.99170477e-05, 3.11082675e-05,
  4.85988986e-05,-7.84445742e-05,-4.05219133e-05, 9.95625642e-05,
 -7.54199693e-05,-1.06483749e-05, 4.05863660e-06, 7.51691910e-06,
 -2.36337269e-02,-2.84453838e-02,-7.84289914e+00, 6.44506260e-03,
 -1.59257031e-01,-1.01348049e-03]


--- Step 1327 ---
qpos:
[-5.38346954e-04, 8.77124026e-01,-2.02731048e-02,-2.75314441e-02,
  7.58118387e-03, 8.64404045e-01,-2.80213285e-02, 9.44021499e-03,
  2.22213095e-02, 8.72933915e-01,-2.01914895e-02, 2.24498743e-02,
  1.30587949e+00,-1.00470065e-02, 9.56769497e-01, 6.16149113e-02,
 -7.43037163e-02,-3.42442430e-02, 6.89713717e-02, 7.06764650e-01,
 -1.10629820e-03,-7.06979209e-01,-2.57469201e-02]

qacc:
[ 4.16969050e-02,-2.45594285e-01, 1.35275334e-01, 1.74447510e+00,
  1.34645982e-01, 2.27312230e+00,-1.12636052e+01, 2.42692340e+01,
  2.68196468e-01, 2.66244061e+00,-1.39144509e+01, 2.66077303e+01,
 -3.97289143e-01, 5.24237941e-01,-3.45770349e+00, 1.18179626e+01,
  8.36252852e+00, 1.42819885e+00,-5.20478461e+00, 1.52592287e+01,
  4.77492560e+02, 7.69661472e+02]

qfrc_actuator:
[ 2.38052180e-03, 2.75980613e-02, 8.76887801e-03, 1.60443676e-03,
  2.01925795e-05, 2.76898888e-02, 8.70124641e-03, 1.73591348e-03,
 -2.37721358e-03, 2.74554680e-02, 8.67162483e-03, 1.70316723e-03,
  6.50227212e-03,-1.63445476e-03, 0.00000000e+00,-2.62688568e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 6.75732216, 5.3782315 , 6.75732216, 6.95752067,
       2.10933329, 5.3782315 , 2.10933329, 5.98615332, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.006428585773870579
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.72700974e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.72700974e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12623963, -0.04288927,  0.06122858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.70631054e-06,-1.38665826e-05, 2.94335977e-06, 5.23983434e-06,
  2.44674149e-05,-1.26305305e-05,-1.94520859e-05, 3.54586951e-05,
  4.97515467e-05,-1.51429862e-04,-9.03796939e-05, 2.08750168e-05,
 -6.68577301e-05,-1.32975974e-05,-2.53894725e-06, 5.67425985e-05,
 -5.67807438e-02,-4.80933649e-02,-7.84597933e+00, 8.00517373e-03,
 -1.59519704e-01,-1.04627613e-03]


--- Step 1328 ---
qpos:
[-5.38875820e-04, 8.77124070e-01,-2.02725911e-02,-2.75320253e-02,
  7.58179738e-03, 8.64409406e-01,-2.80202424e-02, 9.44268418e-03,
  2.22212915e-02, 8.72933256e-01,-2.01928849e-02, 2.24489279e-02,
  1.30608956e+00,-1.00462677e-02, 9.57016153e-01, 6.16148516e-02,
 -7.43603989e-02,-3.41579701e-02, 6.89271446e-02, 7.06757541e-01,
 -1.97767346e-03,-7.07013430e-01,-2.49374550e-02]

qacc:
[ 6.93234064e-02,-8.51486061e-01, 4.09455183e+00,-9.02107493e+00,
  2.33080231e-01,-7.97691700e-01,-1.58976169e+00, 1.44152493e+01,
 -7.43498517e-02,-4.26610736e+00, 1.92093274e+01,-4.37647597e+01,
 -6.24963358e-01, 1.06050631e+00, 6.89148301e-02,-1.23211028e-01,
  6.96407735e+00, 1.19811082e+00,-5.79007835e+00, 5.87889884e+00,
  4.13459892e+02, 6.58268091e+02]

qfrc_actuator:
[ 2.38965970e-03, 2.75965600e-02, 8.77236811e-03, 1.59012969e-03,
  5.07446839e-05, 2.76411170e-02, 8.72431729e-03, 1.77360836e-03,
 -2.41500617e-03, 2.73937900e-02, 8.66465352e-03, 1.62805204e-03,
  6.48806148e-03,-1.61331542e-03, 0.00000000e+00,-2.62881390e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.23213713,  4.72048402,  7.23213713, 14.21637603,
       -8.54899936,  4.72048402, -8.54899936, 21.73407468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006579136953256889
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.43745185e-15, -4.21872592e-15,  1.00000000e+00,  3.55952968e-29,
        1.00000000e+00,  4.21872592e-15, -1.00000000e+00,  0.00000000e+00,
        8.43745185e-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([-0.12595984, -0.04269529,  0.06121494])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.28430226e-05,-8.42632650e-06, 1.16692570e-06,-1.46970276e-05,
  4.21927301e-05,-5.84794677e-05, 1.92384084e-05, 3.71578292e-05,
 -1.38718542e-05,-1.64126815e-04,-4.86558888e-05,-8.43261717e-05,
 -5.66667319e-05, 3.22624134e-06, 5.80192071e-07,-1.42824096e-07,
 -1.26921973e-02,-1.42792808e-03,-7.84740957e+00, 5.64833534e-03,
 -1.59457946e-01,-1.01048788e-03]


--- Step 1329 ---
qpos:
[-5.39650823e-04, 8.77124284e-01,-2.02724480e-02,-2.75324283e-02,
  7.58243607e-03, 8.64414060e-01,-2.80187754e-02, 9.44560834e-03,
  2.22209699e-02, 8.72932267e-01,-2.01945512e-02, 2.24476807e-02,
  1.30629922e+00,-1.00453017e-02, 9.57262724e-01, 6.16150973e-02,
 -7.43939535e-02,-3.40676450e-02, 6.88573671e-02, 7.07280984e-01,
 -3.62529374e-03,-7.06537996e-01,-2.33350869e-02]

qacc:
[-1.28184661e-01, 1.62807479e+00,-6.22738661e+00, 9.77373631e+00,
  1.37465357e-02,-1.06052193e+00, 5.06012186e-01, 7.27843576e+00,
 -1.57865086e-01,-2.98409072e-01, 1.70113046e+00,-6.23203169e+00,
 -4.75381772e-01, 7.83655077e-01,-1.01920731e+00, 3.44602695e+00,
  5.78201637e+00, 1.01305256e+00,-6.38762556e+00, 1.57878112e-01,
  3.57192770e+02, 5.61723168e+02]

qfrc_actuator:
[ 2.35976874e-03, 2.76134343e-02, 8.75646478e-03, 1.59969963e-03,
  3.30597960e-05, 2.75923331e-02, 8.73739346e-03, 1.79477831e-03,
 -2.43758839e-03, 2.74465142e-02, 8.67885164e-03, 1.61975435e-03,
  6.47199886e-03,-1.60111500e-03, 0.00000000e+00,-2.61219284e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,   6.92560698,   5.15972333,   6.92560698,
        17.21753799, -11.51802861,   5.15972333, -11.51802861,
        24.09636685,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0065901081342062545
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.42340522e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.42340522e-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([-0.12594094, -0.04260072,  0.06121198])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37135519e-05, 1.17730420e-05,-1.80115349e-05, 8.96335454e-06,
  2.38404483e-06,-7.60542464e-05, 4.59978005e-06, 2.00394399e-05,
 -2.92769005e-05,-5.26922261e-05,-2.85966051e-05,-1.86514057e-05,
 -4.87818633e-05, 1.28910864e-07,-4.76581091e-06, 1.55316173e-05,
 -8.64629063e-05, 8.46782000e-04,-7.84578113e+00, 5.13631099e-03,
 -1.59396431e-01,-9.89720001e-04]


--- Step 1330 ---
qpos:
[-5.40725663e-04, 8.77124787e-01,-2.02726044e-02,-2.75323887e-02,
  7.58297256e-03, 8.64418597e-01,-2.80178944e-02, 9.44806426e-03,
  2.22205487e-02, 8.72931884e-01,-2.01966011e-02, 2.24465730e-02,
  1.30650876e+00,-1.00450274e-02, 9.57508886e-01, 6.16182013e-02,
 -7.44079998e-02,-3.39743356e-02, 6.87600595e-02, 7.08275313e-01,
 -5.90275206e-03,-7.05596388e-01,-2.10944660e-02]

qacc:
[-1.56075473e-01, 2.13030820e+00,-8.90386919e+00, 1.68190881e+01,
 -5.40537449e-02, 5.17880444e-01,-9.48257948e-02,-6.98564258e+00,
 -5.21815901e-02, 2.15963716e+00,-7.12702102e+00, 9.70943332e+00,
  6.34253579e-01,-1.60372103e+00,-9.27840978e+00, 3.14852949e+01,
  4.87706758e+00, 7.46091875e-01,-6.88249602e+00,-1.84689906e+00,
  3.22702440e+02, 4.54555484e+02]

qfrc_actuator:
[ 2.34229185e-03, 2.76411235e-02, 8.74708797e-03, 1.62324852e-03,
  2.21782736e-05, 2.75971302e-02, 8.70891854e-03, 1.77053237e-03,
 -2.43307422e-03, 2.75497532e-02, 8.68819957e-03, 1.63320776e-03,
  6.45483530e-03,-1.64757535e-03, 0.00000000e+00,-2.46048062e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.56594731,  5.61026852,  6.56594731, 16.41370382,
       -9.10216787,  5.61026852, -9.10216787, 19.28903639,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006489727332597416
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.55369546e-15, -4.27684773e-15,  1.00000000e+00,  3.65828530e-29,
        1.00000000e+00,  4.27684773e-15, -1.00000000e+00,  0.00000000e+00,
        8.55369546e-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([-0.12617394, -0.04161502,  0.06121731])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88840849e-05, 3.09296398e-05,-8.85544713e-06, 2.36045411e-05,
 -9.75675824e-06,-3.60489689e-05,-4.29747423e-05,-2.69688792e-05,
 -9.58135189e-06, 6.71017084e-05,-5.68129049e-06, 9.84888139e-06,
 -4.59921593e-05,-5.73528341e-05,-5.04330235e-06, 1.50904790e-04,
 -8.30765337e-03,-2.51176625e-02,-7.84152151e+00, 5.70949729e-03,
 -1.59300294e-01,-9.74405683e-04]


--- Step 1331 ---
qpos:
[-5.42047272e-04, 8.77125652e-01,-2.02731926e-02,-2.75324130e-02,
  7.58357648e-03, 8.64422879e-01,-2.80173344e-02, 9.44986455e-03,
  2.22201100e-02, 8.72931905e-01,-2.01982417e-02, 2.24452587e-02,
  1.30671801e+00,-1.00450155e-02, 9.57754919e-01, 6.16234072e-02,
 -7.45127083e-02,-3.38388422e-02, 6.86592669e-02, 7.09740906e-01,
 -6.04727900e-03,-7.04147556e-01,-2.01865448e-02]

qacc:
[-1.28626674e-01, 1.55185562e+00,-4.57232627e+00, 3.89464367e+00,
  3.52824256e-02,-7.89009090e-01, 5.09260442e+00,-1.57400626e+01,
 -8.96243578e-03,-1.03371035e+00, 5.33461113e+00,-9.86377236e+00,
  1.01079175e-01,-4.80946107e-01,-6.54461768e+00, 2.26011613e+01,
 -2.26655386e+01, 1.05459743e+01,-8.71275228e-01, 2.81218610e+02,
  3.72317915e+02,-1.21798884e+03]

qfrc_actuator:
[ 2.33241555e-03, 2.76573621e-02, 8.72395142e-03, 1.61934388e-03,
  3.32487251e-05, 2.75805113e-02, 8.69183280e-03, 1.73753076e-03,
 -2.43013748e-03, 2.75759805e-02, 8.71261112e-03, 1.62388649e-03,
  6.44232586e-03,-1.65739363e-03, 0.00000000e+00,-2.35465733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 1.60155924, 8.48656496, 1.60155924, 4.38213588,
       0.80284518, 8.48656496, 0.80284518, 8.48485309, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.015179627176896596
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.80504182,  0.40252091,  0.43575749,  0.35398989,  0.91541079,
       -0.19160961, -0.47602398,  0.        , -0.8794323 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09909903, -0.02197284,  0.06120615])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37694271e-05, 3.27032063e-05,-1.70249771e-05,-2.42766010e-06,
  6.42431307e-06,-4.69278194e-05,-3.08056982e-05,-3.65701909e-05,
 -1.66758796e-06, 6.30232288e-05, 3.79325730e-05,-6.44533617e-06,
 -5.27736695e-05,-3.22202883e-05, 1.08747260e-05, 1.12728232e-04,
 -3.08387865e-02,-6.82963277e-02,-7.83529270e+00, 6.87843623e-03,
 -1.59174998e-01,-9.58722778e-04]


--- Step 1332 ---
qpos:
[-5.43541886e-04, 8.77126049e-01,-2.02734406e-02,-2.75320850e-02,
  7.58446527e-03, 8.64426897e-01,-2.80169962e-02, 9.45090411e-03,
  2.22194991e-02, 8.72931859e-01,-2.01998565e-02, 2.24432404e-02,
  1.30692677e+00,-1.00445843e-02, 9.58001537e-01, 6.16251553e-02,
 -7.46082259e-02,-3.37241414e-02, 6.86047991e-02, 7.10353948e-01,
 -6.18814325e-03,-7.03542587e-01,-1.96673279e-02]

qacc:
[-8.95195815e-02,-8.41284426e-01, 6.21738805e-01, 5.26573244e+00,
  1.49569400e-01,-1.29499796e+00, 7.32267391e+00,-1.99417557e+01,
 -8.94950237e-02,-1.60999559e+00, 8.58283488e+00,-2.07583297e+01,
 -9.02796440e-01, 1.59350883e+00, 1.13538701e+01,-3.83542703e+01,
  2.29769741e+00,-5.19813534e+00, 1.15812128e+01,-1.29613459e+02,
 -5.98411408e+02,-1.50386046e+02]

qfrc_actuator:
[ 2.32716648e-03, 2.75955327e-02, 8.72831660e-03, 1.63480173e-03,
  5.73615918e-05, 2.75689802e-02, 8.68155001e-03, 1.69965042e-03,
 -2.44594213e-03, 2.75204550e-02, 8.69216344e-03, 1.58343819e-03,
  6.42730303e-03,-1.62762661e-03, 0.00000000e+00,-2.54304366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.15414759,  8.55889714, -1.15414759, 22.06472745,
        1.81078396,  8.55889714,  1.81078396,  8.88054369,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0067924390601900655
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.0431229e-15,  0.0000000e+00,  1.0000000e+00,  0.0000000e+00,
        1.0000000e+00,  0.0000000e+00, -1.0000000e+00,  0.0000000e+00,
       -2.0431229e-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([-0.04683597, -0.02977383,  0.06119257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.66813623e-05,-4.71782768e-05, 8.93653785e-06, 1.62211511e-05,
  2.71650527e-05,-4.58096729e-05,-2.50771299e-05,-4.16790752e-05,
 -1.66010212e-05,-1.27115184e-05,-2.96627459e-06,-3.65560607e-05,
 -5.33879091e-05, 1.10350378e-05, 1.27410825e-05,-1.81838624e-04,
 -7.35089057e-02,-2.45188193e-02,-7.84979591e+00, 4.48177605e-03,
 -1.59784983e-01,-8.23701474e-04]


--- Step 1333 ---
qpos:
[-5.44776593e-04, 8.77125785e-01,-2.02734545e-02,-2.75318861e-02,
  7.58563570e-03, 8.64430919e-01,-2.80171844e-02, 9.45077711e-03,
  2.22185263e-02, 8.72931465e-01,-2.02012336e-02, 2.24404308e-02,
  1.30713508e+00,-1.00438000e-02, 9.58248611e-01, 6.16213103e-02,
 -7.46976347e-02,-3.36262315e-02, 6.85851531e-02, 7.10238966e-01,
 -6.30567299e-03,-7.03662782e-01,-1.94817498e-02]

qacc:
[ 1.35425736e-01,-1.79333907e+00, 5.67045857e+00,-7.79263846e+00,
  1.47561520e-01,-9.23528823e-01, 8.22710362e+00,-2.75801179e+01,
 -1.87781529e-01,-2.74873104e+00, 1.24794867e+01,-2.63021586e+01,
 -9.11753863e-01, 1.57738974e+00, 1.76117328e+01,-6.05252166e+01,
  1.52721492e+00,-4.19773969e+00, 8.70545925e+00,-1.04198249e+02,
 -5.12397981e+02,-1.36112149e+02]

qfrc_actuator:
[ 2.36022395e-03, 2.75408034e-02, 8.73083068e-03, 1.62598121e-03,
  7.13028773e-05, 2.75783661e-02, 8.65762539e-03, 1.64145757e-03,
 -2.47282983e-03, 2.74871995e-02, 8.69827793e-03, 1.54264626e-03,
  6.40547468e-03,-1.61019053e-03, 0.00000000e+00,-2.83222635e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.26362885,  5.94590031,  6.26362885, 10.25272888,
       -1.70273827,  5.94590031, -1.70273827, 10.4300904 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006956965359960703
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.47792035e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.47792035e-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([-0.04744977, -0.02968658,  0.06118006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.50256126e-05,-7.85770483e-05,-5.56683758e-06,-1.02147198e-05,
  2.68630731e-05,-2.32915395e-05,-3.79542856e-05,-6.18432623e-05,
 -3.48775926e-05,-4.25296947e-05, 1.87413987e-06,-4.21452121e-05,
 -5.09652625e-05, 7.84110796e-06,-2.09804280e-05,-2.99210299e-04,
 -1.31311543e-02,-6.46428514e-03,-7.84907858e+00, 3.35727121e-03,
 -1.59527436e-01,-8.54764038e-04]


--- Step 1334 ---
qpos:
[-5.45677125e-04, 8.77125706e-01,-2.02737737e-02,-2.75322112e-02,
  7.58683502e-03, 8.64434827e-01,-2.80168667e-02, 9.45024163e-03,
  2.22175866e-02, 8.72931423e-01,-2.02031166e-02, 2.24371160e-02,
  1.30734278e+00,-1.00424298e-02, 9.58495069e-01, 6.16180288e-02,
 -7.47831706e-02,-3.35418083e-02, 6.85897402e-02, 7.09503001e-01,
 -6.38772589e-03,-7.04401371e-01,-1.95805230e-02]

qacc:
[ 1.73383869e-01, 1.68173320e-02, 2.49977917e+00,-1.12031459e+01,
  1.55170712e-02,-2.40120741e+00, 1.00713801e+01,-1.78701032e+01,
  1.67100201e-02, 8.37291213e-01,-1.79459860e-01,-8.01360751e+00,
 -9.02616216e-01, 1.66050088e+00,-2.55511240e+00, 7.74161076e+00,
  9.68220047e-01,-3.37166662e+00, 6.05826169e+00,-8.33793502e+01,
 -4.36842900e+02,-1.21459147e+02]

qfrc_actuator:
[ 2.38039637e-03, 2.75972311e-02, 8.73220432e-03, 1.60293426e-03,
  6.12778681e-05, 2.76001389e-02, 8.69691975e-03, 1.62504522e-03,
 -2.45285098e-03, 2.75386219e-02, 8.68460220e-03, 1.51976977e-03,
  6.36892521e-03,-1.58250179e-03, 0.00000000e+00,-2.78781044e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.36565717,  5.83653885,  6.36565717, 10.74784009,
       -2.30289484,  5.83653885, -2.30289484, 11.14803013,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006959808522994569
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.98196966e-15, -7.97595955e-15,  1.00000000e+00,  4.77119480e-29,
        1.00000000e+00,  7.97595955e-15, -1.00000000e+00,  0.00000000e+00,
        5.98196966e-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([-0.04759675, -0.02959358,  0.06117858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.22031728e-05, 1.09145322e-05,-1.58900212e-05,-2.68015430e-05,
  2.75636541e-06,-1.83052407e-06, 2.76366719e-05,-1.99336008e-05,
  3.19105051e-06, 2.62388941e-05,-2.36701246e-05,-2.54473476e-05,
 -6.54347858e-05, 1.82035753e-05,-4.83279975e-05, 2.38078486e-05,
 -4.73748503e-04, 6.07922963e-04,-7.84808154e+00, 2.92274127e-03,
 -1.59434598e-01,-8.58641413e-04]


--- Step 1335 ---
qpos:
[-5.45921250e-04, 8.77126159e-01,-2.02740805e-02,-2.75321877e-02,
  7.58779365e-03, 8.64438930e-01,-2.80162330e-02, 9.44948560e-03,
  2.22173435e-02, 8.72931857e-01,-2.02053728e-02, 2.24349079e-02,
  1.30755000e+00,-1.00409675e-02, 9.58741265e-01, 6.16148839e-02,
 -7.48664131e-02,-3.34681484e-02, 6.86089025e-02, 7.08238938e-01,
 -6.42766765e-03,-7.05662459e-01,-1.99194873e-02]

qacc:
[ 3.40948619e-01, 1.38634949e+00,-5.39180411e+00, 1.10083509e+01,
 -1.26335831e-01,-1.07877766e+00, 5.15093003e+00,-9.61784808e+00,
  3.61602077e-01, 3.94613128e+00,-1.78328654e+01, 3.72341964e+01,
 -4.13485854e-01, 5.54675836e-01,-7.77533353e-01, 2.20650330e+00,
  5.73363794e-01,-2.69082121e+00, 3.64378780e+00,-6.62278419e+01,
 -3.70174818e+02,-1.06878830e+02]

qfrc_actuator:
[ 2.42816479e-03, 2.76665137e-02, 8.75109188e-03, 1.62505574e-03,
  3.70131611e-05, 2.76294597e-02, 8.72006567e-03, 1.61565709e-03,
 -2.38724970e-03, 2.75870344e-02, 8.67745348e-03, 1.57868340e-03,
  6.33955202e-03,-1.58454081e-03, 0.00000000e+00,-2.77793907e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.5694005 ,  5.60622457,  6.5694005 , 11.18384913,
       -2.98515556,  5.60622457, -2.98515556, 12.13438306,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006830015501041932
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-2.03188233e-15, -8.12752932e-15,  1.00000000e+00, -1.65141832e-29,
        1.00000000e+00,  8.12752932e-15, -1.00000000e+00,  0.00000000e+00,
       -2.03188233e-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([-0.04737324, -0.02949582,  0.06118585])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.32632257e-05, 7.09677366e-05, 1.82603836e-05, 2.15174534e-05,
 -2.29533742e-05, 3.30562562e-05, 2.54504848e-05,-8.90364113e-06,
  6.71387356e-05, 5.71243907e-05,-5.50649791e-06, 5.87312481e-05,
 -6.41155598e-05,-1.28129061e-05,-2.20194135e-05, 4.44344176e-06,
 -1.79372264e-02,-1.39974496e-05,-7.84687652e+00, 2.98375564e-03,
 -1.59451733e-01,-8.49159376e-04]


--- Step 1336 ---
qpos:
[-5.45186785e-04, 8.77127407e-01,-2.02748400e-02,-2.75325930e-02,
  7.58811046e-03, 8.64443054e-01,-2.80149697e-02, 9.44862262e-03,
  2.22174723e-02, 8.72932188e-01,-2.02072295e-02, 2.24341337e-02,
  1.30775710e+00,-1.00403919e-02, 9.58987502e-01, 6.16101654e-02,
 -7.50339039e-02,-3.33622771e-02, 6.86272417e-02, 7.07419864e-01,
 -4.52164385e-03,-7.06453284e-01,-2.14580687e-02]

qacc:
[ 5.07964708e-01, 1.43097586e+00,-1.77280732e+00,-5.49790227e+00,
 -3.36808945e-01,-1.94738632e+00, 7.44018905e+00,-1.03177134e+01,
  1.93618347e-01, 1.69839166e+00,-1.23081413e+01, 3.65647927e+01,
  5.67218308e-01,-1.63368509e+00, 4.76589047e+00,-1.66884618e+01,
 -2.10620890e+01, 8.05284760e+00,-2.05746892e-01, 2.62588611e+02,
  3.46771532e+02,-1.10546327e+03]

qfrc_actuator:
[ 2.49203491e-03, 2.77075832e-02, 8.72703458e-03, 1.60260481e-03,
 -1.32899618e-05, 2.76275422e-02, 8.75126285e-03, 1.61045896e-03,
 -2.38371490e-03, 2.75623650e-02, 8.69204324e-03, 1.64975611e-03,
  6.32514492e-03,-1.63966235e-03, 0.00000000e+00,-2.85960341e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 6.2436707 , 5.96685453, 6.2436707 , 6.59537174,
       2.13567823, 5.96685453, 2.13567823, 6.40160636, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.014711316137942142
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.79264953,  0.39632476,  0.46328545,  0.34216652,  0.91811039,
       -0.19998847, -0.50460757,  0.        , -0.86334883])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09948818, -0.02171272,  0.06118428])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.43123646e-05, 8.54440110e-05,-6.40971746e-06,-1.83638083e-05,
 -6.12217332e-05, 2.13368502e-05, 4.08158438e-05,-3.07999698e-06,
  3.58434673e-05, 8.67181886e-06, 2.77590323e-05, 7.44780788e-05,
 -5.53430592e-05,-7.22166822e-05,-1.34045634e-05,-8.51065409e-05,
 -5.29794600e-02,-5.62449564e-03,-7.84577102e+00, 3.38370102e-03,
 -1.59537158e-01,-8.34929371e-04]


--- Step 1337 ---
qpos:
[-5.43592892e-04, 8.77129035e-01,-2.02754529e-02,-2.75332519e-02,
  7.58799433e-03, 8.64446975e-01,-2.80129295e-02, 9.44806829e-03,
  2.22174308e-02, 8.72932532e-01,-2.02094486e-02, 2.24346014e-02,
  1.30796366e+00,-1.00396028e-02, 9.59233762e-01, 6.16034789e-02,
 -7.52669837e-02,-3.32328345e-02, 6.86415554e-02, 7.06949316e-01,
 -9.82573610e-04,-7.06855149e-01,-2.40311595e-02]

qacc:
[ 4.46558014e-01,-4.30506021e-01, 3.33033539e+00,-8.22667617e+00,
 -2.26871556e-01,-1.80231236e+00, 4.73372192e+00,-4.86044235e-01,
 -8.86637248e-02, 3.58304660e+00,-1.79966397e+01, 4.00623700e+01,
 -6.85694619e-01, 1.05827491e+00, 6.01274311e+00,-2.09044619e+01,
 -1.63972481e+01, 5.89282131e+00,-1.00639780e+00, 2.08824214e+02,
  2.80547520e+02,-9.38138591e+02]

qfrc_actuator:
[ 2.52947605e-03, 2.77134958e-02, 8.73092815e-03, 1.58955364e-03,
 -2.54608359e-05, 2.76069757e-02, 8.78685062e-03, 1.62550207e-03,
 -2.41737398e-03, 2.75474922e-02, 8.66579487e-03, 1.70960169e-03,
  6.30372564e-03,-1.61917553e-03, 0.00000000e+00,-2.95902835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.63905858, -8.61268721, -0.63905858, 10.98416478,
       -0.17420608, -8.61268721, -0.17420608,  8.64928967,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01451237656704432
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7911808 ,  0.3955904 ,  0.4664131 ,  0.34078213,  0.91842704,
       -0.20089625, -0.50783903,  0.        , -0.86145198])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.09965111, -0.02156401,  0.0611863 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.28219427e-05, 5.15677809e-05, 2.01084792e-05,-9.97544630e-06,
 -4.13014251e-05,-4.52493386e-07, 4.48763013e-05, 1.73040559e-05,
 -1.64142751e-05,-1.08606711e-06,-1.84478612e-05, 6.26300941e-05,
 -7.09755776e-05,-7.04086087e-06,-1.99788178e-05,-1.06899412e-04,
 -2.29712628e-02,-4.32896517e-02,-7.83108851e+00, 6.00922845e-03,
 -1.58802831e-01,-9.70027734e-04]


--- Step 1338 ---
qpos:
[-5.41732781e-04, 8.77130654e-01,-2.02755801e-02,-2.75333447e-02,
  7.58797107e-03, 8.64450748e-01,-2.80109598e-02, 9.44740538e-03,
  2.22174673e-02, 8.72933120e-01,-2.02115196e-02, 2.24360631e-02,
  1.30816964e+00,-1.00380964e-02, 9.59479757e-01, 6.15966260e-02,
 -7.54460456e-02,-3.30930240e-02, 6.86411277e-02, 7.07068666e-01,
  1.65710427e-03,-7.06682971e-01,-2.55016621e-02]

qacc:
[ 1.38667980e-01,-2.01882594e-01,-1.68134804e+00, 1.06979771e+01,
  4.87911720e-02,-2.22288612e-01, 9.66922294e-01,-2.62472194e+00,
  4.06112062e-02, 1.95264124e+00,-1.06929703e+01, 2.74808429e+01,
 -1.02648283e+00, 1.97651616e+00, 1.77656855e-01,-1.04404607e+00,
  1.35044857e+01, 2.59197036e+00,-3.68534710e+00, 6.51644904e+01,
  4.00048799e+02, 7.14981848e+02]

qfrc_actuator:
[ 2.51528225e-03, 2.76984116e-02, 8.75117413e-03, 1.61764397e-03,
  3.04811578e-06, 2.75754373e-02, 8.77141585e-03, 1.61681185e-03,
 -2.40194538e-03, 2.75916808e-02, 8.68665616e-03, 1.76232943e-03,
  6.29411939e-03,-1.57182198e-03, 0.00000000e+00,-2.96157006e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 4.65444146, 7.27481625, 4.65444146, 6.9887119 ,
       1.05417075, 7.27481625, 1.05417075, 7.96190316, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.00684536101117425
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.62186190e-14, -1.62186190e-14,  1.00000000e+00,  2.63043604e-28,
        1.00000000e+00,  1.62186190e-14, -1.00000000e+00,  0.00000000e+00,
        1.62186190e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12601459, -0.04157478,  0.06118042])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.56537559e-05, 1.74508553e-05, 3.30179892e-05, 3.07969440e-05,
  8.85449241e-06,-2.18958301e-05,-9.44576322e-06,-6.82716256e-06,
  7.52943697e-06, 4.24611855e-05, 2.05456302e-05, 5.32640113e-05,
 -5.33589201e-05, 2.99633916e-05,-2.56016570e-05,-1.20851068e-05,
 -1.67788744e-02,-3.98720359e-02,-7.78212332e+00, 7.13597979e-03,
 -1.56521497e-01,-1.04180279e-03]


--- Step 1339 ---
qpos:
[-5.39842426e-04, 8.77132474e-01,-2.02757771e-02,-2.75330883e-02,
  7.58817092e-03, 8.64454155e-01,-2.80093964e-02, 9.44773204e-03,
  2.22174526e-02, 8.72934212e-01,-2.02130970e-02, 2.24367052e-02,
  1.30837532e+00,-1.00366050e-02, 9.59725112e-01, 6.15934308e-02,
 -7.55817380e-02,-3.29439531e-02, 6.86203407e-02, 7.07702074e-01,
  3.49252135e-03,-7.06022725e-01,-2.60286034e-02]

qacc:
[ 1.56210798e-02, 1.17894693e+00,-5.28944117e+00, 1.12892884e+01,
  1.17139808e-01, 2.68568034e+00,-1.44577271e+01, 3.25077996e+01,
 -2.65827875e-02,-2.39937227e+00, 1.29815650e+01,-2.83253366e+01,
 -1.46288045e-02,-1.10541397e-01,-1.19883975e+01, 4.05704966e+01,
  1.08423649e+01, 2.31510739e+00,-5.08981927e+00, 4.24160898e+01,
  3.44713161e+02, 6.23911906e+02]

qfrc_actuator:
[ 2.50586220e-03, 2.77064714e-02, 8.74532861e-03, 1.63419559e-03,
  2.01070688e-05, 2.75373415e-02, 8.74365676e-03, 1.66518593e-03,
 -2.41050231e-03, 2.76355651e-02, 8.71766518e-03, 1.72177452e-03,
  6.27564579e-03,-1.57994796e-03, 0.00000000e+00,-2.76497510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.29797288,  5.90951051,  6.29797288, 16.31993029,
       -8.18864682,  5.90951051, -8.18864682, 17.36329213,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006912712809514082
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.03029907e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.03029907e-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([-0.12702495, -0.04223271,  0.06117611])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91954448e-06, 2.59167852e-05, 2.87826360e-06, 1.90381701e-05,
  2.12699784e-05,-5.26862927e-05,-3.37258218e-05, 4.69683420e-05,
 -4.93012874e-06, 7.41556118e-05, 4.41627242e-05,-3.69877837e-05,
 -4.32759903e-05,-1.37073869e-05,-1.68790224e-05, 1.91791745e-04,
 -1.40456299e-02, 1.06055291e-02,-7.80050592e+00, 5.52428565e-03,
 -1.57192941e-01,-1.00930669e-03]


--- Step 1340 ---
qpos:
[-5.37820081e-04, 8.77134686e-01,-2.02758472e-02,-2.75326741e-02,
  7.58839594e-03, 8.64456920e-01,-2.80077591e-02, 9.44863847e-03,
  2.22173603e-02, 8.72935610e-01,-2.02144349e-02, 2.24362089e-02,
  1.30858055e+00,-1.00351055e-02, 9.59970435e-01, 6.15915633e-02,
 -7.56822327e-02,-3.27872009e-02, 6.85758978e-02, 7.08783917e-01,
  4.63124097e-03,-7.04939793e-01,-2.57643036e-02]

qacc:
[ 6.85409356e-02, 4.89469619e-01,-1.65693891e+00, 3.89436980e+00,
  1.35343063e-02, 1.38639326e-01,-4.17321252e+00, 1.45622014e+01,
 -4.02872045e-02,-2.60474131e+00, 1.46847904e+01,-3.49995164e+01,
 -2.76528432e-01, 2.77493077e-01,-4.04147134e+00, 1.41032153e+01,
  8.79944046e+00, 1.92031530e+00,-5.91395900e+00, 2.65058435e+01,
  3.00186193e+02, 5.31021968e+02]

qfrc_actuator:
[ 2.51718851e-03, 2.77459646e-02, 8.75969458e-03, 1.64381450e-03,
  1.23760104e-05, 2.74955879e-02, 8.74437234e-03, 1.69348596e-03,
 -2.41559975e-03, 2.76256521e-02, 8.71885267e-03, 1.66217113e-03,
  6.24119589e-03,-1.58541116e-03, 0.00000000e+00,-2.70119256e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.85401143,  6.34959267,  5.85401143, 17.17879577,
       -7.87570132,  6.34959267, -7.87570132, 15.89737202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00685974137940451
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -8.09230963e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  8.09230963e-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([-0.12727646, -0.04219309,  0.06118063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.27299791e-05, 5.53492344e-05, 2.07170765e-05, 1.11953244e-05,
  2.38377302e-06,-7.62591945e-05,-1.27354578e-05, 2.57813132e-05,
 -7.45940973e-06, 3.90760668e-05, 2.06675942e-05,-5.56173250e-05,
 -6.30700739e-05,-1.80925353e-05, 1.06754413e-05, 7.16362404e-05,
 -2.88816035e-02, 2.44963781e-02,-7.81888652e+00, 5.38402233e-03,
 -1.58026617e-01,-9.87571210e-04]


--- Step 1341 ---
qpos:
[-5.35857226e-04, 8.77137325e-01,-2.02757496e-02,-2.75325010e-02,
  7.58839700e-03, 8.64459442e-01,-2.80059090e-02, 9.44808906e-03,
  2.22173842e-02, 8.72936974e-01,-2.02155869e-02, 2.24353962e-02,
  1.30878532e+00,-1.00336364e-02, 9.60216338e-01, 6.15857915e-02,
 -7.58055838e-02,-3.26412670e-02, 6.84915779e-02, 7.10321631e-01,
  5.05385499e-03,-7.03427314e-01,-2.46506165e-02]

qacc:
[-3.09681232e-02,-4.01856665e-01, 3.26470914e+00,-8.01180811e+00,
 -1.17529009e-01,-3.90862447e+00, 1.96195892e+01,-4.49833031e+01,
  6.04764445e-02,-1.21349820e+00, 5.59931705e+00,-1.13479420e+01,
 -5.35067857e-01, 6.64940769e-01, 1.26707976e+01,-4.30284068e+01,
 -5.71411107e+00,-2.70456893e+00,-9.96927402e+00, 3.90125228e+01,
  3.05650472e+02, 5.58300076e+02]

qfrc_actuator:
[ 2.50534353e-03, 2.77685399e-02, 8.76826600e-03, 1.63157282e-03,
 -1.01203736e-05, 2.75053200e-02, 8.76185513e-03, 1.62099240e-03,
 -2.40082215e-03, 2.76012084e-02, 8.71995662e-03, 1.64504335e-03,
  6.21316135e-03,-1.58929373e-03, 0.00000000e+00,-2.91150955e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.17502777,  8.35799205, -2.17502777, 13.23952733,
        1.19789643,  8.35799205,  1.19789643,  8.94809617,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008798929168798883
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.57924072, -0.28962036,  0.76197128, -0.17527177,  0.9571416 ,
        0.230564  , -0.79609044,  0.        , -0.60517767])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1276958 , -0.04223135,  0.06119251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.71919618e-06, 5.82277909e-05, 2.29221293e-05,-8.94224586e-06,
 -2.13715974e-05,-3.45160076e-05, 1.02011610e-06,-7.57078519e-05,
  1.11956907e-05,-7.30058121e-07, 9.79682030e-06,-1.58197025e-05,
 -6.91999280e-05,-2.20504848e-05, 7.77181694e-06,-2.06125026e-04,
 -5.46211908e-02, 1.46080233e-02,-7.83504538e+00, 6.11067643e-03,
 -1.58846599e-01,-9.71094513e-04]


--- Step 1342 ---
qpos:
[-5.34373010e-04, 8.77140309e-01,-2.02760588e-02,-2.75324252e-02,
  7.58815122e-03, 8.64462392e-01,-2.80044874e-02, 9.44663241e-03,
  2.22175551e-02, 8.72938460e-01,-2.02170190e-02, 2.24340522e-02,
  1.30898979e+00,-1.00327714e-02, 9.60462212e-01, 6.15778978e-02,
 -7.59150265e-02,-3.25213051e-02, 6.84529412e-02, 7.11005621e-01,
  5.41194753e-03,-7.02757754e-01,-2.39427731e-02]

qacc:
[-2.49098369e-01, 1.39289418e+00,-3.89266395e+00, 2.60524974e+00,
 -1.30148705e-01,-1.04161942e-01, 5.02337368e+00,-2.03565094e+01,
  7.61850645e-02,-1.50652334e-01, 3.01346173e+00,-1.18513483e+01,
  1.70134668e-01,-8.47366050e-01, 6.34091378e+00,-2.22968733e+01,
  3.47708042e+00,-6.49300468e+00, 1.14208009e+01,-1.53110140e+02,
 -6.01459268e+02,-1.29839297e+02]

qfrc_actuator:
[ 2.46198183e-03, 2.77630213e-02, 8.73776394e-03, 1.62430320e-03,
 -2.34842448e-05, 2.75635547e-02, 8.75372441e-03, 1.57858952e-03,
 -2.39203486e-03, 2.76037689e-02, 8.70321573e-03, 1.61752897e-03,
  6.18899421e-03,-1.62769797e-03, 0.00000000e+00,-3.01529577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.93221529,  8.58590423, -0.93221529, 36.05260957,
        2.97672124,  8.58590423,  2.97672124,  8.9595614 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0068901742680161915
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.05656709e-15,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        8.05656709e-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([-0.04870652, -0.02819927,  0.06117943])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.61119129e-05, 3.13238539e-05,-1.59861372e-05,-4.16318729e-06,
 -2.35369847e-05, 3.58245308e-05,-1.77873084e-05,-4.53254133e-05,
  1.41759628e-05, 3.47730334e-06,-1.62328327e-05,-2.75138209e-05,
 -7.02418297e-05,-5.86170411e-05,-2.57656149e-05,-1.15737184e-04,
 -9.44034881e-02,-1.80156423e-02,-7.85177224e+00, 7.62998632e-03,
 -1.59789110e-01,-9.48783631e-04]


--- Step 1343 ---
qpos:
[-5.33392264e-04, 8.77143508e-01,-2.02769535e-02,-2.75324069e-02,
  7.58807882e-03, 8.64465275e-01,-2.80030913e-02, 9.44574974e-03,
  2.22184027e-02, 8.72939894e-01,-2.02188850e-02, 2.24327678e-02,
  1.30919385e+00,-1.00321232e-02, 9.60707045e-01, 6.15758115e-02,
 -7.60146127e-02,-3.24222309e-02, 6.84485186e-02, 7.10961795e-01,
  5.74257272e-03,-7.02811629e-01,-2.35830970e-02]

qacc:
[-2.62063984e-01, 1.80043447e+00,-5.76606911e+00, 5.55128401e+00,
  9.11289767e-02, 1.16375608e+00,-6.70084151e+00, 1.67264212e+01,
  3.51309921e-01, 1.26526965e+00,-4.86378625e+00, 6.62811240e+00,
  1.92268638e-01,-6.41011314e-01,-1.90845075e+01, 6.45067904e+01,
  2.46415912e+00,-5.22191629e+00, 8.55355267e+00,-1.21473497e+02,
 -5.14194144e+02,-1.20878465e+02]

qfrc_actuator:
[ 2.43565831e-03, 2.77583088e-02, 8.70207786e-03, 1.61996956e-03,
  4.24910938e-06, 2.75438007e-02, 8.74853447e-03, 1.60753270e-03,
 -2.33366123e-03, 2.75868855e-02, 8.67615938e-03, 1.61962937e-03,
  6.17780122e-03,-1.63297142e-03, 0.00000000e+00,-2.70033155e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.63220678,  5.53178182,  6.63220678,  9.62622326,
       -1.18677018,  5.53178182, -1.18677018, 10.05921534,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007045614774162434
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.87882293e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.87882293e-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([-0.04927225, -0.02807829,  0.06116859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.85093254e-05, 9.24713187e-06,-3.13520792e-05,-3.63111562e-06,
  1.65381934e-05,-5.41955243e-06,-1.58361304e-06, 2.89761331e-05,
  6.51972426e-05,-1.94907407e-05,-2.92884090e-05, 1.15393289e-06,
 -6.64626344e-05,-3.33499352e-05,-2.87392721e-05, 3.04291100e-04,
 -2.39725709e-02,-4.18177786e-03,-7.85003482e+00, 6.82235810e-03,
 -1.59463355e-01,-1.03414269e-03]


--- Step 1344 ---
qpos:
[-5.32634351e-04, 8.77146533e-01,-2.02772879e-02,-2.75324701e-02,
  7.58826263e-03, 8.64467885e-01,-2.80016293e-02, 9.44489596e-03,
  2.22199316e-02, 8.72940913e-01,-2.02201399e-02, 2.24325287e-02,
  1.30939756e+00,-1.00316150e-02, 9.60951519e-01, 6.15784440e-02,
 -7.61073561e-02,-3.23398956e-02, 6.84677644e-02, 7.10298185e-01,
  6.07058546e-03,-7.03481656e-01,-2.35201264e-02]

qacc:
[-1.15396504e-01,-1.96273656e+00, 7.00795952e+00,-9.18567228e+00,
  1.34739117e-01,-4.85656794e-01, 1.08519771e+00,-4.89508953e-01,
  3.54580851e-01,-1.04402663e-01,-4.83782335e+00, 2.22599876e+01,
  8.85810825e-02,-3.93807608e-01,-1.47809714e+01, 5.09328153e+01,
  1.71069059e+00,-4.18471362e+00, 5.91706656e+00,-9.61477100e+01,
 -4.37708270e+02,-1.10094145e+02]

qfrc_actuator:
[ 2.43752661e-03, 2.77540732e-02, 8.73463328e-03, 1.61739652e-03,
  2.08140494e-05, 2.75130819e-02, 8.74487730e-03, 1.60715465e-03,
 -2.29938203e-03, 2.75762131e-02, 8.71419017e-03, 1.67462548e-03,
  6.16908657e-03,-1.63626466e-03, 0.00000000e+00,-2.46074516e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.64501298,  5.51639188,  6.64501298, 10.04336231,
       -1.69486226,  5.51639188, -1.69486226, 10.67798467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007040829610116747
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.88417762e-15,  1.57683552e-14,  1.00000000e+00, -1.24320513e-28,
        1.00000000e+00, -1.57683552e-14, -1.00000000e+00,  0.00000000e+00,
        7.88417762e-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([-0.04937684, -0.02795372,  0.06116855])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.14733762e-05,-5.77056239e-06, 3.04593288e-05,-3.33598672e-06,
  2.44338572e-05,-3.29114831e-05,-4.00138922e-06,-1.06452884e-07,
  6.56479849e-05,-2.75794106e-05, 3.04418797e-05, 5.31714999e-05,
 -5.53743058e-05,-2.54533525e-05, 1.88479914e-05, 2.52445951e-04,
 -3.94089145e-03, 1.38894441e-04,-7.84812921e+00, 6.59847352e-03,
 -1.59304367e-01,-1.07724158e-03]


--- Step 1345 ---
qpos:
[-5.32158076e-04, 8.77149388e-01,-2.02769257e-02,-2.75325744e-02,
  7.58829791e-03, 8.64470585e-01,-2.80006426e-02, 9.44403555e-03,
  2.22216226e-02, 8.72941790e-01,-2.02207116e-02, 2.24325642e-02,
  1.30960093e+00,-1.00314184e-02, 9.61196227e-01, 6.15822577e-02,
 -7.61954603e-02,-3.22709200e-02, 6.85010713e-02, 7.09108352e-01,
  6.41186377e-03,-7.04671675e-01,-2.37078689e-02]

qacc:
[-1.45869870e-01,-2.25437545e+00, 7.88508238e+00,-9.58268982e+00,
 -7.83655614e-02, 1.43040291e+00,-4.90260957e+00, 5.48406549e+00,
  8.47319242e-02,-1.53249384e+00, 4.03122120e+00,-2.66868879e-01,
  4.88678424e-02,-4.48503733e-01,-3.22959770e+00, 1.17823631e+01,
  1.15977782e+00,-3.33994934e+00, 3.51529037e+00,-7.57624305e+01,
 -3.70374311e+02,-9.83167852e+01]

qfrc_actuator:
[ 2.42072550e-03, 2.77504262e-02, 8.77171677e-03, 1.61592694e-03,
 -4.97950100e-06, 2.75292759e-02, 8.72430606e-03, 1.60725200e-03,
 -2.31534013e-03, 2.75874033e-02, 8.75489667e-03, 1.68933896e-03,
  6.14589156e-03,-1.65611250e-03, 0.00000000e+00,-2.40964072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.72156489,  5.42285371,  6.72156489, 10.54202607,
       -2.3620467 ,  5.42285371, -2.3620467 , 11.5640934 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006904758772550229
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.03954969e-15,  8.03954969e-15,  1.00000000e+00, -6.46343592e-29,
        1.00000000e+00, -8.03954969e-15, -1.00000000e+00,  0.00000000e+00,
        8.03954969e-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([-0.04911561, -0.0278251 ,  0.06117707])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.71387419e-05,-7.98757271e-07, 3.95074607e-05,-7.31274082e-07,
 -1.41702116e-05,-3.10983843e-06,-2.78962878e-05,-1.45850503e-06,
  1.56247461e-05, 4.33152896e-06, 4.06023843e-05, 1.56197320e-05,
 -6.12241169e-05,-3.79459045e-05, 3.22326379e-05, 6.65418489e-05,
 -1.57593120e-02,-2.43258469e-03,-7.84614038e+00, 6.80375047e-03,
 -1.59260259e-01,-1.09700578e-03]


--- Step 1346 ---
qpos:
[-5.31737896e-04, 8.77151933e-01,-2.02762847e-02,-2.75326482e-02,
  7.58810100e-03, 8.64473518e-01,-2.80000240e-02, 9.44315639e-03,
  2.22229158e-02, 8.72942850e-01,-2.02214369e-02, 2.24324462e-02,
  1.30980375e+00,-1.00311220e-02, 9.61441386e-01, 6.15840141e-02,
 -7.63227977e-02,-3.22181294e-02, 6.84952406e-02, 7.08679300e-01,
  5.63502674e-03,-7.05142600e-01,-2.27114286e-02]

qacc:
[-2.88711969e-02,-1.12590546e+00, 3.29104473e+00,-2.98214795e+00,
 -1.22289073e-01, 1.29757019e+00,-4.09943459e+00, 4.19262674e+00,
 -2.06886253e-01, 3.57084266e-01,-2.72041767e-01,-2.27336709e+00,
 -6.19266321e-01, 8.59349336e-01, 6.90845022e+00,-2.31316108e+01,
 -9.80828562e+00,-4.04622773e+00,-9.78441621e+00, 9.83451371e+00,
  5.13551089e+02, 8.20522304e+02]

qfrc_actuator:
[ 2.42837593e-03, 2.77116923e-02, 8.77565139e-03, 1.61511150e-03,
 -2.03806168e-05, 2.75556118e-02, 8.71185385e-03, 1.60765855e-03,
 -2.36119396e-03, 2.75938527e-02, 8.74363397e-03, 1.68023553e-03,
  6.11401990e-03,-1.65016029e-03, 0.00000000e+00,-2.52323324e-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, 2.38020719e-03, 8.63636331e+00, 2.38020719e-03,
       3.59958133e+00, 1.38815205e-03, 8.63636331e+00, 1.38815205e-03,
       8.63636325e+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: -0.010002047014765756
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-6.62428083e-01, -3.31214041e-01,  6.71927298e-01, -2.32530517e-01,
        9.43555647e-01,  2.35865003e-01, -7.12122597e-01, -2.77555756e-17,
       -7.02055131e-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([-0.12709676, -0.04115913,  0.06118841])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.41245157e-06,-3.11270572e-05, 8.58626995e-06, 4.98877821e-07,
 -2.21443038e-05, 1.87004399e-05,-1.66097727e-05,-7.24659631e-07,
 -3.83349767e-05, 1.79164628e-05,-4.82723154e-06,-7.20932937e-06,
 -7.63576332e-05,-1.60592638e-05, 1.60464669e-05,-1.07185077e-04,
 -4.63217807e-02,-9.54577228e-03,-7.84436144e+00, 7.30583098e-03,
 -1.59290397e-01,-1.10518610e-03]


--- Step 1347 ---
qpos:
[-5.31114220e-04, 8.77153929e-01,-2.02751420e-02,-2.75330604e-02,
  7.58788508e-03, 8.64476820e-01,-2.79996682e-02, 9.44226364e-03,
  2.22240977e-02, 8.72943839e-01,-2.02227708e-02, 2.24329763e-02,
  1.31000611e+00,-1.00308018e-02, 9.61686428e-01, 6.15857597e-02,
 -7.64143480e-02,-3.21562451e-02, 6.84686470e-02, 7.08800119e-01,
  4.06224662e-03,-7.05085669e-01,-2.09782687e-02]

qacc:
[ 1.06225798e-01,-2.82528851e+00, 1.04439078e+01,-1.66914866e+01,
 -1.02881367e-02, 1.19168206e+00,-3.48646919e+00, 3.40191879e+00,
 -5.81252108e-02, 2.93701722e+00,-1.33481253e+01, 2.55912030e+01,
 -3.57550369e-01, 4.17644503e-01,-1.21488759e-01, 2.14618277e-01,
  8.94678403e+00, 2.27341400e+00,-5.19069060e+00,-2.98314642e+01,
  3.73946294e+02, 5.46433427e+02]

qfrc_actuator:
[ 2.45058441e-03, 2.76698675e-02, 8.79534113e-03, 1.59688082e-03,
 -1.16505857e-05, 2.75878522e-02, 8.70435586e-03, 1.60826539e-03,
 -2.35347955e-03, 2.75616824e-02, 8.70175344e-03, 1.71041797e-03,
  6.09827741e-03,-1.64676734e-03, 0.00000000e+00,-2.51984649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.15700466, -7.57007854,  4.15700466,  7.41191475,
       -0.67238929, -7.57007854, -0.67238929,  8.26713029,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006777672163197322
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.19029748e-15, -2.45708924e-14,  1.00000000e+00,  2.01242918e-28,
        1.00000000e+00,  2.45708924e-14, -1.00000000e+00,  0.00000000e+00,
        8.19029748e-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([-0.12706685, -0.04109556,  0.06118276])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95951136e-05,-5.75016642e-05, 1.43118953e-05,-1.92607398e-05,
 -1.80530352e-06, 3.91594521e-05,-5.73389436e-06, 8.15334510e-07,
 -1.07263643e-05,-2.34786992e-05,-3.90250946e-05, 3.06432887e-05,
 -6.44005624e-05,-1.73116896e-05,-1.09843521e-05,-2.01074451e-06,
 -6.71044829e-03, 1.33528525e-02,-7.84888582e+00, 5.73601606e-03,
 -1.59522159e-01,-1.05510909e-03]


--- Step 1348 ---
qpos:
[-5.30626790e-04, 8.77155673e-01,-2.02741406e-02,-2.75336813e-02,
  7.58790219e-03, 8.64480244e-01,-2.79993855e-02, 9.44243911e-03,
  2.22258227e-02, 8.72944386e-01,-2.02241309e-02, 2.24335266e-02,
  1.31020814e+00,-1.00305150e-02, 9.61931117e-01, 6.15895152e-02,
 -7.64766713e-02,-3.20868996e-02, 6.84181559e-02, 7.09390048e-01,
  1.80324023e-03,-7.04567930e-01,-1.86155637e-02]

qacc:
[-7.08105662e-02,-3.66072584e-01, 1.70377120e+00,-4.90223772e+00,
  1.22397432e-01, 2.56276691e+00,-1.34142274e+01, 3.19328133e+01,
  2.82296167e-01,-4.68295344e-01, 7.37753319e-01,-2.02651149e-02,
 -1.08712259e-01, 1.95652545e-02,-6.58504821e+00, 2.22918719e+01,
  7.30674675e+00, 1.86528277e+00,-5.97441640e+00,-2.70433241e+01,
  3.22773091e+02, 4.69021579e+02]

qfrc_actuator:
[ 2.42803266e-03, 2.76620568e-02, 8.78864415e-03, 1.58631033e-03,
  1.14378481e-05, 2.75879021e-02, 8.69987247e-03, 1.66225265e-03,
 -2.29599903e-03, 2.75242754e-02, 8.69527646e-03, 1.71017392e-03,
  6.09222297e-03,-1.64487398e-03, 0.00000000e+00,-2.41199036e-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, -6.30497187e-03,  8.63636133e+00, -6.30497187e-03,
        4.35853099e+01,  2.55144631e-02,  8.63636133e+00,  2.55144631e-02,
        8.63638226e+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: -0.006711058718827642
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.27159373e-15, -4.13579687e-15,  1.00000000e+00,  3.42096314e-29,
        1.00000000e+00,  4.13579687e-15, -1.00000000e+00,  0.00000000e+00,
        8.27159373e-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([-0.12725313, -0.041109  ,  0.06118644])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31362392e-05,-3.78865611e-05,-1.74994515e-05,-1.29158514e-05,
  2.22342070e-05, 2.07172510e-05, 2.89831483e-06, 5.54782536e-05,
  5.23179789e-05,-5.72961602e-05,-1.50707380e-05,-2.00421356e-06,
 -4.80742959e-05,-1.62694986e-05,-9.65036868e-06, 1.05317590e-04,
 -2.14554571e-04,-4.22096931e-03,-7.84686961e+00, 5.85919472e-03,
 -1.59517652e-01,-1.02294877e-03]


--- Step 1349 ---
qpos:
[-5.30899238e-04, 8.77157118e-01,-2.02735164e-02,-2.75340559e-02,
  7.58780173e-03, 8.64483614e-01,-2.79990163e-02, 9.44258142e-03,
  2.22276035e-02, 8.72944920e-01,-2.02248972e-02, 2.24336258e-02,
  1.31040987e+00,-1.00304672e-02, 9.62175699e-01, 6.15945036e-02,
 -7.65389675e-02,-3.20240027e-02, 6.84043263e-02, 7.09241304e-01,
 -2.27237203e-04,-7.04770624e-01,-1.65857667e-02]

qacc:
[-3.94984457e-01, 1.16499632e+00,-5.76499505e+00, 1.08446017e+01,
 -6.16897253e-02,-3.82952783e-01, 1.39971272e+00,-2.07197081e+00,
  2.93457266e-02,-2.60365109e+00, 1.11643319e+01,-1.99137624e+01,
  3.04538642e-02,-3.50187039e-01,-3.88451031e+00, 1.33503394e+01,
  6.77022444e-03,-1.61211979e+00, 9.16540701e+00,-2.88484692e+01,
 -5.13930521e+02,-2.04814834e+02]

qfrc_actuator:
[ 2.36113050e-03, 2.76390703e-02, 8.76655768e-03, 1.59809428e-03,
 -1.03610204e-05, 2.75687358e-02, 8.69711327e-03, 1.65842862e-03,
 -2.31578443e-03, 2.75728877e-02, 8.74520792e-03, 1.69204258e-03,
  6.07068302e-03,-1.66158524e-03, 0.00000000e+00,-2.34998487e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -5.04534564,  7.00936974, -5.04534564, 12.55908994,
        2.82357912,  7.00936974,  2.82357912, 10.66877641,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00688907560387942
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.41012409e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.41012409e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.04964088, -0.02765711,  0.06117281])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.32302214e-05,-4.83883669e-05,-3.25334783e-05, 9.30220432e-06,
 -1.12164982e-05,-4.68784278e-06, 3.76688579e-06,-1.76249082e-06,
  5.38076545e-06, 1.33805167e-05, 3.61770631e-05,-2.11473825e-05,
 -5.36033755e-05,-3.09592149e-05, 3.50649950e-06, 6.57466421e-05,
 -9.99215185e-03,-4.05027693e-02,-7.84093815e+00, 6.63264334e-03,
 -1.59380651e-01,-9.96008295e-04]


--- Step 1350 ---
qpos:
[-5.31763783e-04, 8.77158251e-01,-2.02731713e-02,-2.75342915e-02,
  7.58732337e-03, 8.64486766e-01,-2.79988773e-02, 9.44306586e-03,
  2.22290960e-02, 8.72945592e-01,-2.02254468e-02, 2.24338574e-02,
  1.31061122e+00,-1.00303450e-02, 9.62420832e-01, 6.15955027e-02,
 -7.66022448e-02,-3.19663081e-02, 6.84164742e-02, 7.08461636e-01,
 -2.06379629e-03,-7.05590227e-01,-1.48419159e-02]

qacc:
[-3.07738946e-01, 6.54290607e-01,-3.51458151e+00, 6.58984623e+00,
 -1.98580941e-01, 1.06016315e+00,-5.64108209e+00, 1.20917881e+01,
 -1.49714540e-01,-1.49968142e-01, 2.40776748e-01, 1.60411370e+00,
 -5.66048168e-01, 8.22807665e-01, 1.28847936e+01,-4.38362935e+01,
 -2.45276118e-01,-1.30060527e+00, 6.49436691e+00,-2.69515896e+01,
 -4.39457105e+02,-1.75039082e+02]

qfrc_actuator:
[ 2.33930674e-03, 2.76248805e-02, 8.75328240e-03, 1.60516668e-03,
 -4.10822529e-05, 2.75381688e-02, 8.67750542e-03, 1.67384981e-03,
 -2.34615410e-03, 2.75840969e-02, 8.75736443e-03, 1.69914748e-03,
  6.05583897e-03,-1.65373518e-03, 0.00000000e+00,-2.56405353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.6014865 ,  8.61539267,  0.6014865 , 24.34949172,
       -1.09701726,  8.61539267, -1.09701726,  8.71295226,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006918877146729473
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.01157226e-15, -1.20347168e-14,  1.00000000e+00,  4.82781359e-29,
        1.00000000e+00,  1.20347168e-14, -1.00000000e+00,  0.00000000e+00,
        4.01157226e-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([-0.04983364, -0.02764696,  0.06116949])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.70633575e-05,-4.76137226e-05,-2.69679098e-05, 4.05531390e-06,
 -3.60594902e-05,-3.25708429e-05,-2.02025175e-05, 1.53107046e-05,
 -2.77788104e-05, 2.52551426e-05, 1.86478571e-05, 8.51895951e-06,
 -5.34812860e-05,-1.08094454e-05, 4.27816521e-06,-2.11049758e-04,
 -9.10001682e-04, 1.24434554e-02,-7.83939399e+00, 3.06372531e-03,
 -1.59282172e-01,-8.87645935e-04]


--- Step 1351 ---
qpos:
[-5.32304978e-04, 8.77159422e-01,-2.02731727e-02,-2.75344814e-02,
  7.58684859e-03, 8.64489226e-01,-2.79979477e-02, 9.44441272e-03,
  2.22302562e-02, 8.72946493e-01,-2.02266844e-02, 2.24338786e-02,
  1.31081237e+00,-1.00302432e-02, 9.62665922e-01, 6.15942782e-02,
 -7.67341867e-02,-3.18806244e-02, 6.84376500e-02, 7.08076404e-01,
 -1.90146969e-03,-7.05984053e-01,-1.45157782e-02]

qacc:
[ 1.67803227e-01, 1.11279506e+00,-4.08666790e+00, 5.40345709e+00,
  2.67688891e-03,-1.34765562e+00,-1.63199597e-01, 1.43337145e+01,
 -1.73109166e-01, 1.79092820e+00,-5.05901365e+00, 2.34860773e+00,
 -2.31165993e-01, 2.86229513e-01, 6.66161364e+00,-2.33744460e+01,
 -1.71661567e+01, 6.99729277e+00, 2.25697756e+00, 2.05152104e+02,
  3.06275635e+02,-1.20402989e+03]

qfrc_actuator:
[ 2.39792408e-03, 2.76516057e-02, 8.74534664e-03, 1.60942103e-03,
 -2.35916363e-05, 2.75009449e-02, 8.71908124e-03, 1.71820873e-03,
 -2.36479990e-03, 2.75727178e-02, 8.71149020e-03, 1.68548564e-03,
  6.06100840e-03,-1.64911856e-03, 0.00000000e+00,-2.67274811e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 4.82369821, 7.16370801, 4.82369821, 5.64468439,
       2.01445366, 7.16370801, 2.01445366, 7.27992692, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.012839212098126287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.7489729 ,  0.37448645,  0.54662556,  0.30249181,  0.92723239,
       -0.22076867, -0.5895238 ,  0.        , -0.80775101])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10129281, -0.02076682,  0.06116083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11563949e-05,-5.32831997e-06,-2.09598227e-05, 1.36136042e-06,
  3.26751322e-07,-5.90346338e-05, 3.28634769e-05, 4.25570527e-05,
 -3.20078576e-05, 6.94807978e-06,-3.80657466e-05,-1.17684031e-05,
 -2.91183688e-05,-9.56524211e-06,-2.77091956e-05,-1.21345754e-04,
 -2.07768788e-02, 4.73877900e-02,-7.83716840e+00, 5.26969088e-04,
 -1.59232598e-01,-7.94625867e-04]


--- Step 1352 ---
qpos:
[-5.32325522e-04, 8.77161085e-01,-2.02738111e-02,-2.75346580e-02,
  7.58648747e-03, 8.64491102e-01,-2.79962233e-02, 9.44626588e-03,
  2.22311378e-02, 8.72947981e-01,-2.02289167e-02, 2.24333665e-02,
  1.31101326e+00,-1.00300691e-02, 9.62910545e-01, 6.15940610e-02,
 -7.69197547e-02,-3.17747789e-02, 6.84632112e-02, 7.08012503e-01,
 -5.83813924e-05,-7.06031892e-01,-1.54032349e-02]

qacc:
[ 2.69995659e-01, 2.45616363e+00,-7.87081347e+00, 8.75837183e+00,
  6.04384900e-02,-1.94827167e+00, 3.69024594e+00, 4.22961878e+00,
 -1.45673929e-01, 2.45620342e+00,-5.38039856e+00,-2.69308325e+00,
 -1.89794958e-01, 2.57039198e-01,-3.72049108e+00, 1.20378845e+01,
 -1.34065089e+01, 5.04045052e+00, 1.09633524e+00, 1.64459256e+02,
  2.49273248e+02,-1.02029382e+03]

qfrc_actuator:
[ 2.43311696e-03, 2.77026546e-02, 8.72304099e-03, 1.61202213e-03,
 -1.29095112e-05, 2.74780423e-02, 8.76093311e-03, 1.74376789e-03,
 -2.37625218e-03, 2.76186508e-02, 8.66712094e-03, 1.65965366e-03,
  6.04622728e-03,-1.64637709e-03, 0.00000000e+00,-2.61187246e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.60309036, -8.2347251 , -2.60309036, 10.93641121,
       -0.72707122, -8.2347251 , -0.72707122,  8.86619913,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.012726171850764419
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.74545785,  0.37272892,  0.55259908,  0.29943059,  0.92794027,
       -0.22196435, -0.59551148,  0.        , -0.8033468 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10142037, -0.02070957,  0.06115977])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.01793816e-05, 4.37769920e-05,-2.59496157e-05, 1.67235414e-06,
  1.08293121e-05,-4.73710461e-05, 3.51528707e-05, 2.49884796e-05,
 -2.68502786e-05, 4.14383307e-05,-4.80268732e-05,-2.70794050e-05,
 -3.46644684e-05,-5.46399626e-06,-3.01005873e-05, 4.96490409e-05,
 -6.82874061e-03, 1.32301678e-03,-7.84829470e+00, 2.78897085e-03,
 -1.59532609e-01,-8.63465529e-04]


--- Step 1353 ---
qpos:
[-5.32248068e-04, 8.77163048e-01,-2.02746999e-02,-2.75348049e-02,
  7.58624827e-03, 8.64493060e-01,-2.79948052e-02, 9.44840122e-03,
  2.22318120e-02, 8.72949758e-01,-2.02310985e-02, 2.24328593e-02,
  1.31121387e+00,-1.00298348e-02, 9.63155249e-01, 6.15921726e-02,
 -7.71461578e-02,-3.16553597e-02, 6.84886556e-02, 7.08201389e-01,
  3.18936106e-03,-7.05790597e-01,-1.73278238e-02]

qacc:
[ 5.06693746e-02, 1.15693773e+00,-3.67478222e+00, 4.36832426e+00,
  6.38476641e-02, 1.54404626e+00,-6.53995975e+00, 1.18552308e+01,
 -1.07779536e-01, 2.51075644e-01,-3.61347327e-01, 1.52510457e-01,
 -3.42881079e-01, 4.91338271e-01, 5.18468266e+00,-1.79241799e+01,
 -1.02087787e+01, 3.39342425e+00,-2.92028052e-02, 1.28913624e+02,
  2.02441026e+02,-8.61064992e+02]

qfrc_actuator:
[ 2.41842325e-03, 2.77145711e-02, 8.71029517e-03, 1.61364544e-03,
 -6.42397564e-06, 2.74994062e-02, 8.74937231e-03, 1.75805834e-03,
 -2.38330892e-03, 2.76452632e-02, 8.67749436e-03, 1.66243195e-03,
  6.03014048e-03,-1.64484528e-03, 0.00000000e+00,-2.70013307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.44317191, -8.28357941, -2.44317191,  9.42001335,
       -0.23113088, -8.28357941, -0.23113088,  8.70453374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.01247485337367558
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.74326535,  0.37163268,  0.5562785 ,  0.2975309 ,  0.92837985,
       -0.22267961, -0.59919277,  0.        , -0.80060478])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.10164808, -0.02053782,  0.06116738])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.45008900e-06, 3.10803810e-05,-6.85255146e-06, 2.62939919e-06,
  1.16323527e-05, 3.14590934e-06,-1.61794932e-05, 1.39555263e-05,
 -1.99682313e-05, 3.86856816e-05, 1.20865194e-05, 2.36750964e-06,
 -3.80446916e-05,-7.20466560e-06,-1.12304485e-05,-9.00434401e-05,
 -8.78889312e-03,-2.19420776e-03,-7.82309768e+00, 3.55224672e-03,
 -1.58280139e-01,-8.87950606e-04]


--- Step 1354 ---
qpos:
[-5.32400050e-04, 8.77164752e-01,-2.02749387e-02,-2.75349216e-02,
  7.58629418e-03, 8.64495100e-01,-2.79932456e-02, 9.44996921e-03,
  2.22321569e-02, 8.72951824e-01,-2.02331414e-02, 2.24320370e-02,
  1.31141419e+00,-1.00293209e-02, 9.63399242e-01, 6.15942461e-02,
 -7.74025943e-02,-3.15278779e-02, 6.85097521e-02, 7.08580471e-01,
  7.60226310e-03,-7.05301649e-01,-2.01371468e-02]

qacc:
[-1.18736069e-01,-2.09619056e+00, 6.84936027e+00,-7.17697012e+00,
  1.49807088e-01,-1.45467202e+00, 7.73883014e+00,-1.78464836e+01,
 -1.71177343e-01,-6.53190719e-01, 4.21532100e+00,-1.01042178e+01,
 -2.38579816e-01, 4.72273932e-01,-1.29951818e+01, 4.39774146e+01,
 -7.50835115e+00, 2.01564888e+00,-1.08695955e+00, 9.79178823e+01,
  1.63498791e+02,-7.23218786e+02]

qfrc_actuator:
[ 2.39176461e-03, 2.76852506e-02, 8.73865865e-03, 1.61466036e-03,
  1.52425012e-05, 2.75113918e-02, 8.75980507e-03, 1.73010390e-03,
 -2.40544091e-03, 2.76603464e-02, 8.68456083e-03, 1.64654623e-03,
  6.02393292e-03,-1.62630337e-03, 0.00000000e+00,-2.48504181e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -8.24880606,  -2.55811953,  -8.24880606,
        14.11571813, -17.66849911,  -2.55811953, -17.66849911,
        65.6094726 ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.012114248466373868
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.74219824,  0.37109912,  0.55805664,  0.296609  ,  0.92859326,
       -0.22301942, -0.60096994,  0.        , -0.79927162])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1019544 , -0.02027477,  0.06118194])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21118528e-05,-1.32818293e-05, 3.40204060e-05, 2.15758595e-06,
  2.72024876e-05, 1.09412896e-05, 9.54190933e-06,-2.81165365e-05,
 -3.17331176e-05, 3.92886798e-05, 1.66324065e-05,-1.37618507e-05,
 -3.05832890e-05, 8.66954467e-06,-1.98183543e-05, 2.07555040e-04,
 -1.89188157e-02, 1.81209414e-02,-7.77869897e+00, 3.63471426e-03,
 -1.56228138e-01,-8.99998581e-04]


--- Step 1355 ---
qpos:
[-5.33010608e-04, 8.77166201e-01,-2.02747946e-02,-2.75346618e-02,
  7.58661005e-03, 8.64497294e-01,-2.79919122e-02, 9.45155107e-03,
  2.22322061e-02, 8.72954110e-01,-2.02350703e-02, 2.24313869e-02,
  1.31161412e+00,-1.00285143e-02, 9.63643063e-01, 6.15988264e-02,
 -7.76104442e-02,-3.13897987e-02, 6.85136583e-02, 7.09484415e-01,
  1.11978518e-02,-7.04289304e-01,-2.19783857e-02]

qacc:
[-2.37957256e-01,-6.29464742e-01, 1.71619507e-01, 5.91116500e+00,
  1.41623976e-01, 8.65102071e-01,-2.84601865e+00, 3.33486172e+00,
 -1.53595057e-01, 3.25856627e-01,-1.46748609e+00, 4.10330151e+00,
 -4.08743157e-01, 7.22807211e-01,-7.79449164e+00, 2.69630092e+01,
  1.21466462e+01, 2.64936531e+00,-4.29757707e+00, 4.45638148e+01,
  3.65978932e+02, 6.34510060e+02]

qfrc_actuator:
[ 2.35821525e-03, 2.76671325e-02, 8.75538228e-03, 1.63305057e-03,
  2.80529549e-05, 2.75177188e-02, 8.74760327e-03, 1.73079708e-03,
 -2.41866041e-03, 2.76683959e-02, 8.68953456e-03, 1.65528540e-03,
  5.99703563e-03,-1.61555149e-03, 0.00000000e+00,-2.35919356e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.4424092 , -8.51505916,  1.4424092 ,  3.69554179,
       -0.83695095, -8.51505916, -0.83695095,  8.49458826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006784669314934523
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.18185068e-15, -2.45455520e-14,  1.00000000e+00,  2.00828042e-28,
        1.00000000e+00,  2.45455520e-14, -1.00000000e+00,  0.00000000e+00,
        8.18185068e-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([-0.12807791, -0.0407347 ,  0.06118248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.41927232e-05,-1.84673159e-05, 1.82354754e-05, 1.90393822e-05,
  2.57572881e-05, 1.31510649e-05,-9.77075808e-06, 9.36724089e-07,
 -2.84803430e-05, 3.28304987e-05, 1.46631456e-05, 1.07322302e-05,
 -4.28943974e-05, 5.78677728e-06, 1.13057411e-05, 1.34239577e-04,
 -3.22754517e-02, 4.97098260e-02,-7.72626771e+00, 3.55327195e-03,
 -1.53875341e-01,-9.19077681e-04]


--- Step 1356 ---
qpos:
[-5.33861143e-04, 8.77167595e-01,-2.02745183e-02,-2.75338466e-02,
  7.58731796e-03, 8.64499884e-01,-2.79908802e-02, 9.45344818e-03,
  2.22320328e-02, 8.72955447e-01,-2.02358502e-02, 2.24316166e-02,
  1.31181379e+00,-1.00278344e-02, 9.63887216e-01, 6.16022018e-02,
 -7.86630632e-02,-3.09380575e-02, 6.86425918e-02, 7.10429163e-01,
  1.63671649e-02,-7.03172996e-01,-2.38800556e-02]

qacc:
[-1.24577108e-01, 7.02753658e-01,-4.94949842e+00, 1.43794839e+01,
  2.05639970e-01, 2.01054411e+00,-7.74408189e+00, 1.33943757e+01,
 -1.14575159e-01,-2.65250261e+00, 3.92258059e+00, 1.01687637e+01,
 -1.56932291e-01, 6.03831171e-02, 4.13208766e+00,-1.37344453e+01,
 -2.11192273e+02, 7.84154904e+01, 3.12568236e+01, 5.35619431e+02,
  6.82061022e+01,-5.75757404e+02]

qfrc_actuator:
[ 2.35635763e-03, 2.76735871e-02, 8.76512912e-03, 1.66150748e-03,
  5.32035332e-05, 2.75560490e-02, 8.73988464e-03, 1.74832456e-03,
 -2.42643444e-03, 2.75656635e-02, 8.72872714e-03, 1.69619090e-03,
  5.97904662e-03,-1.62735131e-03, 0.00000000e+00,-2.42904192e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0990317562711484
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.89233066,  0.44616533,  0.06842877,  0.44485921,  0.89495056,
       -0.03411423, -0.07646096,  0.        , -0.99707258])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05460253, -0.04273787,  0.0611859 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.31245441e-05, 6.69406507e-07, 8.82661293e-06, 2.86663235e-05,
  3.74097824e-05, 4.36440803e-05,-6.20464874e-06, 1.77628570e-05,
 -2.14703486e-05,-8.09264325e-05, 4.81500014e-05, 4.30295390e-05,
 -4.16964747e-05,-2.03144614e-05, 1.53570310e-05,-6.20321765e-05,
 -5.89413057e-02, 8.17245141e-02,-7.75131415e+00, 3.16137522e-03,
 -1.54946238e-01,-8.98399126e-04]


--- Step 1357 ---
qpos:
[-5.34649461e-04, 8.77168891e-01,-2.02740338e-02,-2.75337324e-02,
  7.58817900e-03, 8.64503104e-01,-2.79897978e-02, 9.45513938e-03,
  2.22322588e-02, 8.72955816e-01,-2.02362239e-02, 2.24316998e-02,
  1.31201318e+00,-1.00270366e-02, 9.64131494e-01, 6.16040655e-02,
 -8.03852536e-02,-3.02393291e-02, 6.88703510e-02, 7.11363275e-01,
  2.27924870e-02,-7.01981174e-01,-2.57919388e-02]

qacc:
[ 3.24608363e-02,-2.15708943e+00, 1.04526942e+01,-2.28307276e+01,
  8.02428676e-02, 2.67712368e-01, 1.12298503e+00,-5.23092563e+00,
  2.08066906e-01,-2.71478938e+00, 8.44307074e+00,-1.09175109e+01,
 -3.90592002e-01, 6.07645817e-01, 4.77186486e+00,-1.63767116e+01,
 -1.67392862e+02, 6.17467840e+01, 2.47064196e+01, 4.41753581e+02,
  3.80001026e+01,-4.45978353e+02]

qfrc_actuator:
[ 2.37347989e-03, 2.76591826e-02, 8.77078741e-03, 1.62466434e-03,
  5.00228636e-05, 2.76132795e-02, 8.75277411e-03, 1.74014042e-03,
 -2.37763807e-03, 2.74863061e-02, 8.73411270e-03, 1.68460911e-03,
  5.97173019e-03,-1.61687454e-03, 0.00000000e+00,-2.50708339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.64590693, -8.61217633, -0.64590693, 51.35500692,
       -3.20386702, -8.61217633, -3.20386702,  8.87665132,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.09778200180230286
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92143393e-01,  4.46071696e-01,  7.14157423e-02,  4.44649328e-01,
        8.94997230e-01, -3.55940111e-02, -7.97943724e-02,  6.93889390e-18,
       -9.96811345e-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([-0.05582461, -0.04205245,  0.06118039])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.99343893e-06,-1.10176516e-05, 7.86252830e-06,-3.59540591e-05,
  1.46272418e-05, 8.10465363e-05, 2.17215039e-05,-6.19218445e-06,
  3.84572520e-05,-1.12850337e-04,-3.91371990e-06,-1.25470824e-05,
 -3.65956014e-05,-3.16587977e-06,-5.71167096e-06,-8.09025276e-05,
 -1.31635422e-01, 1.09136449e-01,-7.62778671e+00, 2.94399873e-03,
 -1.48798272e-01,-8.12633116e-04]


--- Step 1358 ---
qpos:
[-5.35114138e-04, 8.77170100e-01,-2.02734373e-02,-2.75347457e-02,
  7.58871624e-03, 8.64506731e-01,-2.79887302e-02, 9.45606147e-03,
  2.22329771e-02, 8.72955998e-01,-2.02371026e-02, 2.24316071e-02,
  1.31221235e+00,-1.00263864e-02, 9.64376242e-01, 6.16006148e-02,
 -8.26801941e-02,-2.93424324e-02, 6.91768231e-02, 7.12232083e-01,
  3.02831344e-02,-7.00746694e-01,-2.76127424e-02]

qacc:
[ 1.68224232e-01,-2.75064261e+00, 1.43874654e+01,-3.39901599e+01,
 -1.70302831e-01,-1.00269647e+00, 7.60380471e+00,-2.11927374e+01,
  2.55568053e-01, 8.00740679e-01,-2.47275898e+00, 3.75523871e-01,
 -3.18116693e-01, 3.22266765e-01, 1.67494472e+01,-5.75679742e+01,
 -1.43187527e+02, 4.95420912e+01, 1.96782515e+01, 4.11086845e+02,
  7.02973283e+00,-3.42862735e+02]

qfrc_actuator:
[ 2.40178388e-03, 2.76500811e-02, 8.77386362e-03, 1.56742818e-03,
  1.21729035e-05, 2.76104464e-02, 8.74229194e-03, 1.69917174e-03,
 -2.34869026e-03, 2.75101354e-02, 8.71949714e-03, 1.67771475e-03,
  5.95485203e-03,-1.62873091e-03, 0.00000000e+00,-2.78453096e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -7.56579179,  -4.16480149,  -7.56579179,
        16.24679672, -13.82513724,  -4.16480149, -13.82513724,
        33.75115243,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.10128451199567122
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-8.92209119e-01,  4.46104559e-01,  7.03818932e-02,  4.44722985e-01,
        8.94980850e-01, -3.50819612e-02, -7.86406695e-02, -6.93889390e-18,
       -9.96903027e-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([-0.05375733, -0.04121221,  0.06118387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.11835360e-05,-1.52093090e-05, 5.11758192e-07,-5.81387778e-05,
 -3.08793474e-05, 4.66209297e-05, 8.68145412e-06,-3.68743458e-05,
  4.74386449e-05,-4.06228373e-05,-3.88414677e-05,-1.21107227e-05,
 -3.94083785e-05,-2.05826537e-05,-1.65229423e-05,-2.83836021e-04,
 -2.19285814e-01, 1.24374835e-01,-7.49603885e+00, 3.39704361e-03,
 -1.42212394e-01,-7.66959187e-04]


--- Step 1359 ---
qpos:
[-5.35615520e-04, 8.77171488e-01,-2.02729807e-02,-2.75357631e-02,
  7.58904726e-03, 8.64510567e-01,-2.79876940e-02, 9.45651278e-03,
  2.22335538e-02, 8.72956498e-01,-2.02387572e-02, 2.24317306e-02,
  1.31241123e+00,-1.00260773e-02, 9.64620684e-01, 6.15955277e-02,
 -8.48898191e-02,-2.84976313e-02, 6.96500810e-02, 7.11057574e-01,
  3.49956183e-02,-7.01745403e-01,-2.69410994e-02]

qacc:
[-1.92205658e-02, 6.19318415e-01,-1.84705078e+00, 1.86743983e+00,
 -1.08450879e-01,-6.03810912e-01, 4.54320802e+00,-1.27967786e+01,
 -7.42086082e-02, 3.03127625e+00,-1.11118477e+01, 1.58581436e+01,
 -8.56942565e-04,-3.64230434e-01, 4.48073397e+00,-1.63518519e+01,
  2.13289073e+01,-1.30239129e+01, 4.16964278e+01,-5.43028657e+01,
 -1.51182659e+03, 1.86662574e+03]

qfrc_actuator:
[ 2.38325269e-03, 2.76796938e-02, 8.77540350e-03, 1.56967353e-03,
  7.19494964e-06, 2.76070518e-02, 8.73558449e-03, 1.67468315e-03,
 -2.38516221e-03, 2.75599781e-02, 8.69362959e-03, 1.69147329e-03,
  5.92691557e-03,-1.65376889e-03, 0.00000000e+00,-2.85766750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.05809012, -8.07681012, -3.05809012,  1.24178156,
        2.79978086, -8.07681012,  2.79978086,  7.57629387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007221927120821724
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.84323674e-15, -7.68647347e-15,  1.00000000e+00,  2.95409372e-29,
        1.00000000e+00,  7.68647347e-15, -1.00000000e+00,  0.00000000e+00,
        3.84323674e-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([-0.05556451, -0.04082971,  0.06119402])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.53246753e-06, 1.86988749e-05,-3.56241965e-06, 4.78148003e-07,
 -1.96669040e-05, 2.27876019e-05, 2.67634721e-06,-2.29164579e-05,
 -1.36513631e-05, 1.85947775e-05,-3.94566825e-05, 1.04384937e-05,
 -5.65061901e-05,-3.79151428e-05,-4.44769813e-05,-9.23072662e-05,
 -3.21121153e-01, 1.23947569e-01,-7.35971040e+00, 4.56871970e-03,
 -1.35333708e-01,-7.60922367e-04]


--- Step 1360 ---
qpos:
[-5.36431880e-04, 8.77172994e-01,-2.02728124e-02,-2.75363830e-02,
  7.58962087e-03, 8.64514789e-01,-2.79868459e-02, 9.45700058e-03,
  2.22338336e-02, 8.72957122e-01,-2.02404170e-02, 2.24316428e-02,
  1.31260947e+00,-1.00254112e-02, 9.64864365e-01, 6.15935509e-02,
 -8.70362079e-02,-2.76934305e-02, 7.02409562e-02, 7.08284571e-01,
  3.75589258e-02,-7.04506668e-01,-2.43443673e-02]

qacc:
[-1.63874167e-01, 1.78080632e+00,-7.79576329e+00, 1.50414170e+01,
  1.27188805e-01, 1.10934535e+00,-3.37100824e+00, 4.02139509e+00,
 -1.54252024e-01,-2.54425497e-01, 2.03886406e+00,-5.77770282e+00,
 -6.00211516e-01, 9.78300088e-01,-1.04752200e+01, 3.51014577e+01,
  1.58090146e+01,-1.01500611e+01, 2.94043201e+01,-3.69191931e+01,
 -1.18277842e+03, 1.44782621e+03]

qfrc_actuator:
[ 2.35460393e-03, 2.76790461e-02, 8.75847620e-03, 1.58918284e-03,
  3.97047611e-05, 2.76388600e-02, 8.73116432e-03, 1.67784458e-03,
 -2.40719102e-03, 2.75717404e-02, 8.69698910e-03, 1.68179677e-03,
  5.89235776e-03,-1.63320544e-03, 0.00000000e+00,-2.68550106e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.07926734, -8.0687601 , -3.07926734,  1.21492181,
        2.83223236, -8.0687601 ,  2.83223236,  7.55550357,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006657882305917309
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.14642809e-14, -1.66753177e-14,  1.00000000e+00,  1.91170526e-28,
        1.00000000e+00,  1.66753177e-14, -1.00000000e+00,  0.00000000e+00,
        1.14642809e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.0554253 , -0.04024525,  0.06125022])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.03489841e-05, 9.05902407e-06,-1.35004790e-05, 2.01944629e-05,
  2.31536490e-05, 4.40185535e-05,-2.16256405e-07, 3.77656056e-06,
 -2.85946540e-05, 1.44583798e-05, 2.71016441e-06,-1.00400751e-05,
 -7.70828438e-05, 3.70957587e-08,-3.36145990e-05, 1.60644464e-04,
 -2.84912283e-01,-7.96718448e-02,-7.66235329e+00, 1.70641112e-02,
 -1.49337454e-01,-1.90521838e-03]


--- Step 1361 ---
qpos:
[-5.37204315e-04, 8.77174374e-01,-2.02727603e-02,-2.75363990e-02,
  7.59051047e-03, 8.64519351e-01,-2.79860630e-02, 9.45751930e-03,
  2.22336502e-02, 8.72957375e-01,-2.02418280e-02, 2.24318316e-02,
  1.31280713e+00,-1.00242641e-02, 9.65107974e-01, 6.15922417e-02,
 -8.90592300e-02,-2.68589936e-02, 7.08384540e-02, 7.07078058e-01,
  3.75718081e-02,-7.05897776e-01,-1.83659539e-02]

qacc:
[ 2.28241786e-02, 1.40226558e+00,-7.78332529e+00, 1.84977567e+01,
  1.65836774e-01, 6.92998374e-01,-1.95140925e+00, 2.34168778e+00,
 -2.40453895e-01,-6.17283466e-01, 3.20253451e-01, 4.34229454e+00,
 -7.97620983e-01, 1.41756670e+00,-2.07262551e+00, 7.20717937e+00,
  3.08417017e+01, 7.55900934e+00, 1.65564195e+00, 2.41904404e+02,
  1.06949693e+03, 2.08934263e+03]

qfrc_actuator:
[ 2.37343546e-03, 2.76602312e-02, 8.74842537e-03, 1.61865043e-03,
  5.88356475e-05, 2.76560248e-02, 8.72828593e-03, 1.67952442e-03,
 -2.43809482e-03, 2.75252151e-02, 8.69967190e-03, 1.69390529e-03,
  5.87517257e-03,-1.60359532e-03, 0.00000000e+00,-2.65428719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.85406258, -8.59403014,  0.85406258,  0.41787213,
       -0.81674208, -8.59403014, -0.81674208,  8.55519696,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005958924947649338
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 9.31563188e-15,  9.31563188e-15,  1.00000000e+00, -8.67809974e-29,
        1.00000000e+00, -9.31563188e-15, -1.00000000e+00,  0.00000000e+00,
        9.31563188e-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([-0.14181802, -0.04046665,  0.06131844])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.22840151e-06,-1.57106268e-05,-9.15536307e-06, 2.97803610e-05,
  3.01548184e-05, 4.17906284e-05, 6.27561473e-06, 3.62302726e-06,
 -4.46601060e-05,-3.83153285e-05, 5.66429741e-06, 1.26285980e-05,
 -6.25115213e-05, 1.21293404e-05,-8.27697053e-08, 3.52905504e-05,
 -4.65431049e-01, 7.45471533e-03,-7.83617719e+00, 1.34358149e-02,
 -1.59451186e-01,-2.41964055e-03]


--- Step 1362 ---
qpos:
[-5.38019633e-04, 8.77175420e-01,-2.02727350e-02,-2.75356954e-02,
  7.59147908e-03, 8.64523884e-01,-2.79854885e-02, 9.45914761e-03,
  2.22330549e-02, 8.72957557e-01,-2.02438014e-02, 2.24314918e-02,
  1.31300468e+00,-1.00236804e-02, 9.65351280e-01, 6.15933159e-02,
 -9.09867446e-02,-2.59992582e-02, 7.14295643e-02, 7.07064064e-01,
  3.55136148e-02,-7.06190873e-01,-9.67696673e-03]

qacc:
[-2.21538080e-02, 1.11583243e+00,-7.64894581e+00, 2.03749915e+01,
  4.14503841e-02, 2.82605527e+00,-1.48176287e+01, 3.43803650e+01,
 -2.14290149e-01, 3.90189060e-01, 7.06331152e-01,-8.90671725e+00,
  4.99124253e-01,-1.27617468e+00,-7.67862135e+00, 2.61352699e+01,
  2.38768646e+01, 6.32463176e+00,-1.59684815e+00, 1.92019525e+02,
  8.40995649e+02, 1.67963793e+03]

qfrc_actuator:
[ 2.36726437e-03, 2.76307133e-02, 8.74244379e-03, 1.65372777e-03,
  5.20161170e-05, 2.76287902e-02, 8.70853212e-03, 1.73356419e-03,
 -2.45628571e-03, 2.75151747e-02, 8.66619140e-03, 1.66542367e-03,
  5.86842832e-03,-1.63983464e-03, 0.00000000e+00,-2.52892005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.99889217, -8.57840261,  0.99889217,  0.37186388,
       -0.96234049, -8.57840261, -0.96234049,  8.52430613,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005497147674279737
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.04908677e-15,  2.01963471e-14,  1.00000000e+00, -1.01973109e-28,
        1.00000000e+00, -2.01963471e-14, -1.00000000e+00,  0.00000000e+00,
        5.04908677e-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([-0.14512396, -0.04068603,  0.06137332])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.14184954e-06,-3.89496028e-05,-9.33377787e-06, 3.46660290e-05,
  7.53587980e-06,-2.52707150e-06,-1.02676740e-05, 5.61086437e-05,
 -3.96843039e-05,-2.97560832e-05,-4.02506050e-05,-2.96797637e-05,
 -4.06590136e-05,-4.78441221e-05,-9.57255845e-07, 1.26217799e-04,
 -3.28583796e-01, 1.28111677e-01,-8.11548767e+00, 7.06082847e-03,
 -1.75072277e-01,-1.88371668e-03]


--- Step 1363 ---
qpos:
[-5.38706095e-04, 8.77175898e-01,-2.02723877e-02,-2.75342255e-02,
  7.59243796e-03, 8.64528013e-01,-2.79852405e-02, 9.46181374e-03,
  2.22323375e-02, 8.72957855e-01,-2.02459958e-02, 2.24304204e-02,
  1.31320210e+00,-1.00238056e-02, 9.65594436e-01, 6.15965342e-02,
 -9.28446658e-02,-2.51194884e-02, 7.20021779e-02, 7.07895252e-01,
  3.18181479e-02,-7.05599467e-01, 1.14439740e-03]

qacc:
[ 6.73833701e-02,-7.02525316e-02,-4.06422558e+00, 1.72122140e+01,
 -5.11110169e-03, 2.51154001e+00,-1.41140521e+01, 3.28993484e+01,
 -6.37078521e-02,-7.34178696e-01, 5.92947329e+00,-1.83230987e+01,
  6.04692062e-01,-1.55261880e+00,-6.73939316e+00, 2.31589445e+01,
  1.73983497e+01, 5.00860884e+00,-4.62418805e+00, 1.54840205e+02,
  6.41087121e+02, 1.32042279e+03]

qfrc_actuator:
[ 2.38166620e-03, 2.75950323e-02, 8.75661344e-03, 1.69181360e-03,
  4.74895478e-05, 2.75751476e-02, 8.67882247e-03, 1.78242360e-03,
 -2.44896247e-03, 2.75446251e-02, 8.66498253e-03, 1.63103524e-03,
  5.85727669e-03,-1.67922627e-03, 0.00000000e+00,-2.42005411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.20824375, -8.55142818,  1.20824375,  0.3550591 ,
       -1.17007759, -8.55142818, -1.17007759,  8.47104167,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004671634582474618
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.37651941e-14,  5.94129852e-15,  1.00000000e+00, -1.41196112e-28,
        1.00000000e+00, -5.94129852e-15, -1.00000000e+00,  0.00000000e+00,
        2.37651941e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.14915627, -0.04135013,  0.06145997])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.24018678e-05,-5.79288813e-05, 6.16735383e-06, 3.67685209e-05,
 -9.41299359e-07,-5.48866341e-05,-2.95976238e-05, 4.94775440e-05,
 -1.17744238e-05, 3.23087129e-06,-1.33259642e-05,-3.76304275e-05,
 -4.60463860e-05,-5.87166194e-05, 9.70978019e-06, 1.14858502e-04,
 -3.23090344e-01, 6.94072820e-03,-8.37153068e+00, 1.10180799e-02,
 -1.89813199e-01,-1.50777169e-03]


--- Step 1364 ---
qpos:
[-5.39238912e-04, 8.77175986e-01,-2.02716499e-02,-2.75319931e-02,
  7.59317364e-03, 8.64531916e-01,-2.79850826e-02, 9.46431519e-03,
  2.22317949e-02, 8.72957830e-01,-2.02469781e-02, 2.24295917e-02,
  1.31339909e+00,-1.00235908e-02, 9.65837921e-01, 6.15983532e-02,
 -9.46556822e-02,-2.42251279e-02, 7.25465429e-02, 7.09255087e-01,
  2.68891565e-02,-7.04307964e-01, 1.35825938e-02]

qacc:
[ 8.02461601e-02,-3.51943046e-02,-3.83261009e+00, 1.66740540e+01,
 -1.17240527e-01,-3.85785430e-01, 1.63760113e+00,-4.17802299e+00,
  9.16910654e-02,-3.31188182e+00, 1.01660221e+01,-7.66512967e+00,
 -6.92437221e-01, 1.19803280e+00, 4.75123761e+00,-1.58260502e+01,
  1.17262041e+01, 3.64765702e+00,-7.06214895e+00, 1.25830208e+02,
  4.60751355e+02, 9.96094315e+02]

qfrc_actuator:
[ 2.39050457e-03, 2.75915258e-02, 8.78253578e-03, 1.73136994e-03,
  2.66432556e-05, 2.75770580e-02, 8.67884606e-03, 1.77454484e-03,
 -2.42645560e-03, 2.75443541e-02, 8.73627807e-03, 1.64677490e-03,
  5.84881037e-03,-1.64912796e-03, 0.00000000e+00,-2.49932942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.45248166, -8.51334681,  1.45248166,  0.37056823,
       -1.41024635, -8.51334681, -1.41024635,  8.39575827,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003568495889358099
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.33338441e-14, -3.11117922e-14,  1.00000000e+00,  7.25957709e-28,
        1.00000000e+00,  3.11117922e-14, -1.00000000e+00,  0.00000000e+00,
        2.33338441e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15385598, -0.04245301,  0.06157563])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47960082e-05,-3.30646557e-05, 1.59833535e-05, 3.80030845e-05,
 -2.13013047e-05,-3.28785731e-05,-1.32849583e-05,-1.03023383e-05,
  1.68417553e-05,-2.82078819e-06, 6.90350198e-05, 1.46890602e-05,
 -4.89496647e-05, 7.18600212e-06, 1.27312010e-05,-7.26951291e-05,
 -3.78433751e-01,-2.27255894e-01,-8.58568000e+00, 1.89565023e-02,
 -2.02817355e-01,-1.21680551e-03]


--- Step 1365 ---
qpos:
[-5.39825833e-04, 8.77175990e-01,-2.02709369e-02,-2.75303510e-02,
  7.59348424e-03, 8.64535470e-01,-2.79845740e-02, 9.46599703e-03,
  2.22314777e-02, 8.72957374e-01,-2.02469973e-02, 2.24293339e-02,
  1.31359563e+00,-1.00227853e-02, 9.66081437e-01, 6.15992260e-02,
 -9.63290036e-02,-2.34228715e-02, 7.32198664e-02, 7.10244171e-01,
  2.43895746e-02,-7.03177336e-01, 2.23606773e-02]

qacc:
[-2.81272044e-02,-1.25808562e+00, 6.81006454e+00,-1.69128619e+01,
 -2.23005250e-01,-3.12522469e+00, 1.39358864e+01,-2.84293114e+01,
  1.17903577e-01,-2.08471640e+00, 4.19609676e+00, 4.46321213e+00,
 -8.69362422e-01, 1.66748469e+00, 2.95716662e+00,-1.01575544e+01,
  3.44237411e+01,-2.30259973e+01, 3.22396096e+01,-4.23544280e+02,
 -2.53340869e+02,-2.14895186e+03]

qfrc_actuator:
[ 2.37817590e-03, 2.75896207e-02, 8.77980710e-03, 1.70049537e-03,
 -3.77750005e-06, 2.75590260e-02, 8.69660369e-03, 1.73341055e-03,
 -2.41283931e-03, 2.75088897e-02, 8.77872105e-03, 1.67415717e-03,
  5.83666287e-03,-1.61360622e-03, 0.00000000e+00,-2.54678260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.71623718, -7.79591932, -3.71623718,  1.95397708,
        3.18542719, -7.79591932,  3.18542719,  7.11790219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002808333926076788
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.95331557e-14, -1.97665779e-14,  1.00000000e+00,  7.81435201e-28,
        1.00000000e+00,  1.97665779e-14, -1.00000000e+00,  0.00000000e+00,
        3.95331557e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12246298, -0.01053728,  0.06166349])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.21591931e-06,-1.54750038e-05,-6.28242371e-06,-3.10011794e-05,
 -4.05617024e-05,-3.97029138e-05, 8.93823503e-06,-4.32128884e-05,
  2.17174513e-05,-2.21428224e-05, 5.08813697e-05, 2.99385072e-05,
 -3.93215028e-05, 2.60467616e-05,-8.19124421e-06,-5.12497297e-05,
 -4.50372009e-01,-4.86362740e-01,-8.74766704e+00, 2.67418183e-02,
 -2.13584571e-01,-9.61578873e-04]


--- Step 1366 ---
qpos:
[-5.39960100e-04, 8.77176034e-01,-2.02705674e-02,-2.75297758e-02,
  7.59358867e-03, 8.64538752e-01,-2.79838643e-02, 9.46682752e-03,
  2.22311694e-02, 8.72956851e-01,-2.02473651e-02, 2.24287608e-02,
  1.31379187e+00,-1.00218152e-02, 9.66324950e-01, 6.15988359e-02,
 -9.79640254e-02,-2.26685372e-02, 7.39608335e-02, 7.09948393e-01,
  2.21796592e-02,-7.03283125e-01, 2.95666640e-02]

qacc:
[ 2.34942591e-01,-1.18535046e+00, 8.79571575e+00,-2.67176621e+01,
 -1.08136326e-01,-2.66913689e+00, 1.25944852e+01,-2.74553764e+01,
  4.41510169e-03, 2.35606673e-01, 3.61963797e-01,-5.21313662e+00,
 -4.24579853e-01, 6.89055078e-01, 3.83340156e+00,-1.33637819e+01,
  9.57490006e+00,-1.19805416e+01, 1.69109133e+01,-4.48034101e+02,
 -9.13245341e+02,-6.30711663e+02]

qfrc_actuator:
[ 2.42430383e-03, 2.75885265e-02, 8.76014694e-03, 1.64616274e-03,
 -4.14651539e-06, 2.75469953e-02, 8.70684445e-03, 1.69079637e-03,
 -2.42243055e-03, 2.74880521e-02, 8.75035883e-03, 1.65484186e-03,
  5.81699714e-03,-1.61072249e-03, 0.00000000e+00,-2.61054125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.30289382, -7.9798289 , -3.30289382,  1.34185516,
        3.01923604, -7.9798289 ,  3.01923604,  7.3866857 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025720899141677828
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 4.31642385e-14,  2.15821192e-14,  1.00000000e+00, -9.31575742e-28,
        1.00000000e+00, -2.15821192e-14, -1.00000000e+00,  0.00000000e+00,
        4.31642385e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05175445, -0.0025709 ,  0.06170091])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.36164773e-05,-1.23790977e-05,-2.47102142e-05,-5.58196136e-05,
 -1.96766761e-05,-3.43334392e-05, 1.61253750e-06,-4.48550250e-05,
  8.53354311e-07,-2.14140466e-05,-2.56282762e-05,-1.79201717e-05,
 -3.69933025e-05,-2.86973950e-07,-1.42222536e-05,-6.87673575e-05,
 -3.21144902e-01,-2.61906097e-01,-8.34918779e+00, 1.24479765e-02,
 -1.89289002e-01,-6.77361099e-04]


--- Step 1367 ---
qpos:
[-5.39960126e-04, 8.77176138e-01,-2.02702116e-02,-2.75298817e-02,
  7.59396562e-03, 8.64542027e-01,-2.79834595e-02, 9.46748727e-03,
  2.22308070e-02, 8.72955516e-01,-2.02468560e-02, 2.24272821e-02,
  1.31398768e+00,-1.00204628e-02, 9.66568354e-01, 6.15976603e-02,
 -9.95691972e-02,-2.19512273e-02, 7.47457365e-02, 7.08662924e-01,
  2.01675862e-02,-7.04363348e-01, 3.55303043e-02]

qacc:
[ 6.96977496e-02,-1.28707588e+00, 7.56915998e+00,-1.93609676e+01,
  1.42964001e-01, 4.88949552e-01,-1.03892844e+00,-1.42183371e+00,
 -2.73215677e-02,-5.38357206e+00, 2.14648781e+01,-3.79442513e+01,
 -6.74241923e-01, 1.20195546e+00, 2.25174922e+00,-8.02143537e+00,
  7.46249456e+00,-9.25609427e+00, 1.09839842e+01,-3.70068350e+02,
 -7.10621911e+02,-4.85144799e+02]

qfrc_actuator:
[ 2.41625743e-03, 2.76055804e-02, 8.76616182e-03, 1.61397327e-03,
  3.12192761e-05, 2.75563791e-02, 8.69483172e-03, 1.68315910e-03,
 -2.42806731e-03, 2.74225416e-02, 8.78695565e-03, 1.60816586e-03,
  5.79282366e-03,-1.59172640e-03, 0.00000000e+00,-2.64788266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.29238311, -7.98417123, -3.29238311,  1.31544248,
        3.0188828 , -7.98417123,  3.0188828 ,  7.39148568,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021040447184941247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.31915331e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.31915331e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.05131198, -0.00088024,  0.06175915])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.29369834e-05, 2.64077941e-06,-1.52166976e-06,-3.46637337e-05,
  2.59980564e-05,-1.14911067e-05,-2.04898949e-05,-9.93249401e-06,
 -5.22953694e-06,-8.35311667e-05, 2.84040545e-05,-4.88271810e-05,
 -4.63038789e-05, 1.08038063e-05,-1.85743400e-05,-4.40206478e-05,
 -1.79699711e-01,-1.40525694e-02,-8.18376262e+00,-1.64273132e-03,
 -1.79375830e-01,-7.40972792e-04]


--- Step 1368 ---
qpos:
[-5.40314995e-04, 8.77176350e-01,-2.02698245e-02,-2.75307278e-02,
  7.59469139e-03, 8.64545340e-01,-2.79835766e-02, 9.46874957e-03,
  2.22303854e-02, 8.72952961e-01,-2.02451563e-02, 2.24263228e-02,
  1.31418299e+00,-1.00190343e-02, 9.66811332e-01, 6.15983569e-02,
 -1.01152200e-01,-2.12620971e-02, 7.55548025e-02, 7.06621324e-01,
  1.82856098e-02,-7.06193474e-01, 4.05304508e-02]

qacc:
[-1.84440280e-01,-1.47046580e+00, 8.56633872e+00,-2.14921555e+01,
  1.82932476e-01, 2.74673669e+00,-1.22651437e+01, 2.35033622e+01,
 -2.95818375e-02,-3.86632102e+00, 9.25570085e+00,-1.27125994e+00,
 -3.30457660e-01, 3.91480669e-01,-6.26165891e+00, 2.10365372e+01,
  5.54228711e+00,-7.04494611e+00, 6.04074360e+00,-2.98928329e+02,
 -5.44039859e+02,-3.66224354e+02]

qfrc_actuator:
[ 2.37584380e-03, 2.76157357e-02, 8.76963657e-03, 1.57735787e-03,
  5.21244534e-05, 2.75607046e-02, 8.66989252e-03, 1.71392056e-03,
 -2.43127197e-03, 2.73487512e-02, 8.84368917e-03, 1.63455301e-03,
  5.74999065e-03,-1.59885172e-03, 0.00000000e+00,-2.54507742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.29201085, -7.98432473, -3.29201085,  1.29940384,
        3.02509631, -7.98432473,  3.02509631,  7.38908848,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013902080828951113
  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([-0.04988652,  0.00106179,  0.06184098])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.41891743e-05, 9.83071270e-06, 2.62949510e-06,-3.72309212e-05,
  3.32767601e-05,-6.83654488e-06,-3.02112148e-05, 2.93596735e-05,
 -5.73311693e-06,-1.16697823e-04, 4.12980295e-05, 2.28435274e-05,
 -6.78316466e-05,-1.51239693e-05,-1.75856841e-05, 9.70108789e-05,
 -1.55493722e-01, 1.21856751e-01,-8.07317628e+00,-1.01641263e-02,
 -1.72824473e-01,-6.84086855e-04]


--- Step 1369 ---
qpos:
[-5.40904270e-04, 8.77176561e-01,-2.02696635e-02,-2.75316290e-02,
  7.59533721e-03, 8.64548733e-01,-2.79837647e-02, 9.47033366e-03,
  2.22299173e-02, 8.72950160e-01,-2.02439607e-02, 2.24256795e-02,
  1.31437773e+00,-1.00178276e-02, 9.67054126e-01, 6.16005732e-02,
 -1.02644005e-01,-2.06415970e-02, 7.64407799e-02, 7.04467406e-01,
  1.78193985e-02,-7.08191660e-01, 4.32748971e-02]

qacc:
[-1.21945879e-01, 5.17641014e-01,-1.61533153e+00, 1.02687923e+00,
 -4.20545061e-02, 9.63721822e-01,-4.64429528e+00, 1.02703867e+01,
 -2.44007009e-02, 1.73118916e+00,-7.98152293e+00, 1.44391057e+01,
 -1.73986698e-01,-1.14642528e-01,-4.85792201e+00, 1.66076837e+01,
  2.27993180e+01,-1.71574954e+01, 1.92278540e+01,-2.98658665e+02,
 -1.48346432e+02,-1.29306400e+03]

qfrc_actuator:
[ 2.36970310e-03, 2.76039270e-02, 8.75379517e-03, 1.57392396e-03,
  2.86626962e-05, 2.75797035e-02, 8.67304159e-03, 1.73151098e-03,
 -2.43299063e-03, 2.73594880e-02, 8.82307725e-03, 1.65045737e-03,
  5.70130896e-03,-1.62149659e-03, 0.00000000e+00,-2.46704369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.17781431, -4.10125699, -7.07505039, -4.10125699,  2.30216174,
        3.40599146, -7.07505039,  3.40599146,  6.20343314,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000837027897883702
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 8.28991951e-14, -6.63193561e-14,  1.00000000e+00,  5.49782124e-27,
        1.00000000e+00,  6.63193561e-14, -1.00000000e+00,  0.00000000e+00,
        8.28991951e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13034156, -0.00681646,  0.0619051 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.25882293e-05,-7.37207488e-06,-1.47784457e-05,-3.64642129e-06,
 -7.62604345e-06, 1.01185159e-05,-9.96684261e-07, 1.68160926e-05,
 -4.49623238e-06,-4.49641290e-05,-3.88300729e-05, 1.27797112e-05,
 -9.20357838e-05,-4.12566982e-05,-8.21056685e-07, 8.03688743e-05,
 -1.88947281e-01, 1.91479834e-01,-7.99958209e+00,-1.53711061e-02,
 -1.68534649e-01,-5.63525304e-04]


--- Step 1370 ---
qpos:
[-5.41640593e-04, 8.77176542e-01,-2.02695939e-02,-2.75325439e-02,
  7.59579524e-03, 8.64552098e-01,-2.79838613e-02, 9.47177276e-03,
  2.22296023e-02, 8.72947889e-01,-2.02439438e-02, 2.24244875e-02,
  1.31457180e+00,-1.00163641e-02, 9.67297114e-01, 6.16016851e-02,
 -1.04065848e-01,-2.00747233e-02, 7.73775339e-02, 7.02233323e-01,
  1.84476287e-02,-7.10329571e-01, 4.42712795e-02]

qacc:
[-7.63900710e-02,-7.56461309e-02,-1.10979388e-01, 1.87035994e-01,
 -9.85867169e-02,-5.88717330e-01, 2.65993051e+00,-5.29634914e+00,
  7.86194751e-02, 2.86299376e+00,-6.87587487e+00,-1.12681796e+00,
 -7.68475991e-01, 1.17070946e+00, 3.66622134e+00,-1.23109474e+01,
  1.74907741e+01,-1.34066275e+01, 1.26941316e+01,-2.35793172e+02,
 -1.16856745e+02,-1.00028760e+03]

qfrc_actuator:
[ 2.36639504e-03, 2.75790053e-02, 8.74436167e-03, 1.57225706e-03,
  1.43752882e-05, 2.75719459e-02, 8.67504878e-03, 1.72348589e-03,
 -2.41605401e-03, 2.74204567e-02, 8.77502902e-03, 1.62456242e-03,
  5.68109805e-03,-1.59992785e-03, 0.00000000e+00,-2.52853757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.26872271, -2.1496352 , -3.68796178, -2.1496352 ,  1.26951922,
        1.7481725 , -3.68796178,  1.7481725 ,  3.2497498 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001940265706713573
  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([-0.13213974, -0.00573491,  0.06197816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.41764696e-05,-3.22581363e-05,-1.29033514e-05,-2.56363283e-06,
 -1.79156954e-05,-1.66782017e-06, 4.52853724e-06,-7.30589656e-06,
  1.47631708e-05, 2.84083821e-05,-6.16636463e-05,-2.89135007e-05,
 -8.36204006e-05,-8.27507826e-06, 3.99310910e-06,-5.81726752e-05,
 -1.78219601e-01, 9.83621234e-02,-7.90060860e+00,-1.14220858e-02,
 -1.62711600e-01,-5.09330933e-04]


--- Step 1371 ---
qpos:
[-5.42280013e-04, 8.77176202e-01,-2.02698461e-02,-2.75337884e-02,
  7.59644556e-03, 8.64555152e-01,-2.79840852e-02, 9.47350215e-03,
  2.22290984e-02, 8.72945338e-01,-2.02435257e-02, 2.24247150e-02,
  1.31476522e+00,-1.00139484e-02, 9.67540048e-01, 6.16023904e-02,
 -1.05488565e-01,-1.95078764e-02, 7.82750797e-02, 6.99991177e-01,
  1.90765514e-02,-7.12460261e-01, 4.52638180e-02]

qacc:
[ 5.02524054e-02,-2.05634855e-01, 1.50315949e+00,-6.44874217e+00,
  1.01059980e-01, 5.40861459e-01,-3.75165973e+00, 9.20935398e+00,
 -9.77225895e-02, 1.42984694e+00,-1.16288555e+01, 3.57625881e+01,
 -1.29604285e+00, 2.53722945e+00, 1.23008701e+00,-4.23611443e+00,
 -2.18682717e-01,-6.67410136e-03,-9.80203320e+00,-8.87880171e-01,
 -3.78927087e-01,-1.48378573e+00]

qfrc_actuator:
[ 2.38254559e-03, 2.75464443e-02, 8.72097585e-03, 1.55387849e-03,
  4.12375658e-05, 2.75304561e-02, 8.65848432e-03, 1.73593482e-03,
 -2.44136316e-03, 2.74043705e-02, 8.80015843e-03, 1.69859461e-03,
  5.67799761e-03,-1.53446813e-03, 0.00000000e+00,-2.54746343e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 9.32660596e-06,-5.33720737e-05,-3.17239004e-05,-2.02539779e-05,
  1.83358936e-05,-4.18840619e-05,-1.66315923e-05, 1.23851479e-05,
 -1.82060501e-05,-1.41198320e-05, 2.24191364e-05, 7.25578910e-05,
 -5.41178936e-05, 4.46567118e-05,-1.02538515e-05,-2.29422783e-05,
 -1.76440114e-01, 7.34576692e-03,-7.84837371e+00,-6.99733845e-03,
 -1.59935676e-01,-5.07339496e-04]


--- Step 1372 ---
qpos:
[-5.42770164e-04, 8.77175467e-01,-2.02703948e-02,-2.75345445e-02,
  7.59753855e-03, 8.64557609e-01,-2.79840510e-02, 9.47503267e-03,
  2.22281651e-02, 8.72942719e-01,-2.02434517e-02, 2.24265427e-02,
  1.31495848e+00,-1.00116777e-02, 9.67782630e-01, 6.16048490e-02,
 -1.06912157e-01,-1.89410585e-02, 7.91334120e-02, 6.97741001e-01,
  1.97061757e-02,-7.14583702e-01, 4.62525165e-02]

qacc:
[ 7.75393208e-02, 1.31293830e+00,-7.49342960e+00, 1.66967359e+01,
  2.32891730e-01,-1.91723539e+00, 6.53219948e+00,-9.94964817e+00,
 -2.23267889e-01, 4.16161018e+00,-2.17279860e+01, 5.00239465e+01,
  8.86904872e-02,-3.19797561e-01,-5.81956929e+00, 1.95907878e+01,
 -2.18732063e-01,-7.26307594e-03,-9.80336316e+00,-8.81667776e-01,
 -3.75486280e-01,-1.48129746e+00]

qfrc_actuator:
[ 2.39243355e-03, 2.75272371e-02, 8.70723835e-03, 1.57905212e-03,
  7.47320575e-05, 2.74867747e-02, 8.66646416e-03, 1.72478562e-03,
 -2.47398641e-03, 2.73959066e-02, 8.77932279e-03, 1.77757648e-03,
  5.66920958e-03,-1.54998791e-03, 0.00000000e+00,-2.45234123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.43703881e-05,-5.64549903e-05,-2.93612175e-05, 2.13998706e-05,
  4.22156351e-05,-7.00777809e-05,-2.31615220e-06,-1.32854269e-05,
 -4.13909553e-05,-8.56637111e-06,-1.84634778e-05, 8.05676474e-05,
 -3.04040376e-05,-1.81934402e-05,-1.19588763e-05, 9.14539055e-05,
 -1.76456942e-01, 6.77349138e-03,-7.84939021e+00,-7.12272327e-03,
 -1.59972698e-01,-4.99455113e-04]


--- Step 1373 ---
qpos:
[-5.43125894e-04, 8.77174529e-01,-2.02706958e-02,-2.75343657e-02,
  7.59885930e-03, 8.64559798e-01,-2.79837293e-02, 9.47568256e-03,
  2.22273808e-02, 8.72940984e-01,-2.02442143e-02, 2.24271420e-02,
  1.31515170e+00,-1.00101331e-02, 9.68025256e-01, 6.16070551e-02,
 -1.08336624e-01,-1.83742720e-02, 7.99525256e-02, 6.95482828e-01,
  2.03365105e-02,-7.16699862e-01, 4.72373793e-02]

qacc:
[ 7.01129750e-02, 9.67054754e-01,-7.77203716e+00, 2.36842324e+01,
  1.19871301e-01,-2.96783581e+00, 1.37871238e+01,-2.92946281e+01,
  7.66161936e-02, 9.77136881e-01, 3.39670477e+00,-2.39687651e+01,
  5.63483379e-01,-1.45669762e+00, 7.85440962e-01,-2.74736682e+00,
 -2.18771566e-01,-7.85171720e-03,-9.80469371e+00,-8.75460630e-01,
 -3.72063882e-01,-1.47882449e+00]

qfrc_actuator:
[ 2.39847282e-03, 2.75517491e-02, 8.73489853e-03, 1.62967103e-03,
  7.63733307e-05, 2.74954465e-02, 8.68883619e-03, 1.68209795e-03,
 -2.43967143e-03, 2.74806799e-02, 8.74924567e-03, 1.71675870e-03,
  5.65698886e-03,-1.59562627e-03, 0.00000000e+00,-2.46831389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.29482567e-05,-1.21780683e-05, 1.31367771e-05, 4.76064940e-05,
  2.17238535e-05,-3.16177433e-05, 7.13129410e-06,-4.60355372e-05,
  1.43929185e-05, 7.96734884e-05,-3.13161296e-05,-6.02542771e-05,
 -3.43942722e-05,-5.62708854e-05, 1.13501317e-06,-1.32517237e-05,
 -1.76466053e-01, 6.20169530e-03,-7.85040715e+00,-7.24927561e-03,
 -1.60003621e-01,-4.91477567e-04]


--- Step 1374 ---
qpos:
[-5.43378846e-04, 8.77173953e-01,-2.02708906e-02,-2.75343368e-02,
  7.60010564e-03, 8.64562036e-01,-2.79832903e-02, 9.47544041e-03,
  2.22268844e-02, 8.72939827e-01,-2.02446829e-02, 2.24255868e-02,
  1.31534455e+00,-1.00085304e-02, 9.68268265e-01, 6.16057006e-02,
 -1.09761966e-01,-1.78075193e-02, 8.07324151e-02, 6.93216690e-01,
  2.09675647e-02,-7.18808714e-01, 4.82184105e-02]

qacc:
[ 5.33423752e-02,-1.27619998e-01, 1.77897218e+00,-4.80344825e+00,
 -3.90861964e-02,-2.09571019e+00, 1.13362281e+01,-2.70029329e+01,
  1.49381959e-01,-4.48760541e+00, 2.62107595e+01,-6.43994652e+01,
 -5.21866476e-01, 7.36614625e-01, 1.13413957e+01,-3.87999237e+01,
 -2.18801225e-01,-8.43999773e-03,-9.80602480e+00,-8.69258731e-01,
 -3.68659740e-01,-1.47636685e+00]

qfrc_actuator:
[ 2.40215803e-03, 2.76024580e-02, 8.75146641e-03, 1.62390465e-03,
  5.89405001e-05, 2.75176881e-02, 8.70195822e-03, 1.63900113e-03,
 -2.41885823e-03, 2.75139553e-02, 8.76751166e-03, 1.60975469e-03,
  5.63737589e-03,-1.58768621e-03, 0.00000000e+00,-2.65615474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 9.91449297e-06, 4.86759029e-05, 1.73281369e-05,-4.90423265e-06,
 -7.09742928e-06, 4.00908950e-06, 5.85631880e-06,-4.51057551e-05,
  2.77451743e-05, 6.88238586e-05, 2.87974006e-05,-1.05843510e-04,
 -5.29652024e-05,-1.17023368e-05,-5.57875670e-06,-1.89532179e-04,
 -1.76467444e-01, 5.63039856e-03,-7.85142449e+00,-7.37698528e-03,
 -1.60028439e-01,-4.83407449e-04]


--- Step 1375 ---
qpos:
[-5.43559060e-04, 8.77174071e-01,-2.02713239e-02,-2.75347419e-02,
  7.60101613e-03, 8.64564142e-01,-2.79823852e-02, 9.47502751e-03,
  2.22264721e-02, 8.72938663e-01,-2.02447101e-02, 2.24231722e-02,
  1.31553721e+00,-1.00074303e-02, 9.68511094e-01, 6.16031071e-02,
 -1.11188184e-01,-1.72408026e-02, 8.14730752e-02, 6.90942619e-01,
  2.15993470e-02,-7.20910228e-01, 4.91956146e-02]

qacc:
[ 3.73956640e-02, 6.87459574e-01, 7.04803193e-01,-8.33413966e+00,
 -1.76093194e-01,-1.82538831e+00, 6.97836396e+00,-1.05841631e+01,
  4.39893922e-02,-3.01023866e+00, 1.43493673e+01,-2.99255703e+01,
  2.25523939e-01,-8.05201538e-01, 3.45180809e+00,-1.25139522e+01,
 -2.18821038e-01,-9.02789017e-03,-9.80735635e+00,-8.63062073e-01,
 -3.65273701e-01,-1.47392456e+00]

qfrc_actuator:
[ 2.40440866e-03, 2.76506492e-02, 8.74366868e-03, 1.60277050e-03,
  3.02742831e-05, 2.75123553e-02, 8.72733803e-03, 1.63152777e-03,
 -2.42409699e-03, 2.74807784e-02, 8.77848234e-03, 1.56521975e-03,
  5.62401208e-03,-1.61910333e-03, 0.00000000e+00,-2.71292321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 7.02754675e-06, 7.87945072e-05, 4.22503737e-06,-1.85457655e-05,
 -3.20428996e-05,-3.87145952e-06, 2.53475072e-05,-7.98042321e-06,
  8.11722214e-06, 6.75664101e-06, 2.50852786e-05,-4.26447705e-05,
 -4.75356107e-05,-4.57165135e-05,-2.91748580e-05,-6.93239046e-05,
 -1.76461114e-01, 5.05962103e-03,-7.85244217e+00,-7.50584218e-03,
 -1.60047150e-01,-4.75245347e-04]


--- Step 1376 ---
qpos:
[-5.43874093e-04, 8.77174459e-01,-2.02717096e-02,-2.75350172e-02,
  7.60177083e-03, 8.64566313e-01,-2.79812666e-02, 9.47486530e-03,
  2.22257003e-02, 8.72937797e-01,-2.02447622e-02, 2.24212719e-02,
  1.31572958e+00,-1.00064452e-02, 9.68753566e-01, 6.16011435e-02,
 -1.12615277e-01,-1.66741245e-02, 8.21745005e-02, 6.88660649e-01,
  2.22318662e-02,-7.23004375e-01, 5.01689959e-02]

qacc:
[-7.01147696e-02, 4.92367619e-01,-1.78256678e+00, 3.75097797e+00,
 -8.17109807e-02, 4.65152890e-03,-9.51282138e-01, 4.90119649e+00,
 -1.86863934e-01, 1.52189216e+00,-7.02657423e+00, 1.57498605e+01,
 -8.97785358e-02,-6.10699295e-02,-2.42562463e+00, 7.72670373e+00,
 -2.18831004e-01,-9.61536721e-03,-9.80868831e+00,-8.56870652e-01,
 -3.61905610e-01,-1.47149764e+00]

qfrc_actuator:
[ 2.38803485e-03, 2.76435959e-02, 8.73930646e-03, 1.60826512e-03,
  3.06644982e-05, 2.75261449e-02, 8.74192430e-03, 1.64506398e-03,
 -2.46263112e-03, 2.75146004e-02, 8.78481071e-03, 1.59323820e-03,
  5.61439318e-03,-1.62033951e-03, 0.00000000e+00,-2.67419296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.29830665e-05, 3.70874391e-05, 1.17912281e-05, 8.65285964e-06,
 -1.48601708e-05, 1.64570260e-05, 1.66108380e-05, 1.40888587e-05,
 -3.46301828e-05, 4.09854147e-05, 9.35085182e-06, 2.83512127e-05,
 -4.85183609e-05,-2.15055548e-05,-2.45880040e-05, 3.03114842e-05,
 -1.76447062e-01, 4.48938254e-03,-7.85346015e+00,-7.63583627e-03,
 -1.60059751e-01,-4.66991846e-04]


--- Step 1377 ---
qpos:
[-5.44169399e-04, 8.77174512e-01,-2.02718362e-02,-2.75351602e-02,
  7.60263784e-03, 8.64568159e-01,-2.79797480e-02, 9.47421309e-03,
  2.22248895e-02, 8.72937504e-01,-2.02446024e-02, 2.24196693e-02,
  1.31592171e+00,-1.00060134e-02, 9.68995694e-01, 6.16009501e-02,
 -1.14043245e-01,-1.61074871e-02, 8.28366857e-02, 6.86370812e-01,
  2.28651308e-02,-7.25091127e-01, 5.11385589e-02]

qacc:
[ 1.05302383e-02,-8.94358641e-01, 1.98876182e+00, 1.29497584e-01,
  5.93332662e-02,-2.55211206e+00, 1.05486494e+01,-1.94338386e+01,
 -2.03692691e-02, 7.77808159e-01,-2.93095992e+00, 7.32189366e+00,
  3.74797964e-01,-1.10840551e+00,-5.88181250e+00, 1.97744890e+01,
 -2.18831123e-01,-1.02024016e-02,-9.81002062e+00,-8.50684462e-01,
 -3.58555317e-01,-1.46908614e+00]

qfrc_actuator:
[ 2.39617011e-03, 2.75857883e-02, 8.73681483e-03, 1.61159416e-03,
  4.84428539e-05, 2.74802538e-02, 8.75010049e-03, 1.61759492e-03,
 -2.44972197e-03, 2.75705662e-02, 8.80639618e-03, 1.61050075e-03,
  5.59106143e-03,-1.65691144e-03, 0.00000000e+00,-2.57953684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.89269482e-06,-3.42708009e-05, 6.91994186e-06, 5.49352173e-06,
  1.07077458e-05,-3.27167390e-05, 1.40837398e-05,-2.59193543e-05,
 -3.75046610e-06, 8.20487934e-05, 3.21937697e-05, 1.98988070e-05,
 -5.70196475e-05,-5.19998182e-05,-1.12383038e-05, 9.24221388e-05,
 -1.76425289e-01, 3.91970290e-03,-7.85447837e+00,-7.76695761e-03,
 -1.60066238e-01,-4.58647527e-04]


--- Step 1378 ---
qpos:
[-5.44219226e-04, 8.77174293e-01,-2.02719557e-02,-2.75352519e-02,
  7.60366593e-03, 8.64569018e-01,-2.79772235e-02, 9.47328124e-03,
  2.22241440e-02, 8.72937326e-01,-2.02445509e-02, 2.24187128e-02,
  1.31611375e+00,-1.00065991e-02, 9.69237499e-01, 6.16035344e-02,
 -1.15472088e-01,-1.55408929e-02, 8.34596255e-02, 6.84073140e-01,
  2.34991492e-02,-7.27170455e-01, 5.21043082e-02]

qacc:
[ 1.27659301e-01,-2.72100320e-01, 2.33850645e-01, 8.41992987e-01,
  8.55791606e-02,-4.68484190e+00, 1.59959440e+01,-2.17235276e+01,
  3.38655789e-02, 1.78221178e+00,-8.86399711e+00, 2.01356679e+01,
  9.11878654e-01,-2.26119764e+00,-8.93005922e+00, 3.04023353e+01,
 -2.18821395e-01,-1.07889660e-02,-9.81135321e+00,-8.44503497e-01,
 -3.55222669e-01,-1.46669006e+00]

qfrc_actuator:
[ 2.41891018e-03, 2.75690364e-02, 8.73521504e-03, 1.61356944e-03,
  5.86956771e-05, 2.73989174e-02, 8.78966398e-03, 1.60166837e-03,
 -2.44162869e-03, 2.75329082e-02, 8.78365120e-03, 1.63907339e-03,
  5.58080999e-03,-1.71420071e-03, 0.00000000e+00,-2.43496474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.36463845e-05,-3.42500769e-05,-7.63347748e-06, 8.55383868e-07,
  1.53450278e-05,-9.78864335e-05, 3.36190228e-05,-1.73495630e-05,
  6.29731682e-06, 1.57314638e-05,-1.14049980e-06, 3.35925447e-05,
 -5.57564086e-05,-8.12916763e-05, 1.49710399e-06, 1.47434160e-04,
 -1.76395794e-01, 3.35060189e-03,-7.85549680e+00,-7.89919633e-03,
 -1.60066609e-01,-4.50212968e-04]


--- Step 1379 ---
qpos:
[-5.44379272e-04, 8.77174239e-01,-2.02720137e-02,-2.75353794e-02,
  7.60464372e-03, 8.64569224e-01,-2.79745910e-02, 9.47253116e-03,
  2.22229304e-02, 8.72936916e-01,-2.02449109e-02, 2.24195549e-02,
  1.31630530e+00,-1.00068173e-02, 9.69479463e-01, 6.16061417e-02,
 -1.16901807e-01,-1.49743442e-02, 8.40433146e-02, 6.81767667e-01,
  2.41339300e-02,-7.29242329e-01, 5.30662485e-02]

qacc:
[-5.72944855e-02,-2.83273047e-02, 5.67639636e-01,-1.40666409e+00,
 -2.61180292e-02,-7.90219842e-01, 7.97620843e-01, 2.65569817e+00,
 -2.43283486e-01, 4.54150159e+00,-2.42357587e+01, 5.61974991e+01,
 -6.73678550e-01, 1.16432517e+00, 2.07405536e-01,-2.91107730e-01,
 -2.18801821e-01,-1.13750332e-02,-9.81268602e+00,-8.38327751e-01,
 -3.51907514e-01,-1.46430944e+00]

qfrc_actuator:
[ 2.39692160e-03, 2.76124934e-02, 8.75205142e-03, 1.61476044e-03,
  4.65868512e-05, 2.73681167e-02, 8.79403611e-03, 1.61040559e-03,
 -2.48977160e-03, 2.74925632e-02, 8.75229591e-03, 1.72722247e-03,
  5.57840237e-03,-1.67671886e-03, 0.00000000e+00,-2.43968492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.06156393e-05, 2.27746855e-05, 8.85524398e-06,-5.21995869e-07,
 -4.81797698e-06,-7.93737575e-05,-1.23278741e-05, 5.36534389e-06,
 -4.51120129e-05,-3.03395896e-05,-2.70822342e-05, 8.94389375e-05,
 -5.37733121e-05, 7.43837922e-06, 1.32233821e-05, 2.77020050e-06,
 -1.76358577e-01, 2.78209929e-03,-7.85651538e+00,-8.03254263e-03,
 -1.60060861e-01,-4.41688742e-04]


--- Step 1380 ---
qpos:
[-5.44543668e-04, 8.77174304e-01,-2.02719013e-02,-2.75351490e-02,
  7.60533141e-03, 8.64569472e-01,-2.79730447e-02, 9.47153971e-03,
  2.22215684e-02, 8.72935886e-01,-2.02448713e-02, 2.24214412e-02,
  1.31649644e+00,-1.00066523e-02, 9.69721907e-01, 6.16050024e-02,
 -1.18332401e-01,-1.44078434e-02, 8.45877476e-02, 6.79454426e-01,
  2.47694815e-02,-7.31306722e-01, 5.40243846e-02]

qacc:
[-2.18013928e-03, 4.18180022e-01,-2.77139230e+00, 8.60059428e+00,
 -1.53096921e-01, 2.59000794e+00,-8.13798201e+00, 5.66954679e+00,
 -7.66470130e-02, 2.12646933e-01,-6.35609118e+00, 2.42456813e+01,
 -8.24742132e-01, 1.45172313e+00, 1.20680342e+01,-4.10854687e+01,
 -2.18772402e-01,-1.19605761e-02,-9.81401899e+00,-8.32157214e-01,
 -3.48609703e-01,-1.46194430e+00]

qfrc_actuator:
[ 2.40161123e-03, 2.76207376e-02, 8.76213950e-03, 1.63330021e-03,
  2.12079934e-05, 2.73854514e-02, 8.74228371e-03, 1.59808626e-03,
 -2.48238583e-03, 2.74509070e-02, 8.76937890e-03, 1.77869584e-03,
  5.56476236e-03,-1.65436300e-03, 0.00000000e+00,-2.63885272e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.14823829e-07, 2.27864465e-05, 1.58652976e-05, 1.98112885e-05,
 -2.76814361e-05,-2.93907110e-05,-6.94997459e-05,-1.60453451e-05,
 -1.43249392e-05,-6.03796256e-05, 1.05795690e-05, 5.09770776e-05,
 -4.34114155e-05, 1.17561344e-05, 7.68603635e-07,-1.98615814e-04,
 -1.76313639e-01, 2.21421481e-03,-7.85753406e+00,-8.16698682e-03,
 -1.60048993e-01,-4.33075421e-04]


--- Step 1381 ---
qpos:
[-5.44311741e-04, 8.77174411e-01,-2.02718931e-02,-2.75346692e-02,
  7.60627849e-03, 8.64570149e-01,-2.79726472e-02, 9.46967167e-03,
  2.22200030e-02, 8.72934857e-01,-2.02448148e-02, 2.24231855e-02,
  1.31668717e+00,-1.00059458e-02, 9.69965116e-01, 6.15951313e-02,
 -1.19763869e-01,-1.38413927e-02, 8.50929192e-02, 6.77133449e-01,
  2.54058117e-02,-7.33363605e-01, 5.49787214e-02]

qacc:
[ 2.05876780e-01, 8.60645936e-01,-4.03673969e+00, 8.48129054e+00,
  1.35330367e-01, 1.97053467e+00,-2.50282070e+00,-1.11459261e+01,
 -1.05624193e-01,-3.37586545e-01, 1.80521293e+00,-4.29025788e+00,
 -1.20629243e+00, 2.18706990e+00, 2.75635794e+01,-9.46375438e+01,
 -2.18733138e-01,-1.25455676e-02,-9.81535205e+00,-8.25991880e-01,
 -3.45329084e-01,-1.45959466e+00]

qfrc_actuator:
[ 2.43999864e-03, 2.76078346e-02, 8.75029252e-03, 1.64411705e-03,
  5.91375549e-05, 2.74312333e-02, 8.69351288e-03, 1.55573081e-03,
 -2.49507308e-03, 2.74799549e-02, 8.77937303e-03, 1.77269361e-03,
  5.54971953e-03,-1.62349282e-03, 0.00000000e+00,-3.09294974e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.81898361e-05, 3.96022603e-06,-4.50306951e-06, 1.27263619e-05,
  2.47529508e-05, 1.42862548e-05,-6.39716981e-05,-4.63332289e-05,
 -1.95894972e-05,-3.29587928e-07, 5.94191185e-07,-7.23282173e-06,
 -3.81572410e-05, 2.37892799e-05,-2.76741095e-05,-4.66435765e-04,
 -1.76260982e-01, 1.64696817e-03,-7.85855280e+00,-8.30251926e-03,
 -1.60031003e-01,-4.24373573e-04]


--- Step 1382 ---
qpos:
[-5.43837771e-04, 8.77174458e-01,-2.02716276e-02,-2.75351109e-02,
  7.60776814e-03, 8.64570648e-01,-2.79722111e-02, 9.46868709e-03,
  2.22179000e-02, 8.72934515e-01,-2.02447092e-02, 2.24247524e-02,
  1.31687747e+00,-1.00048064e-02, 9.70207730e-01, 6.15835610e-02,
 -1.21196213e-01,-1.32749946e-02, 8.55588240e-02, 6.74804769e-01,
  2.60429290e-02,-7.35412950e-01, 5.59292637e-02]

qacc:
[ 1.25911535e-01,-2.69622837e+00, 1.33775974e+01,-2.96719871e+01,
  2.85150332e-01, 1.47318691e+00,-9.32639912e+00, 2.46891868e+01,
 -2.79609436e-01, 4.05803943e-01, 6.20112424e-01,-4.27521286e+00,
 -7.36609085e-01, 1.33766148e+00, 4.29520132e+00,-1.62075094e+01,
 -2.18684033e-01,-1.31299806e-02,-9.81668515e+00,-8.19831739e-01,
 -3.42065509e-01,-1.45726055e+00]

qfrc_actuator:
[ 2.44494790e-03, 2.76000244e-02, 8.76099612e-03, 1.59700776e-03,
  9.91134628e-05, 2.74226684e-02, 8.70028587e-03, 1.60260123e-03,
 -2.53744259e-03, 2.75688053e-02, 8.80308948e-03, 1.76847974e-03,
  5.52319825e-03,-1.60557821e-03, 0.00000000e+00,-3.16094149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.33226419e-05,-5.98022155e-06, 1.14048454e-05,-4.68492574e-05,
  5.17596316e-05,-1.57868296e-05, 2.31794362e-07, 4.43673819e-05,
 -5.17965079e-05, 8.84944880e-05, 2.34754635e-05,-4.34923614e-06,
 -4.43948936e-05, 1.49315566e-05,-7.04213182e-05,-9.88578887e-05,
 -1.76200606e-01, 1.08037903e-03,-7.85957154e+00,-8.43913041e-03,
 -1.60006890e-01,-4.15583759e-04]


--- Step 1383 ---
qpos:
[-5.43035716e-04, 8.77174256e-01,-2.02711797e-02,-2.75353930e-02,
  7.60938556e-03, 8.64571118e-01,-2.79718167e-02, 9.46929326e-03,
  2.22158392e-02, 8.72934701e-01,-2.02446198e-02, 2.24269709e-02,
  1.31706750e+00,-1.00039333e-02, 9.70449766e-01, 6.15724917e-02,
 -1.22629431e-01,-1.27086513e-02, 8.59854568e-02, 6.72468419e-01,
  2.66808413e-02,-7.37454728e-01, 5.68760166e-02]

qacc:
[ 1.70688842e-01,-5.11169609e-01, 6.71549354e-01, 1.97881851e+00,
  6.71987552e-02, 3.34851538e+00,-1.87144984e+01, 4.63396936e+01,
  2.18062297e-02, 2.08268672e+00,-9.16564516e+00, 2.00815592e+01,
  5.64859426e-02,-3.97377869e-01,-2.37336886e+00, 7.04576577e+00,
 -2.18625088e-01,-1.37137880e-02,-9.81801822e+00,-8.13676781e-01,
 -3.38818829e-01,-1.45494199e+00]

qfrc_actuator:
[ 2.46533526e-03, 2.75776026e-02, 8.76715784e-03, 1.60497704e-03,
  8.66723400e-05, 2.74351894e-02, 8.70415207e-03, 1.68384513e-03,
 -2.50844256e-03, 2.75863348e-02, 8.79949504e-03, 1.80093637e-03,
  5.49513178e-03,-1.63105016e-03, 0.00000000e+00,-3.12507835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.16076133e-05,-2.54162898e-05, 4.70801903e-06, 7.19531560e-06,
  1.21898107e-05, 5.63464935e-06, 2.16339722e-06, 8.14384283e-05,
  4.08887843e-06, 7.16720377e-05, 1.74242698e-05, 3.69752161e-05,
 -5.14562030e-05,-3.18811030e-05,-4.50392421e-05, 2.09562943e-05,
 -1.76132513e-01, 5.14467052e-04,-7.86059024e+00,-8.57681082e-03,
 -1.59976653e-01,-4.06706541e-04]


--- Step 1384 ---
qpos:
[-5.42138415e-04, 8.77173665e-01,-2.02709437e-02,-2.75338051e-02,
  7.61079176e-03, 8.64572210e-01,-2.79724593e-02, 9.47016250e-03,
  2.22141719e-02, 8.72935143e-01,-2.02438708e-02, 2.24295492e-02,
  1.31725713e+00,-1.00030508e-02, 9.70691394e-01, 6.15628636e-02,
 -1.24063523e-01,-1.21423652e-02, 8.63728122e-02, 6.70124433e-01,
  2.73195566e-02,-7.39488912e-01, 5.78189852e-02]

qacc:
[ 4.95801143e-02, 3.93151973e+00,-2.26351559e+01, 5.55800548e+01,
 -1.11812251e-01, 4.25544231e+00,-1.50953705e+01, 2.08546138e+01,
  2.04783620e-01,-7.64008578e-01, 1.69534601e+00, 3.28993706e+00,
 -2.21152041e-01, 2.04699873e-01,-4.94245327e+00, 1.64412255e+01,
 -2.18556306e-01,-1.42969629e-02,-9.81935121e+00,-8.07526995e-01,
 -3.35588894e-01,-1.45263901e+00]

qfrc_actuator:
[ 2.45929738e-03, 2.75466277e-02, 8.75281352e-03, 1.69853883e-03,
  6.07313957e-05, 2.74780367e-02, 8.65308116e-03, 1.69588929e-03,
 -2.47249096e-03, 2.75964611e-02, 8.83281752e-03, 1.81913196e-03,
  5.47679155e-03,-1.62877018e-03, 0.00000000e+00,-3.04617549e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 9.16566570e-06,-4.39028870e-05,-1.87664479e-05, 9.27766035e-05,
 -2.01401054e-05, 4.99202726e-05,-4.68298786e-05, 1.39431551e-05,
  3.79276796e-05, 5.53763286e-05, 5.15454345e-05, 2.25856041e-05,
 -5.63048028e-05,-1.59696865e-05,-2.05911046e-05, 7.37985570e-05,
 -1.76056706e-01,-5.07481578e-05,-7.86160885e+00,-8.71555109e-03,
 -1.59940291e-01,-3.97742474e-04]


--- Step 1385 ---
qpos:
[-5.41421359e-04, 8.77172350e-01,-2.02703924e-02,-2.75314470e-02,
  7.61192988e-03, 8.64573240e-01,-2.79731904e-02, 9.47119200e-03,
  2.22127382e-02, 8.72935477e-01,-2.02427342e-02, 2.24317012e-02,
  1.31744641e+00,-1.00021724e-02, 9.70932195e-01, 6.15595677e-02,
 -1.25498489e-01,-1.15761386e-02, 8.67208848e-02, 6.67772843e-01,
  2.79590827e-02,-7.41515473e-01, 5.87581747e-02]

qacc:
[-9.31881538e-02,-2.48946803e-01,-3.74097031e+00, 1.70796799e+01,
 -1.40847099e-01, 4.94910589e-01,-2.55977049e+00, 5.52074499e+00,
  1.21609100e-01,-2.10253677e+00, 9.08952277e+00,-1.70078282e+01,
  7.62480007e-02,-2.70482704e-01,-2.03432907e+01, 6.93916740e+01,
 -2.18477691e-01,-1.48794782e-02,-9.82068404e+00,-8.01382372e-01,
 -3.32375557e-01,-1.45035162e+00]

qfrc_actuator:
[ 2.43750595e-03, 2.74930075e-02, 8.76199235e-03, 1.73516616e-03,
  4.47310877e-05, 2.74496776e-02, 8.64107054e-03, 1.70261025e-03,
 -2.46824179e-03, 2.75489486e-02, 8.83436307e-03, 1.79329684e-03,
  5.46430774e-03,-1.62776086e-03, 0.00000000e+00,-2.71180513e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.73872665e-05,-7.80653572e-05, 1.01104065e-06, 3.59038365e-05,
 -2.55789356e-05,-9.54396576e-06,-6.99273428e-06, 7.50859997e-06,
  2.25051740e-05,-4.95063192e-06, 2.01002350e-05,-2.12450758e-05,
 -4.93091209e-05,-1.51122691e-05,-4.59419546e-06, 3.35096643e-04,
 -1.75973187e-01,-6.15247014e-04,-7.86262732e+00,-8.85534194e-03,
 -1.59897803e-01,-3.88692113e-04]


--- Step 1386 ---
qpos:
[-5.41112889e-04, 8.77170628e-01,-2.02692081e-02,-2.75297668e-02,
  7.61283675e-03, 8.64573845e-01,-2.79730811e-02, 9.47296708e-03,
  2.22118163e-02, 8.72935421e-01,-2.02419174e-02, 2.24332690e-02,
  1.31763545e+00,-1.00015772e-02, 9.71172923e-01, 6.15599288e-02,
 -1.26934329e-01,-1.10099739e-02, 8.70296694e-02, 6.65413683e-01,
  2.85994275e-02,-7.43534383e-01, 5.96935904e-02]

qacc:
[-2.11819617e-01,-3.70397938e+00, 1.52779253e+01,-2.77074231e+01,
 -1.20748604e-01,-1.37228777e+00, 9.32521460e-01, 1.09389308e+01,
  2.65897915e-01,-8.22809178e-01, 4.65452317e+00,-1.39693379e+01,
  2.23580132e-01,-6.70383574e-01,-1.11637442e+01, 3.88679578e+01,
 -2.18389246e-01,-1.54613072e-02,-9.82201666e+00,-7.95242899e-01,
 -3.29178671e-01,-1.44807984e+00]

qfrc_actuator:
[ 2.40649978e-03, 2.74973003e-02, 8.80259521e-03, 1.70247930e-03,
  3.48365063e-05, 2.74322870e-02, 8.68746753e-03, 1.74164014e-03,
 -2.42975366e-03, 2.74848676e-02, 8.79909790e-03, 1.75943811e-03,
  5.45002219e-03,-1.64525677e-03, 0.00000000e+00,-2.53141652e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.93791083e-05,-3.75942301e-05, 2.58508288e-05,-3.52958661e-05,
 -2.20693498e-05,-2.38733304e-05, 4.38205855e-05, 3.85234729e-05,
  4.93174856e-05,-6.36281867e-05,-3.45625409e-05,-3.37946217e-05,
 -4.63330026e-05,-3.20717609e-05, 3.23746765e-05, 1.97838983e-04,
 -1.75881959e-01,-1.17900997e-03,-7.86364560e+00,-8.99617415e-03,
 -1.59849191e-01,-3.79556005e-04]


--- Step 1387 ---
qpos:
[-5.41561381e-04, 8.77169043e-01,-2.02677887e-02,-2.75285350e-02,
  7.61375501e-03, 8.64574263e-01,-2.79721983e-02, 9.47551476e-03,
  2.22111967e-02, 8.72935638e-01,-2.02417843e-02, 2.24336689e-02,
  1.31782428e+00,-1.00017051e-02, 9.71414783e-01, 6.15541064e-02,
 -1.28371042e-01,-1.04438733e-02, 8.72991606e-02, 6.63046985e-01,
  2.92405986e-02,-7.45545615e-01, 6.06252377e-02]

qacc:
[-3.93268663e-01,-1.39803705e+00, 7.13626673e+00,-1.53617980e+01,
  6.57460417e-03,-8.17792054e-01,-7.05235210e-01, 1.29776059e+01,
  1.56445080e-01,-1.32062274e-01, 5.92660303e+00,-2.52493677e+01,
  9.65528620e-02,-7.63431998e-01, 2.03199157e+01,-6.87085092e+01,
 -2.18290976e-01,-1.60424229e-02,-9.82334900e+00,-7.89108564e-01,
 -3.25998089e-01,-1.44582371e+00]

qfrc_actuator:
[ 2.35251259e-03, 2.75363150e-02, 8.82610340e-03, 1.68260185e-03,
  4.64283823e-05, 2.74396178e-02, 8.73251041e-03, 1.78165331e-03,
 -2.42435182e-03, 2.75354380e-02, 8.77780400e-03, 1.70334107e-03,
  5.42400751e-03,-1.69132776e-03, 0.00000000e+00,-2.86933775e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-7.29345236e-05, 2.18441883e-05, 1.77095305e-05,-2.12804908e-05,
  1.08451077e-06, 4.66123708e-06, 4.68368750e-05, 4.12533966e-05,
  2.91243248e-05, 6.39951689e-06,-3.98728501e-05,-6.06817118e-05,
 -6.01443739e-05,-6.36450294e-05, 3.15422051e-05,-3.23979859e-04,
 -1.75783024e-01,-1.74201749e-03,-7.86466364e+00,-9.13803860e-03,
 -1.59794453e-01,-3.70334696e-04]


--- Step 1388 ---
qpos:
[-5.42150950e-04, 8.77167789e-01,-2.02665068e-02,-2.75272054e-02,
  7.61511971e-03, 8.64574955e-01,-2.79711540e-02, 9.47746866e-03,
  2.22107566e-02, 8.72936444e-01,-2.02422099e-02, 2.24340332e-02,
  1.31801251e+00,-1.00017504e-02, 9.71657172e-01, 6.15413322e-02,
 -1.29808627e-01,-9.87783921e-03, 8.75293530e-02, 6.60672783e-01,
  2.98826036e-02,-7.47549140e-01, 6.15531219e-02]

qacc:
[-7.35017440e-02, 1.02234438e+00,-3.42161428e+00, 5.08611087e+00,
  2.34481757e-01,-1.30980561e+00, 7.70343497e+00,-1.84417719e+01,
  9.27843338e-02, 2.26501113e+00,-6.79748590e+00, 6.64278551e+00,
 -8.73630765e-01, 1.23612497e+00, 2.18141347e+01,-7.50877820e+01,
 -2.18182885e-01,-1.66227985e-02,-9.82468101e+00,-7.82979353e-01,
 -3.22833665e-01,-1.44358323e+00]

qfrc_actuator:
[ 2.37401174e-03, 2.75602749e-02, 8.82174691e-03, 1.68820424e-03,
  8.85146409e-05, 2.74617143e-02, 8.74096627e-03, 1.75092069e-03,
 -2.42104417e-03, 2.76010348e-02, 8.76538460e-03, 1.70572890e-03,
  5.39096022e-03,-1.68297998e-03, 0.00000000e+00,-3.22582515e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.35852282e-05, 3.89373935e-05, 1.60023597e-06, 6.73511388e-06,
  4.26017445e-05, 3.61228977e-05, 1.66030706e-05,-2.81147328e-05,
  1.73232879e-05, 5.83346635e-05,-1.81133682e-05, 9.97567795e-08,
 -8.32789042e-05,-1.87999529e-05,-2.94953127e-05,-3.72324316e-04,
 -1.75676387e-01,-2.30425012e-03,-7.86568140e+00,-9.28092622e-03,
 -1.59733591e-01,-3.61028729e-04]


--- Step 1389 ---
qpos:
[-5.42671143e-04, 8.77166768e-01,-2.02655118e-02,-2.75261414e-02,
  7.61676689e-03, 8.64576178e-01,-2.79703741e-02, 9.47834494e-03,
  2.22106087e-02, 8.72937420e-01,-2.02429699e-02, 2.24348062e-02,
  1.31820013e+00,-1.00014483e-02, 9.71898485e-01, 6.15317223e-02,
 -1.31247085e-01,-9.31187394e-03, 8.77202414e-02, 6.58291110e-01,
  3.05254500e-02,-7.49544932e-01, 6.24772487e-02]

qacc:
[ 3.57834935e-02, 5.61734668e-01,-4.39056156e-01,-3.86213113e+00,
  1.47973775e-01,-7.76550042e-01, 8.33852345e+00,-2.69594268e+01,
  1.51518384e-01, 1.99806161e+00,-8.52567713e+00, 1.60082473e+01,
 -5.61743449e-01, 9.08603929e-01,-1.11073357e+01, 3.66297200e+01,
 -2.18064978e-01,-1.72024074e-02,-9.82601262e+00,-7.76855255e-01,
 -3.19685253e-01,-1.44135844e+00]

qfrc_actuator:
[ 2.38723170e-03, 2.75572011e-02, 8.80095006e-03, 1.67322265e-03,
  9.52000232e-05, 2.74922839e-02, 8.72777262e-03, 1.69655057e-03,
 -2.40123871e-03, 2.75864591e-02, 8.74068577e-03, 1.72478978e-03,
  5.36971317e-03,-1.66025021e-03, 0.00000000e+00,-3.03987886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 6.69011626e-06, 1.93345233e-05,-1.23274566e-05,-1.31304134e-05,
  2.69651467e-05, 5.29706175e-05,-4.67787105e-06,-5.28012678e-05,
  2.81490661e-05, 1.42926192e-05,-1.48817479e-05, 2.09345190e-05,
 -7.51315096e-05, 1.10001264e-07,-6.03532739e-05, 1.60212843e-04,
 -1.75562051e-01,-2.86568838e-03,-7.86669883e+00,-9.42482807e-03,
 -1.59666606e-01,-3.51638640e-04]


--- Step 1390 ---
qpos:
[-5.43258145e-04, 8.77166010e-01,-2.02647966e-02,-2.75252691e-02,
  7.61802368e-03, 8.64577814e-01,-2.79697459e-02, 9.47857044e-03,
  2.22105392e-02, 8.72938324e-01,-2.02441804e-02, 2.24358415e-02,
  1.31838752e+00,-1.00017701e-02, 9.72139695e-01, 6.15219543e-02,
 -1.32686414e-01,-8.74597980e-03, 8.78718204e-02, 6.55902000e-01,
  3.11691452e-02,-7.51532962e-01, 6.33976235e-02]

qacc:
[ -0.03498637,  0.73343471, -1.30411832, -1.75569617, -0.20534648,
  -0.37038811,  4.85903815,-16.18414778,  0.04055496,  1.70250791,
  -7.31659171, 12.63055712,  0.33925281, -1.09277032,  0.29585684,
  -1.32195404, -0.21793726, -0.01778122, -9.82734377, -0.77073625,
  -0.31655271, -1.43914934]

qfrc_actuator:
[ 2.37757750e-03, 2.75733784e-02, 8.78824612e-03, 1.66396739e-03,
  4.51249906e-05, 2.75098174e-02, 8.71970301e-03, 1.66422455e-03,
 -2.40722413e-03, 2.75594691e-02, 8.70861856e-03, 1.73567197e-03,
  5.35557030e-03,-1.70019948e-03, 0.00000000e+00,-3.05063421e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.43161803e-06, 2.38972755e-05,-1.06853141e-05,-9.11175300e-06,
 -3.72343863e-05, 4.38917866e-05, 4.48915473e-07,-3.12509334e-05,
  7.56140855e-06,-2.11895142e-05,-3.02271929e-05, 1.13852685e-05,
 -5.83975194e-05,-5.68866211e-05,-1.09521615e-05,-9.77456978e-06,
 -1.75440021e-01,-3.42631288e-03,-7.86771587e+00,-9.56973526e-03,
 -1.59593500e-01,-3.42164966e-04]


--- Step 1391 ---
qpos:
[-5.43750337e-04, 8.77165555e-01,-2.02639904e-02,-2.75248913e-02,
  7.61877708e-03, 8.64579413e-01,-2.79690539e-02, 9.47879496e-03,
  2.22104701e-02, 8.72938959e-01,-2.02454008e-02, 2.24369947e-02,
  1.31857457e+00,-1.00023138e-02, 9.72380720e-01, 6.15127804e-02,
 -1.34126615e-01,-8.18015909e-03, 8.79840847e-02, 6.53505485e-01,
  3.18136965e-02,-7.53513203e-01, 6.43142522e-02]

qacc:
[ 4.91968360e-02,-8.72355932e-01, 5.77243676e+00,-1.46849720e+01,
 -2.64380253e-01,-2.26999079e-01, 7.45858686e-01,-8.39465049e-01,
  2.76231071e-04,-8.59678738e-02,-7.08635303e-01, 2.96419676e+00,
 -3.60707272e-02,-2.38956823e-01,-2.06920538e+00, 6.83671602e+00,
 -2.17799741e-01,-1.83592178e-02,-9.82867440e+00,-7.64622334e-01,
 -3.13435885e-01,-1.43695597e+00]

qfrc_actuator:
[ 2.38981249e-03, 2.76009831e-02, 8.79825817e-03, 1.64042775e-03,
  1.48114865e-05, 2.74839309e-02, 8.71470106e-03, 1.66288184e-03,
 -2.41083471e-03, 2.75429565e-02, 8.70788530e-03, 1.74162975e-03,
  5.34567627e-03,-1.70591339e-03, 0.00000000e+00,-3.01758009e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 9.14480447e-06, 3.83821397e-05, 1.33149164e-05,-2.30652460e-05,
 -4.80284297e-05,-2.63832407e-06, 3.01883517e-06,-5.81592916e-08,
  2.63664152e-08,-3.41298191e-05,-8.43890173e-06, 4.22413350e-06,
 -5.74398307e-05,-3.10639521e-05,-1.02210161e-05, 3.01751982e-05,
 -1.75310301e-01,-3.98610424e-03,-7.86873249e+00,-9.71563900e-03,
 -1.59514272e-01,-3.32608237e-04]


--- Step 1392 ---
qpos:
[-5.44487724e-04, 8.77165422e-01,-2.02636124e-02,-2.75254556e-02,
  7.61928637e-03, 8.64580805e-01,-2.79680410e-02, 9.47900642e-03,
  2.22107475e-02, 8.72938932e-01,-2.02456633e-02, 2.24392294e-02,
  1.31876104e+00,-1.00021262e-02, 9.72621227e-01, 6.15073957e-02,
 -1.35567687e-01,-7.61441413e-03, 8.80570290e-02, 6.51101599e-01,
  3.24591113e-02,-7.55485628e-01, 6.52271406e-02]

qacc:
[-1.27826990e-01,-3.19471001e-01, 5.72437471e+00,-2.15630204e+01,
 -1.27949676e-01,-1.19709363e+00, 3.92509161e+00,-4.51235751e+00,
  1.80903388e-01,-1.32421299e+00,-1.11280563e+00, 1.87857764e+01,
 -8.45119193e-01, 1.65676418e+00,-1.21476409e+01, 4.15173003e+01,
 -2.17652423e-01,-1.89363663e-02,-9.83000444e+00,-7.58513482e-01,
 -3.10334640e-01,-1.43477834e+00]

qfrc_actuator:
[ 2.36178822e-03, 2.75997936e-02, 8.76838311e-03, 1.59094418e-03,
  1.43766997e-05, 2.74677805e-02, 8.72913739e-03, 1.66198700e-03,
 -2.37746837e-03, 2.75152043e-02, 8.76119735e-03, 1.79793025e-03,
  5.33302393e-03,-1.65573324e-03, 0.00000000e+00,-2.81690815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.36195754e-05, 2.20410106e-05,-2.11099448e-05,-4.78305598e-05,
 -2.32930562e-05,-1.70546531e-05, 1.42435424e-05,-9.07622151e-07,
  3.33756001e-05,-4.84066917e-05, 4.53719442e-05, 5.46272526e-05,
 -5.35914286e-05, 3.05538525e-05,-5.38401163e-06, 2.00131778e-04,
 -1.75172895e-01,-4.54504311e-03,-7.86974863e+00,-9.86253058e-03,
 -1.59428927e-01,-3.22968979e-04]


--- Step 1393 ---
qpos:
[-5.45697218e-04, 8.77165646e-01,-2.02639390e-02,-2.75262478e-02,
  7.61986218e-03, 8.64582179e-01,-2.79669220e-02, 9.47919563e-03,
  2.22113960e-02, 8.72938807e-01,-2.02454440e-02, 2.24417355e-02,
  1.31894701e+00,-1.00015860e-02, 9.72861632e-01, 6.15044257e-02,
 -1.37009628e-01,-7.04874721e-03, 8.80906480e-02, 6.48690376e-01,
  3.31053966e-02,-7.57450209e-01, 6.61362943e-02]

qacc:
[-2.45888639e-01, 1.97102472e+00,-5.38319181e+00, 2.30958417e+00,
  3.50132058e-02,-3.64139333e-01, 1.36064575e+00,-1.90375589e+00,
  1.93119394e-01,-9.17388713e-01, 1.93583041e+00, 2.06643228e+00,
 -5.38100283e-01, 9.27561333e-01,-7.40640426e+00, 2.57708932e+01,
 -2.17495314e-01,-1.95126414e-02,-9.83133384e+00,-7.52409682e-01,
 -3.07248830e-01,-1.43261646e+00]

qfrc_actuator:
[ 2.32766310e-03, 2.76166921e-02, 8.73281110e-03, 1.57979775e-03,
  3.18112023e-05, 2.74754114e-02, 8.73720155e-03, 1.66137334e-03,
 -2.35776742e-03, 2.75344656e-02, 8.79271491e-03, 1.81241524e-03,
  5.30277465e-03,-1.64389155e-03, 0.00000000e+00,-2.69662466e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.54848931e-05, 2.28165114e-05,-3.52762274e-05,-1.18643258e-05,
  6.34648870e-06, 9.52680770e-07, 6.24643020e-06,-8.72642528e-07,
  3.57521461e-05, 3.90909246e-06, 2.89975208e-05, 1.50404494e-05,
 -5.43845922e-05, 6.16003998e-06, 1.61102618e-05, 1.29925888e-04,
 -1.75027811e-01,-5.10311020e-03,-7.87076424e+00,-1.00104014e-02,
 -1.59337465e-01,-3.13247716e-04]


--- Step 1394 ---
qpos:
[-5.46969947e-04, 8.77166302e-01,-2.02645473e-02,-2.75265161e-02,
  7.62094873e-03, 8.64583157e-01,-2.79658506e-02, 9.48012666e-03,
  2.22119720e-02, 8.72939195e-01,-2.02458627e-02, 2.24430132e-02,
  1.31913266e+00,-1.00011613e-02, 9.73102014e-01, 6.15032626e-02,
 -1.38452439e-01,-6.48316065e-03, 8.80849363e-02, 6.46271849e-01,
  3.37525595e-02,-7.59406920e-01, 6.70417195e-02]

qacc:
[-3.31563562e-02, 2.43635882e+00,-1.00643628e+01, 1.92517079e+01,
  2.68439002e-01, 1.13362088e+00,-7.93732768e+00, 2.11473155e+01,
 -3.82431040e-02,-6.60344204e-02, 6.40851285e+00,-2.70302921e+01,
 -5.72856402e-02,-1.20373530e-01,-5.48796957e+00, 1.91543709e+01,
 -2.17328423e-01,-2.00880167e-02,-9.83266253e+00,-7.46310916e-01,
 -3.04178312e-01,-1.43047036e+00]

qfrc_actuator:
[ 2.34346034e-03, 2.76620324e-02, 8.72977397e-03, 1.60906870e-03,
  7.75069310e-05, 2.74261921e-02, 8.72377606e-03, 1.69644808e-03,
 -2.38193409e-03, 2.75638840e-02, 8.75799062e-03, 1.74893031e-03,
  5.28328232e-03,-1.65496681e-03, 0.00000000e+00,-2.60696273e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.08246223e-06, 5.03016413e-05,-3.07796124e-06, 2.87977798e-05,
  4.87162371e-05,-4.74750190e-05,-1.25093803e-05, 3.53106069e-05,
 -6.96480825e-06, 3.82415384e-05,-2.98286667e-05,-6.20255124e-05,
 -4.96615604e-05,-2.22219144e-05, 1.67904633e-05, 9.78177492e-05,
 -1.74875052e-01,-5.66028624e-03,-7.87177927e+00,-1.01592428e-02,
 -1.59239889e-01,-3.03444967e-04]


--- Step 1395 ---
qpos:
[-5.48353312e-04, 8.77167390e-01,-2.02652299e-02,-2.75264470e-02,
  7.62237187e-03, 8.64583889e-01,-2.79652905e-02, 9.48217473e-03,
  2.22123608e-02, 8.72939689e-01,-2.02457999e-02, 2.24445312e-02,
  1.31931819e+00,-1.00014344e-02, 9.73342710e-01, 6.15008489e-02,
 -1.39785550e-01,-5.93060016e-03, 8.80620446e-02, 6.45656768e-01,
  3.67626400e-02,-7.59846792e-01, 6.63980316e-02]

qacc:
[-5.76685665e-02, 1.47337487e+00,-5.84612222e+00, 1.14806173e+01,
  1.76636352e-01, 3.39966252e+00,-1.73113885e+01, 3.76477217e+01,
 -9.69833565e-02,-7.11965343e-01, 1.72513449e+00, 1.58715447e+00,
  4.05191378e-01,-1.21140331e+00, 4.20293603e+00,-1.41103811e+01,
  2.74247273e+01,-3.25651766e+00,-4.29501000e+00, 1.95750537e+02,
  1.06957141e+03,-1.48383626e+03]

qfrc_actuator:
[ 2.33573310e-03, 2.76887153e-02, 8.72836401e-03, 1.62642432e-03,
  8.64306719e-05, 2.74142606e-02, 8.69756820e-03, 1.75218068e-03,
 -2.39662106e-03, 2.75810716e-02, 8.79096432e-03, 1.76432329e-03,
  5.27024631e-03,-1.69721784e-03, 0.00000000e+00,-2.67805292e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.20768812, -1.22833121, -4.02440576, -1.22833121,  0.60723238,
        1.09893296, -4.02440576,  1.09893296,  3.87227123,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00015826519241186887
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.50747694e-13, -5.26121541e-13,  1.00000000e+00,  1.84535917e-25,
        1.00000000e+00,  5.26121541e-13, -1.00000000e+00,  0.00000000e+00,
        3.50747694e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.21258213,  0.0011229 ,  0.06198795])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.06487612e-05, 5.53985574e-05, 9.59612725e-06, 1.99633944e-05,
  3.21029552e-05,-3.95763536e-05,-3.63501500e-05, 5.39476748e-05,
 -1.80314991e-05, 2.97453969e-05, 3.50504457e-05, 1.47908241e-05,
 -4.70721308e-05,-5.83682309e-05, 1.34909338e-05,-6.46619107e-05,
 -1.74714625e-01,-6.21655202e-03,-7.87279369e+00,-1.03090465e-02,
 -1.59136203e-01,-2.93561250e-04]


--- Step 1396 ---
qpos:
[-5.49647221e-04, 8.77168230e-01,-2.02650578e-02,-2.75261475e-02,
  7.62363093e-03, 8.64584930e-01,-2.79652426e-02, 9.48342171e-03,
  2.22125677e-02, 8.72940538e-01,-2.02454026e-02, 2.24455077e-02,
  1.31950353e+00,-1.00022297e-02, 9.73583681e-01, 6.14956102e-02,
 -1.41028187e-01,-5.38861053e-03, 8.80183655e-02, 6.46514538e-01,
  4.17129498e-02,-7.59026471e-01, 6.44809889e-02]

qacc:
[ 4.71036164e-02,-2.23971350e+00, 6.54038876e+00,-3.74120338e+00,
 -8.66684669e-02, 1.89296677e-01, 3.29865524e+00,-1.65718842e+01,
 -9.45117965e-02,-1.57697751e+00, 8.59299833e+00,-1.87612585e+01,
  1.33235556e-01,-6.72017138e-01, 8.91966568e+00,-3.06533698e+01,
  2.26187003e+01,-2.64271308e+00,-5.19683867e+00, 1.57351128e+02,
  8.78580135e+02,-1.22028510e+03]

qfrc_actuator:
[ 2.34946911e-03, 2.76507731e-02, 8.76334095e-03, 1.63660760e-03,
  5.55084438e-05, 2.74602137e-02, 8.68192623e-03, 1.71312026e-03,
 -2.40547647e-03, 2.76088765e-02, 8.81043450e-03, 1.73730244e-03,
  5.26107803e-03,-1.72204050e-03, 0.00000000e+00,-2.82550699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.32660018, -1.25443264, -4.14075692, -1.25443264,  0.56747213,
        1.13881906, -4.14075692,  1.13881906,  3.9815976 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000222026899294063
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50019936e-13,  2.50019936e-13,  1.00000000e+00, -6.25099686e-26,
        1.00000000e+00, -2.50019936e-13, -1.00000000e+00,  0.00000000e+00,
        2.50019936e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.21378423,  0.00149842,  0.0619831 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.61734157e-06,-4.14772238e-06, 4.82879567e-05, 1.32747376e-05,
 -1.56486852e-05, 1.86058942e-05,-2.64408903e-05,-4.09696342e-05,
 -1.75269772e-05, 5.22961933e-05, 3.04376822e-05,-2.42481298e-05,
 -5.03317037e-05,-4.79538428e-05,-6.57956952e-06,-1.50624569e-04,
 -5.77527665e-02,-4.65885810e-02,-7.78530346e+00,-6.54373488e-03,
 -1.55395264e-01,-2.88196056e-04]


--- Step 1397 ---
qpos:
[-5.50439194e-04, 8.77168514e-01,-2.02642284e-02,-2.75256738e-02,
  7.62442716e-03, 8.64585973e-01,-2.79649694e-02, 9.48279733e-03,
  2.22124479e-02, 8.72941729e-01,-2.02444057e-02, 2.24447548e-02,
  1.31968839e+00,-1.00027620e-02, 9.73824672e-01, 6.14879678e-02,
 -1.42271243e-01,-4.84659630e-03, 8.79355944e-02, 6.47365343e-01,
  4.66564835e-02,-7.58173870e-01, 6.25593144e-02]

qacc:
[ 2.61425922e-01,-2.21330912e+00, 6.09004526e+00,-3.72162457e+00,
 -2.43084970e-01,-4.47289032e+00, 2.38579823e+01,-5.66153404e+01,
 -1.69553742e-01,-4.77925447e+00, 2.50020776e+01,-5.61477223e+01,
 -6.96039058e-01, 1.12181158e+00, 7.32548350e+00,-2.55000633e+01,
 -1.04567389e-01, 6.14687310e-03,-9.77302202e+00,-2.76225668e+00,
  7.91302873e+00, 6.25634528e-01]

qfrc_actuator:
[ 2.39367987e-03, 2.75923148e-02, 8.78374543e-03, 1.64245948e-03,
  1.87973039e-05, 2.74516790e-02, 8.69058180e-03, 1.61865535e-03,
 -2.42851589e-03, 2.76250060e-02, 8.83950962e-03, 1.65001363e-03,
  5.24358955e-03,-1.70079739e-03, 0.00000000e+00,-2.94569420e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.83534218e-05,-5.02554097e-05, 2.59480868e-05, 7.60201283e-06,
 -4.41555697e-05,-5.37584768e-06, 7.81207580e-06,-9.53836452e-05,
 -3.14639950e-05, 5.05948099e-05, 4.27766670e-05,-8.44693259e-05,
 -5.84205971e-05,-2.54363948e-07,-2.48278554e-05,-1.30590038e-04,
 -1.03735562e-01, 5.36227084e-02,-7.69221248e+00,-1.02293677e-02,
 -1.50656038e-01,-6.50608728e-05]


--- Step 1398 ---
qpos:
[-5.51082852e-04, 8.77168918e-01,-2.02639014e-02,-2.75258302e-02,
  7.62477185e-03, 8.64586989e-01,-2.79649332e-02, 9.48211786e-03,
  2.22118458e-02, 8.72943210e-01,-2.02424966e-02, 2.24432919e-02,
  1.31987295e+00,-1.00033656e-02, 9.74065536e-01, 6.14785711e-02,
 -1.43514716e-01,-4.30455925e-03, 8.78137323e-02, 6.48209142e-01,
  5.15930346e-02,-7.57289045e-01, 6.06330766e-02]

qacc:
[ 7.66924730e-02, 2.64813504e-01, 1.94017253e+00,-1.21162286e+01,
 -2.37327768e-01, 5.12382088e-01,-1.64602848e+00, 1.09136335e+00,
 -2.50158827e-01,-3.62503396e+00, 1.64803707e+01,-3.04412377e+01,
 -2.47562346e-01, 2.28000949e-01, 5.11996534e+00,-1.81620164e+01,
 -1.04564468e-01, 5.70659185e-03,-9.77272131e+00,-2.81861252e+00,
  7.88675580e+00, 6.37415934e-01]

qfrc_actuator:
[ 2.38471669e-03, 2.76107185e-02, 8.75975666e-03, 1.61017138e-03,
 -3.27017673e-06, 2.74461397e-02, 8.67777813e-03, 1.61660686e-03,
 -2.45984826e-03, 2.76517547e-02, 8.89170146e-03, 1.61673184e-03,
  5.23179330e-03,-1.70574905e-03, 0.00000000e+00,-3.03105998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.42921573e-05,-4.02021405e-06,-3.09168968e-05,-3.33959189e-05,
 -4.30817385e-05,-1.10501023e-05,-1.62616127e-05,-3.86535903e-06,
 -4.64611984e-05, 6.02180453e-05, 6.49733155e-05,-3.12789340e-05,
 -4.64962574e-05,-1.80275616e-05,-3.02028078e-05,-9.67905112e-05,
 -1.03671312e-01, 5.29242330e-02,-7.69192681e+00,-8.77744739e-03,
 -1.50768957e-01,-1.52566871e-04]


--- Step 1399 ---
qpos:
[-5.51525074e-04, 8.77169595e-01,-2.02634381e-02,-2.75264367e-02,
  7.62495034e-03, 8.64588069e-01,-2.79656849e-02, 9.48179101e-03,
  2.22113747e-02, 8.72945518e-01,-2.02412579e-02, 2.24407911e-02,
  1.32005730e+00,-1.00040736e-02, 9.74306076e-01, 6.14691799e-02,
 -1.44758608e-01,-3.76250114e-03, 8.76527806e-02, 6.49045895e-01,
  5.65223970e-02,-7.56372051e-01, 5.87023444e-02]

qacc:
[ 1.04643618e-01,-9.47096329e-01, 5.79548449e+00,-1.39936554e+01,
 -8.78028818e-02, 3.00872634e+00,-1.20962386e+01, 1.94158477e+01,
  6.73278312e-02, 8.30029676e-01, 3.00842640e+00,-2.05084609e+01,
 -6.07854113e-02,-6.23681327e-02,-4.93144596e-01, 1.03272039e+00,
 -1.04559502e-01, 5.26419466e-03,-9.77241845e+00,-2.87473486e+00,
  7.85994593e+00, 6.49038347e-01]

qfrc_actuator:
[ 2.39725988e-03, 2.76570318e-02, 8.78103933e-03, 1.59123911e-03,
  1.37500951e-06, 2.74424258e-02, 8.63471827e-03, 1.63343524e-03,
 -2.42485959e-03, 2.76847906e-02, 8.85069501e-03, 1.56226867e-03,
  5.22873906e-03,-1.70843580e-03, 0.00000000e+00,-3.02421030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.94185794e-05, 3.62427485e-05, 1.54831073e-05,-2.08257029e-05,
 -1.58597723e-05,-1.34457583e-05,-4.74861684e-05, 1.57169585e-05,
  1.26453231e-05, 7.87350642e-05,-2.16707013e-05,-5.02452185e-05,
 -3.49305835e-05,-1.68120170e-05,-2.82713226e-05,-3.23861385e-06,
 -1.03603585e-01, 5.22245659e-02,-7.69164243e+00,-7.32346606e-03,
 -1.50867323e-01,-2.40144686e-04]


--- Step 1400 ---
qpos:
[-5.51423181e-04, 8.77170232e-01,-2.02623578e-02,-2.75269141e-02,
  7.62526540e-03, 8.64588899e-01,-2.79670836e-02, 9.48100903e-03,
  2.22110018e-02, 8.72947498e-01,-2.02403507e-02, 2.24384746e-02,
  1.32024125e+00,-1.00047249e-02, 9.74546173e-01, 6.14619004e-02,
 -1.46002918e-01,-3.22042376e-03, 8.74527404e-02, 6.49875562e-01,
  6.14443655e-02,-7.55422948e-01, 5.67671863e-02]

qacc:
[ 2.83140976e-01,-1.51233951e+00, 4.76864861e+00,-3.49194366e+00,
  7.13919273e-02, 5.39225196e-01,-4.81504702e-01,-6.17638009e+00,
  5.09320619e-02, 8.73173656e-01,-4.51776703e+00, 8.47680507e+00,
 -2.28134252e-01, 2.47746771e-01,-7.01807523e+00, 2.36304341e+01,
 -1.04552428e-01, 4.81962484e-03,-9.77211347e+00,-2.93061930e+00,
  7.83260239e+00, 6.60498694e-01]

qfrc_actuator:
[ 2.44034709e-03, 2.76488795e-02, 8.81129451e-03, 1.59814506e-03,
  2.19430820e-05, 2.74042216e-02, 8.59190325e-03, 1.60794618e-03,
 -2.42150921e-03, 2.75966775e-02, 8.80824536e-03, 1.56671903e-03,
  5.19897807e-03,-1.70970208e-03, 0.00000000e+00,-2.90983147e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.24323980e-05, 1.44043034e-05, 3.89182985e-05, 8.58619878e-06,
  1.30186622e-05,-5.48778871e-05,-5.09007150e-05,-2.74025229e-05,
  9.45033207e-06,-5.07739102e-05,-3.06194567e-05, 6.09496388e-06,
 -5.44763442e-05,-1.25206239e-05,-1.65033273e-05, 1.09857328e-04,
 -1.03532358e-01, 5.15237086e-02,-7.69135933e+00,-5.86758186e-03,
 -1.50951105e-01,-3.27785013e-04]


--- Step 1401 ---
qpos:
[-5.50979238e-04, 8.77170759e-01,-2.02611334e-02,-2.75269179e-02,
  7.62595865e-03, 8.64589440e-01,-2.79681703e-02, 9.47986634e-03,
  2.22105139e-02, 8.72948895e-01,-2.02401247e-02, 2.24373249e-02,
  1.32042469e+00,-1.00050625e-02, 9.74785752e-01, 6.14590199e-02,
 -1.47247646e-01,-2.67832888e-03, 8.72136130e-02, 6.50698104e-01,
  6.63587356e-02,-7.54441795e-01, 5.48276708e-02]

qacc:
[ 1.77887750e-01, 4.29320921e-01,-3.73366797e+00, 1.17690310e+01,
  1.98936775e-01,-1.99394935e+00, 8.07987546e+00,-1.46115695e+01,
 -5.99384528e-02, 3.53022078e+00,-1.86363622e+01, 4.03513712e+01,
 -4.11148189e-01, 6.82405423e-01,-1.40186851e+01, 4.79967972e+01,
 -1.04543180e-01, 4.37282708e-03,-9.77180640e+00,-2.98626153e+00,
  7.80472853e+00, 6.71793947e-01]

qfrc_actuator:
[ 2.44807956e-03, 2.76260057e-02, 8.81089262e-03, 1.62015474e-03,
  5.18285952e-05, 2.74166224e-02, 8.62041978e-03, 1.59323861e-03,
 -2.43716137e-03, 2.75432130e-02, 8.76485889e-03, 1.62346320e-03,
  5.17452072e-03,-1.69248267e-03, 0.00000000e+00,-2.67978577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.29570551e-05,-6.43148239e-06, 7.65063346e-06, 2.41375207e-05,
  3.60758399e-05,-2.99780898e-05, 9.96823664e-06,-1.93519837e-05,
 -1.11066078e-05,-8.79700417e-05,-5.74541526e-05, 5.36263545e-05,
 -5.92858461e-05, 2.20890312e-06, 1.27484721e-06, 2.33295654e-04,
 -1.03457607e-01, 5.08216628e-02,-7.69107754e+00,-4.40995334e-03,
 -1.51020271e-01,-4.15478530e-04]


--- Step 1402 ---
qpos:
[-5.50695133e-04, 8.77171620e-01,-2.02606206e-02,-2.75270003e-02,
  7.62701453e-03, 8.64589619e-01,-2.79681018e-02, 9.47919631e-03,
  2.22100602e-02, 8.72949713e-01,-2.02403671e-02, 2.24358133e-02,
  1.32060776e+00,-1.00052344e-02, 9.75025303e-01, 6.14585604e-02,
 -1.48492792e-01,-2.13621831e-03, 8.69353996e-02, 6.51513482e-01,
  7.12653033e-02,-7.53428654e-01, 5.28838667e-02]

qacc:
[-8.36105964e-02, 2.26692684e+00,-7.11101181e+00, 6.64457301e+00,
  1.91363913e-01,-2.73043960e+00, 7.04703844e+00,-4.49759248e-01,
  1.76488148e-02,-2.01717937e-01, 1.13627533e+00,-6.22458523e+00,
 -2.94100115e-01, 4.45979161e-01,-7.33240111e+00, 2.56347904e+01,
 -1.04531693e-01, 3.92374745e-03,-9.77149728e+00,-3.04165727e+00,
  7.77632773e+00, 6.82921131e-01]

qfrc_actuator:
[ 2.41683097e-03, 2.76476412e-02, 8.77457007e-03, 1.61532530e-03,
  6.92556864e-05, 2.74240198e-02, 8.69103504e-03, 1.62059283e-03,
 -2.42853584e-03, 2.75109260e-02, 8.73914537e-03, 1.60401161e-03,
  5.16392182e-03,-1.68220417e-03, 0.00000000e+00,-2.56099819e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.53959202e-05, 2.06333168e-05,-3.58872695e-05,-4.37301956e-06,
  3.45931996e-05,-8.13420618e-06, 6.49879555e-05, 2.60402110e-05,
  3.27393054e-06,-9.10835413e-05,-4.91167521e-05,-2.41665334e-05,
 -4.44832777e-05,-2.85781564e-06, 2.27676069e-05, 1.31100227e-04,
 -1.03379307e-01, 5.01184311e-02,-7.69079705e+00,-2.95073939e-03,
 -1.51074795e-01,-5.03215900e-04]


--- Step 1403 ---
qpos:
[-5.50682666e-04, 8.77172666e-01,-2.02607704e-02,-2.75278143e-02,
  7.62815974e-03, 8.64589839e-01,-2.79678843e-02, 9.47922146e-03,
  2.22094942e-02, 8.72949149e-01,-2.02397485e-02, 2.24340919e-02,
  1.32079056e+00,-1.00055471e-02, 9.75264826e-01, 6.14602157e-02,
 -1.49738356e-01,-1.59409384e-03, 8.66181015e-02, 6.52321656e-01,
  7.61638656e-02,-7.52383587e-01, 5.09358423e-02]

qacc:
[-1.41655068e-01, 5.87429715e-01, 1.34022335e+00,-1.30630483e+01,
  4.70468025e-02, 1.06891599e+00,-6.66698690e+00, 1.84315070e+01,
 -5.73174209e-02,-4.66036069e+00, 1.48550640e+01,-1.88460372e+01,
  9.91749408e-03,-2.30375395e-01,-6.42832733e+00, 2.24261995e+01,
 -1.04517902e-01, 3.47233349e-03,-9.77118613e+00,-3.09680230e+00,
  7.74740344e+00, 6.93877320e-01]

qfrc_actuator:
[ 2.39806408e-03, 2.76423250e-02, 8.73524569e-03, 1.57700248e-03,
  6.13193807e-05, 2.74286044e-02, 8.69717841e-03, 1.65474241e-03,
 -2.44095215e-03, 2.74205640e-02, 8.77735309e-03, 1.59316240e-03,
  5.14566589e-03,-1.69382045e-03, 0.00000000e+00,-2.45548911e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.61730669e-05,-1.40327450e-06,-3.96460385e-05,-3.87686515e-05,
  8.52544768e-06, 1.45740417e-05, 1.33706226e-05, 3.65573475e-05,
 -1.08497177e-05,-1.52491777e-04, 1.25050091e-05,-1.69211930e-05,
 -4.46717374e-05,-2.24269667e-05, 1.97591268e-05, 1.14519487e-04,
 -1.03297435e-01, 4.94140168e-02,-7.69051789e+00,-1.49009923e-03,
 -1.51114650e-01,-5.90987768e-04]


--- Step 1404 ---
qpos:
[-5.50916032e-04, 8.77173483e-01,-2.02609917e-02,-2.75287233e-02,
  7.62947816e-03, 8.64590625e-01,-2.79683237e-02, 9.47895371e-03,
  2.22089841e-02, 8.72947640e-01,-2.02391012e-02, 2.24326009e-02,
  1.32097308e+00,-1.00062259e-02, 9.75504185e-01, 6.14648106e-02,
 -1.50984339e-01,-1.05195731e-03, 8.62617199e-02, 6.53122588e-01,
  8.10542203e-02,-7.51306661e-01, 4.89836661e-02]

qacc:
[-1.27713980e-01,-2.97524463e-01, 1.02307192e+00,-2.38266653e+00,
  9.03530347e-02, 1.97741245e+00,-4.73118057e+00, 2.98378132e-01,
  2.93825398e-02,-8.53927428e-01, 2.61224924e-01, 4.37429125e+00,
  2.40036178e-01,-7.64398905e-01,-9.13698118e+00, 3.15723305e+01,
 -1.04501739e-01, 3.01853421e-03,-9.77087299e+00,-3.15169246e+00,
  7.71795916e+00, 7.04659639e-01]

qfrc_actuator:
[ 2.38696194e-03, 2.76208535e-02, 8.72986119e-03, 1.57252602e-03,
  7.37985408e-05, 2.74667471e-02, 8.66518280e-03, 1.63929973e-03,
 -2.43035559e-03, 2.73851540e-02, 8.78176109e-03, 1.60521993e-03,
  5.12282084e-03,-1.71833321e-03, 0.00000000e+00,-2.30535159e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.36951820e-05,-3.21277902e-05,-1.19050535e-05,-6.66336878e-06,
  1.65377445e-05, 5.06138203e-05,-2.60765725e-05,-1.36447803e-05,
  5.35706881e-06,-1.18816275e-04,-2.61323006e-05, 5.62856420e-06,
 -5.39559196e-05,-3.95510130e-05, 1.66836441e-05, 1.57860247e-04,
 -1.03211965e-01, 4.87084237e-02,-7.69024007e+00,-2.81923385e-05,
 -1.51139811e-01,-6.78784770e-04]


--- Step 1405 ---
qpos:
[-5.51150110e-04, 8.77174122e-01,-2.02610453e-02,-2.75293568e-02,
  7.63095094e-03, 8.64591587e-01,-2.79684291e-02, 9.47779380e-03,
  2.22080157e-02, 8.72946303e-01,-2.02397211e-02, 2.24305210e-02,
  1.32115522e+00,-1.00066909e-02, 9.75744107e-01, 6.14668225e-02,
 -1.52230739e-01,-5.09810523e-04, 8.58662560e-02, 6.53916239e-01,
  8.59361659e-02,-7.50197941e-01, 4.70274064e-02]

qacc:
[-1.93019189e-04,-1.37479175e-01,-1.01324582e+00, 5.63859203e+00,
  8.11774245e-02,-2.53423323e+00, 1.31422410e+01,-2.92504354e+01,
 -2.39009635e-01, 2.55367961e+00,-6.29100116e+00,-2.00169435e+00,
 -6.06853595e-01, 9.81940133e-01, 8.66439820e+00,-2.90283712e+01,
 -1.04483135e-01, 2.56230015e-03,-9.77055791e+00,-3.20632362e+00,
  7.68799843e+00, 7.15265264e-01]

qfrc_actuator:
[ 2.39829413e-03, 2.76255333e-02, 8.74451452e-03, 1.58801333e-03,
  8.06547473e-05, 2.74712262e-02, 8.68206058e-03, 1.59481170e-03,
 -2.47708503e-03, 2.74360885e-02, 8.73087188e-03, 1.57740743e-03,
  5.11853532e-03,-1.69704446e-03, 0.00000000e+00,-2.44965494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-7.27003540e-08,-1.60471836e-05, 6.31881127e-06, 1.35713958e-05,
  1.47337519e-05, 2.67982940e-05, 2.36431949e-05,-4.34880209e-05,
 -4.41687773e-05,-2.06310272e-05,-7.84466473e-05,-3.36957006e-05,
 -4.47282485e-05, 3.93199544e-07, 2.04695463e-05,-1.34481941e-04,
 -1.03122873e-01, 4.80016564e-02,-7.68996360e+00, 1.43482154e-03,
 -1.51150256e-01,-7.66597526e-04]


--- Step 1406 ---
qpos:
[-5.51128792e-04, 8.77174670e-01,-2.02609827e-02,-2.75294629e-02,
  7.63216112e-03, 8.64592350e-01,-2.79681700e-02, 9.47650156e-03,
  2.22067266e-02, 8.72945688e-01,-2.02402261e-02, 2.24276097e-02,
  1.32133698e+00,-1.00066706e-02, 9.75984066e-01, 6.14674593e-02,
 -1.53411383e-01, 7.15448781e-05, 8.54449062e-02, 6.55531922e-01,
  8.88252315e-02,-7.48409707e-01, 4.76538312e-02]

qacc:
[ 1.32837292e-01, 6.43355305e-01,-4.68587882e+00, 1.36803244e+01,
 -1.37646686e-01,-1.55171050e+00, 5.71142192e+00,-8.44042618e+00,
 -1.66826408e-01,-1.07673712e+00, 8.73535909e+00,-2.38410574e+01,
 -7.58291560e-01, 1.41758290e+00, 4.25499988e+00,-1.47006665e+01,
  1.64388903e+01, 9.80215404e+00,-6.47148681e+00, 2.97829300e+02,
  6.88350031e+02, 1.54344045e+03]

qfrc_actuator:
[ 2.42294014e-03, 2.76281933e-02, 8.75322733e-03, 1.61514643e-03,
  4.85814828e-05, 2.74379182e-02, 8.69202900e-03, 1.58687077e-03,
 -2.48670769e-03, 2.75558446e-02, 8.77235710e-03, 1.54415256e-03,
  5.10942714e-03,-1.66646082e-03, 0.00000000e+00,-2.51773935e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.25410637,  1.20551983, -4.07972339,  1.20551983,  0.5806789 ,
       -1.08546321, -4.07972339, -1.08546321,  3.93336222,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00018616934363589743
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.98175576e-13, -1.19270230e-12,  1.00000000e+00,  3.55634696e-25,
        1.00000000e+00,  1.19270230e-12, -1.00000000e+00,  0.00000000e+00,
        2.98175576e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.22015714, -0.03355944,  0.06198473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.46076469e-05,-4.44043721e-06, 6.64356826e-06, 2.69294303e-05,
 -2.50574104e-05,-1.53218056e-05, 1.69057673e-05,-6.82067913e-06,
 -3.08786814e-05, 9.06042380e-05, 2.64122710e-05,-3.75028891e-05,
 -3.53029714e-05, 2.06224160e-05,-1.21244075e-05,-7.44761819e-05,
 -1.03030133e-01, 4.72937202e-02,-7.68968850e+00, 2.89878241e-03,
 -1.51145964e-01,-8.54416649e-04]


--- Step 1407 ---
qpos:
[-5.50832894e-04, 8.77175423e-01,-2.02612176e-02,-2.75292524e-02,
  7.63285508e-03, 8.64593126e-01,-2.79679221e-02, 9.47650461e-03,
  2.22061518e-02, 8.72945402e-01,-2.02390492e-02, 2.24242611e-02,
  1.32151842e+00,-1.00065192e-02, 9.76223840e-01, 6.14679223e-02,
 -1.54537958e-01, 6.85362507e-04, 8.49951709e-02, 6.57832605e-01,
  9.00543651e-02,-7.46060009e-01, 5.04077109e-02]

qacc:
[ 1.42443689e-01, 1.75305931e+00,-7.19262577e+00, 1.29919262e+01,
 -2.71097075e-01, 2.71143149e+00,-1.51142718e+01, 3.75450460e+01,
  3.72032801e-01,-5.16121249e+00, 2.08825940e+01,-3.13823189e+01,
 -3.41893523e-01, 5.21527313e-01, 2.70575323e-01,-1.30093803e+00,
  1.35176304e+01, 8.11555680e+00,-7.09636613e+00, 2.34991930e+02,
  5.74398544e+02, 1.27720778e+03]

qfrc_actuator:
[ 2.43756598e-03, 2.76473764e-02, 8.74060761e-03, 1.63115237e-03,
  1.12583777e-05, 2.74532529e-02, 8.69768775e-03, 1.65371304e-03,
 -2.40301011e-03, 2.75920060e-02, 8.86839187e-03, 1.52586301e-03,
  5.08678836e-03,-1.66616258e-03, 0.00000000e+00,-2.52251430e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.73023769,  1.39807705, -4.51890796,  1.39807705,  0.6127631 ,
       -1.27388005, -4.51890796, -1.27388005,  4.3361198 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0003511533108753878
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.90411901e-14,  1.58082380e-13,  1.00000000e+00, -1.24950195e-26,
        1.00000000e+00, -1.58082380e-13, -1.00000000e+00,  0.00000000e+00,
        7.90411901e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.22094681, -0.03307862,  0.061971  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.64625910e-05, 1.92142609e-05,-1.17913152e-05, 1.65691861e-05,
 -4.92507030e-05, 9.94496739e-06, 4.33548096e-06, 6.66389720e-05,
  6.88496805e-05, 9.06913864e-05, 1.16717433e-04,-1.42165142e-05,
 -3.88453244e-05,-3.02399958e-06,-1.84267308e-05,-1.15415890e-05,
 -1.95507566e-01, 2.81293362e-02,-7.78599873e+00, 3.46856421e-03,
 -1.55167463e-01,-6.64983648e-04]


--- Step 1408 ---
qpos:
[-5.50132554e-04, 8.77176392e-01,-2.02615919e-02,-2.75295551e-02,
  7.63325489e-03, 8.64594389e-01,-2.79675429e-02, 9.47723645e-03,
  2.22064398e-02, 8.72945285e-01,-2.02374735e-02, 2.24222103e-02,
  1.32169973e+00,-1.00066399e-02, 9.76463761e-01, 6.14659443e-02,
 -1.55622022e-01, 1.32505537e-03, 8.45140334e-02, 6.60673977e-01,
  8.99273389e-02,-7.43242578e-01, 5.48948079e-02]

qacc:
[ 2.09980023e-01,-3.82831279e-01, 3.93959983e+00,-1.27450628e+01,
 -1.54556776e-01, 1.77525792e+00,-8.47349933e+00, 2.05205452e+01,
  4.48581245e-01, 1.77866146e+00,-1.14994236e+01, 3.32013639e+01,
 -1.36427609e-02,-2.33854354e-01, 7.58161256e+00,-2.62217235e+01,
  1.06274827e+01, 6.46880949e+00,-7.85057837e+00, 1.87926835e+02,
  4.67767871e+02, 1.04129062e+03]

qfrc_actuator:
[ 2.46381101e-03, 2.76584629e-02, 8.73330832e-03, 1.60497649e-03,
  6.64929180e-06, 2.75153937e-02, 8.71874319e-03, 1.69304000e-03,
 -2.35299019e-03, 2.75603617e-02, 8.87127486e-03, 1.58750161e-03,
  5.07734118e-03,-1.68387558e-03, 0.00000000e+00,-2.64972863e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.4626418 ,  1.37518444, -4.24547283,  1.37518444,  0.58453529,
       -1.25618793, -4.24547283, -1.25618793,  4.0557401 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0002749520819520859
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.02840867e-13,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        3.02840867e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.22217062, -0.03300772,  0.06197692])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89771628e-05, 2.00910994e-05,-4.21538016e-06,-2.54404283e-05,
 -2.80488936e-05, 7.14256671e-05, 2.59425020e-05, 4.11993240e-05,
  8.31560086e-05, 4.25780657e-05, 3.54982511e-05, 6.92897982e-05,
 -3.31585525e-05,-2.69734264e-05,-1.35842944e-05,-1.31116389e-04,
 -2.98563704e-01,-1.01253368e-01,-7.90386064e+00, 8.51878493e-03,
 -1.60751451e-01,-5.08446985e-04]


--- Step 1409 ---
qpos:
[-5.49448100e-04, 8.77177426e-01,-2.02617448e-02,-2.75298295e-02,
  7.63367193e-03, 8.64596264e-01,-2.79669461e-02, 9.47772016e-03,
  2.22070795e-02, 8.72945298e-01,-2.02363604e-02, 2.24220166e-02,
  1.32188106e+00,-1.00077862e-02, 9.76703080e-01, 6.14664556e-02,
 -1.56674156e-01, 1.98456254e-03, 8.39986086e-02, 6.63917429e-01,
  8.87142730e-02,-7.40033434e-01, 6.07778143e-02]

qacc:
[-8.14058736e-03,-4.72752814e-01, 1.69240875e+00,-1.60461640e+00,
  8.95382558e-03,-3.09315819e-01, 3.32425198e+00,-8.41733472e+00,
  1.82473239e-01, 5.28294434e+00,-2.64313904e+01, 5.92196366e+01,
  1.00876780e+00,-2.35312618e+00,-8.47496785e+00, 2.82013985e+01,
  7.98242644e+00, 4.95357572e+00,-8.57180276e+00, 1.52669950e+02,
  3.71404324e+02, 8.36079565e+02]

qfrc_actuator:
[ 2.44352996e-03, 2.76645976e-02, 8.74691464e-03, 1.60745256e-03,
  2.16530333e-05, 2.75518805e-02, 8.73114593e-03, 1.68040091e-03,
 -2.35911643e-03, 2.75413204e-02, 8.83662991e-03, 1.67778431e-03,
  5.06515395e-03,-1.74754963e-03, 0.00000000e+00,-2.51076993e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09116074,  1.31400733, -3.87440072,  1.31400733,  0.5475696 ,
       -1.20181289, -3.87440072, -1.20181289,  3.68356455,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.44034449780967e-06
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00, -1.49216616e-11,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  1.49216616e-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([-0.22375585, -0.0332836 ,  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:
[-1.52772828e-06, 1.53936349e-05, 1.63505193e-05, 2.69343393e-06,
  1.66216695e-06, 8.35117228e-05, 3.17627642e-05,-7.88232009e-06,
  3.38879508e-05, 1.50737252e-05,-1.90889675e-05, 9.46839083e-05,
 -3.82778909e-05,-7.67050501e-05,-2.53670679e-05, 1.28848551e-04,
 -3.99659930e-01,-2.85757258e-01,-8.02062393e+00, 1.54969823e-02,
 -1.66742208e-01,-3.69498920e-04]


--- Step 1410 ---
qpos:
[-5.49452952e-04, 8.77178225e-01,-2.02615819e-02,-2.75300398e-02,
  7.63400371e-03, 8.64598347e-01,-2.79660271e-02, 9.47843902e-03,
  2.22076610e-02, 8.72946059e-01,-2.02366746e-02, 2.24215136e-02,
  1.32206219e+00,-1.00096298e-02, 9.76942168e-01, 6.14689054e-02,
 -1.57729060e-01, 2.64279371e-03, 8.34436882e-02, 6.67099377e-01,
  8.75053791e-02,-7.36799612e-01, 6.66900334e-02]

qacc:
[ -0.35790993, -1.06175448,  3.0647147 , -2.29104769, -0.04464213,
  -0.14076567, -0.09114766,  3.4922874 , -0.03135885,  4.3365791 ,
 -12.72493196,  9.1031101 ,  0.51132969, -1.41432961, -6.23480497,
  21.22778886, -0.69230153, -0.31900007, -9.87389056, 15.67234508,
 -13.39666023,  8.92825106]

qfrc_actuator:
[ 2.37783918e-03, 2.76323198e-02, 8.75500686e-03, 1.60903095e-03,
  1.27254971e-05, 2.75371503e-02, 8.73821839e-03, 1.69052548e-03,
 -2.38101167e-03, 2.75830697e-02, 8.76241733e-03, 1.65990660e-03,
  5.04598573e-03,-1.78468022e-03, 0.00000000e+00,-2.41134011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.64261770e-05,-2.02025988e-05, 1.33715868e-05, 2.85448499e-06,
 -8.12653157e-06, 3.81398299e-05, 2.79403851e-05, 1.46439560e-05,
 -5.58886437e-06, 5.02900029e-05,-7.01826670e-05,-1.60513571e-05,
 -5.94993754e-05,-6.21961857e-05, 2.78737950e-07, 1.02772265e-04,
 -4.90825138e-01,-4.87249903e-01,-8.12311989e+00, 2.26773334e-02,
 -1.72494441e-01,-2.35185236e-04]


--- Step 1411 ---
qpos:
[-5.50009864e-04, 8.77178574e-01,-2.02613936e-02,-2.75312168e-02,
  7.63442402e-03, 8.64600605e-01,-2.79652153e-02, 9.47896322e-03,
  2.22084448e-02, 8.72947100e-01,-2.02378661e-02, 2.24225497e-02,
  1.32224260e+00,-1.00107766e-02, 9.77181378e-01, 6.14711761e-02,
 -1.58786720e-01, 3.29973067e-03, 8.28493067e-02, 6.70219336e-01,
  8.63010052e-02,-7.33541344e-01, 7.26310878e-02]

qacc:
[-2.86742169e-01,-2.65722850e+00, 1.26808037e+01,-2.90990744e+01,
  4.63630139e-02, 1.29638410e-01, 6.94726509e-01,-4.02104195e+00,
  1.04506611e-01, 5.98402908e+00,-2.73018109e+01, 5.51381078e+01,
 -1.12359193e+00, 2.02437765e+00, 7.92435769e-01,-2.35197275e+00,
 -6.89161614e-01,-3.23552463e-01,-9.86529171e+00, 1.56581546e+01,
 -1.35715717e+01, 8.95034608e+00]

qfrc_actuator:
[ 2.35659288e-03, 2.75772696e-02, 8.74185480e-03, 1.55676583e-03,
  2.50400502e-05, 2.75273539e-02, 8.72414826e-03, 1.67841895e-03,
 -2.35884128e-03, 2.75896141e-02, 8.71887191e-03, 1.73832992e-03,
  5.02265001e-03,-1.73479220e-03, 0.00000000e+00,-2.42483574e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.32088090e-05,-6.34909421e-05,-1.55843919e-05,-5.26116029e-05,
  8.45096205e-06, 1.78693233e-05,-2.26848505e-06,-9.22591041e-06,
  1.94897716e-05, 1.94680631e-05,-4.23614308e-05, 7.78377151e-05,
 -7.24520896e-05, 2.29289837e-05, 7.44474376e-06,-8.70054864e-06,
 -4.88548071e-01,-4.92698013e-01,-8.11693506e+00, 2.11732511e-02,
 -1.72778520e-01,-1.44930473e-04]


--- Step 1412 ---
qpos:
[-5.50774752e-04, 8.77178716e-01,-2.02614583e-02,-2.75330220e-02,
  7.63514774e-03, 8.64602828e-01,-2.79647446e-02, 9.47938253e-03,
  2.22098279e-02, 8.72947838e-01,-2.02385823e-02, 2.24258794e-02,
  1.32242253e+00,-1.00114170e-02, 9.77420460e-01, 6.14742771e-02,
 -1.59847124e-01, 3.95535562e-03, 8.22154983e-02, 6.73276823e-01,
  8.51015031e-02,-7.30258859e-01, 7.86005919e-02]

qacc:
[ -0.10818403, -0.85989725,  5.31594994,-15.61958911,  0.15916525,
   0.68994535, -2.08493915,  0.84166906,  0.31193818,  2.99022624,
 -20.92899031, 60.09122203, -0.73008096,  1.34794394, -2.65015531,
   9.10042236, -0.6859049 , -0.32800245, -9.85672136, 15.64240501,
 -13.74749444,  8.97087029]

qfrc_actuator:
[ 2.36215172e-03, 2.75798755e-02, 8.73387304e-03, 1.52645752e-03,
  4.99601718e-05, 2.75027154e-02, 8.69769314e-03, 1.67106215e-03,
 -2.31046861e-03, 2.75752040e-02, 8.74700540e-03, 1.85505653e-03,
  5.01284404e-03,-1.70481878e-03, 0.00000000e+00,-2.38047605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.00476827e-05,-3.83793520e-05,-2.48348587e-05,-3.45877874e-05,
  2.89445697e-05,-1.55702669e-05,-2.33885936e-05,-6.85485868e-06,
  5.77532283e-05,-8.95057652e-06, 2.96295820e-05, 1.17608414e-04,
 -4.67889342e-05, 1.83994430e-05,-3.10969262e-06, 4.35583083e-05,
 -4.86172763e-01,-4.98084597e-01,-8.11076022e+00, 1.96701391e-02,
 -1.73033447e-01,-5.48860322e-05]


--- Step 1413 ---
qpos:
[-5.51600707e-04, 8.77178980e-01,-2.02618778e-02,-2.75341763e-02,
  7.63598164e-03, 8.64604746e-01,-2.79644515e-02, 9.47938931e-03,
  2.22114227e-02, 8.72948251e-01,-2.02390284e-02, 2.24285272e-02,
  1.32260229e+00,-1.00120454e-02, 9.77659967e-01, 6.14738510e-02,
 -1.60910259e-01, 4.60965117e-03, 8.15422971e-02, 6.76271357e-01,
  8.39072282e-02,-7.26952393e-01, 8.45981519e-02]

qacc:
[-3.19624622e-02, 2.49228946e+00,-1.13942879e+01, 2.31241859e+01,
  5.78460239e-02,-7.54719663e-01, 3.84890635e+00,-1.04815617e+01,
  1.10235301e-01,-2.58695307e+00, 1.14800653e+01,-2.34754126e+01,
 -3.29681951e-01, 4.70123091e-01, 1.12950100e+01,-3.85666403e+01,
 -6.82533331e-01,-3.32349143e-01,-9.84818181e+00, 1.56250628e+01,
 -1.39244086e+01, 8.98979892e+00]

qfrc_actuator:
[ 2.36591777e-03, 2.76170109e-02, 8.72926173e-03, 1.56262947e-03,
  4.66880828e-05, 2.74693113e-02, 8.68183642e-03, 1.64879065e-03,
 -2.31786315e-03, 2.75309387e-02, 8.74613425e-03, 1.81586870e-03,
  5.01116038e-03,-1.70463499e-03, 0.00000000e+00,-2.56863048e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.88285957e-06, 9.06511204e-06,-1.67902074e-05, 3.29993377e-05,
  1.05021298e-05,-4.72885592e-05,-2.22137177e-05,-2.38866580e-05,
  2.03912983e-05,-3.81173340e-05, 4.99498641e-06,-3.62628158e-05,
 -2.48206609e-05,-6.40015468e-06,-1.09784406e-06,-1.87173182e-04,
 -4.83700338e-01,-5.03408783e-01,-8.10459675e+00, 1.81684171e-02,
 -1.73259267e-01, 3.49182487e-05]


--- Step 1414 ---
qpos:
[-5.52244531e-04, 8.77179192e-01,-2.02620815e-02,-2.75342159e-02,
  7.63702935e-03, 8.64605990e-01,-2.79636467e-02, 9.47947463e-03,
  2.22125128e-02, 8.72947893e-01,-2.02380591e-02, 2.24296278e-02,
  1.32278180e+00,-1.00123914e-02, 9.77900025e-01, 6.14664906e-02,
 -1.61976109e-01, 5.26260036e-03, 8.08297373e-02, 6.79202463e-01,
  8.27185399e-02,-7.23622182e-01, 9.06233657e-02]

qacc:
[  0.09484104,  1.6253025 ,-10.58673795, 29.54448949,  0.1128751 ,
  -2.15729855,  6.06805881, -5.03272691, -0.26118396, -8.15135446,
  34.12293004,-62.59666279, -0.77149846,  1.35021672, 21.79251485,
 -74.967148  , -0.67904891, -0.33659174, -9.83967536, 15.60609447,
 -14.10229332,  9.00710722]

qfrc_actuator:
[ 2.38629706e-03, 2.76213615e-02, 8.74462820e-03, 1.61990900e-03,
  6.20777961e-05, 2.74309317e-02, 8.70781702e-03, 1.65342519e-03,
 -2.37632271e-03, 2.74866572e-02, 8.81663841e-03, 1.73844815e-03,
  5.00368825e-03,-1.68652799e-03, 0.00000000e+00,-2.92777322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.75497153e-05, 7.36433148e-06, 1.63157958e-05, 5.77313969e-05,
  2.03829190e-05,-7.04802591e-05, 1.26328457e-05, 1.37123612e-06,
 -4.86516746e-05,-6.61231893e-05, 6.19887524e-05,-7.95908358e-05,
 -2.39150660e-05, 1.14377006e-05,-2.68354767e-05,-3.71000882e-04,
 -4.81131954e-01,-5.08669723e-01,-8.09844602e+00, 1.66685071e-02,
 -1.73456035e-01, 1.24452364e-04]


--- Step 1415 ---
qpos:
[-5.52488052e-04, 8.77179354e-01,-2.02623296e-02,-2.75338967e-02,
  7.63845589e-03, 8.64606785e-01,-2.79628587e-02, 9.47927681e-03,
  2.22126262e-02, 8.72947159e-01,-2.02356044e-02, 2.24311168e-02,
  1.32296118e+00,-1.00127824e-02, 9.78139685e-01, 6.14568689e-02,
 -1.63044661e-01, 5.91418663e-03, 8.00778526e-02, 6.82069668e-01,
  8.15358011e-02,-7.20268469e-01, 9.66758229e-02]

qacc:
[  0.20801626,  0.79849268, -4.45221594, 10.76318224,  0.19912518,
  -1.12683527,  4.3548685 , -8.90016589, -0.50646144, -3.84503874,
  11.35228033, -6.73079424, -0.16337847,  0.17490847,  6.24695588,
 -22.69531152, -0.6754537 , -0.34072946, -9.83120428, 15.58546644,
 -14.28112684,  9.02277051]

qfrc_actuator:
[ 2.41642551e-03, 2.76061657e-02, 8.73604749e-03, 1.63587123e-03,
  8.85168834e-05, 2.74078114e-02, 8.70502381e-03, 1.63837202e-03,
 -2.44703692e-03, 2.75139518e-02, 8.91096196e-03, 1.76349432e-03,
  4.99275522e-03,-1.69344746e-03, 0.00000000e+00,-3.02963834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.85713368e-05,-5.23770645e-06,-3.05200677e-06, 1.79663625e-05,
  3.61312793e-05,-5.98971622e-05,-1.57619305e-05,-1.76124174e-05,
 -9.41302635e-05,-2.92491562e-07, 8.55430094e-05, 2.28069365e-05,
 -2.31839004e-05,-9.28407189e-06,-5.87705672e-05,-1.27170915e-04,
 -4.78468795e-01,-5.13866597e-01,-8.09230936e+00, 1.51708333e-02,
 -1.73623814e-01, 2.13686151e-04]


--- Step 1416 ---
qpos:
[-5.52352879e-04, 8.77179620e-01,-2.02632232e-02,-2.75344015e-02,
  7.63984843e-03, 8.64607526e-01,-2.79628300e-02, 9.47855596e-03,
  2.22118347e-02, 8.72946827e-01,-2.02331584e-02, 2.24328963e-02,
  1.32314019e+00,-1.00128757e-02, 9.78378261e-01, 6.14520366e-02,
 -1.64115900e-01, 6.56439385e-03, 7.92866769e-02, 6.84872503e-01,
  8.03593783e-02,-7.16891494e-01, 1.02755104e-01]

qacc:
[ 1.96314225e-01, 2.41483410e-01, 2.80629009e+00,-1.60940841e+01,
 -1.83509925e-02, 9.71120057e-01,-1.36046048e+00,-6.43630576e+00,
 -4.70249958e-01, 1.15143797e+00,-4.56359500e+00, 9.31082803e+00,
 -2.47277115e-01, 4.62450428e-01,-1.60422428e+01, 5.38414680e+01,
 -6.71749796e-01,-3.44761604e-01,-9.82277081e+00, 1.55631453e+01,
 -1.44608863e+01, 9.03676417e+00]

qfrc_actuator:
[ 2.43435981e-03, 2.75970125e-02, 8.69551961e-03, 1.59184762e-03,
  6.80771507e-05, 2.74116424e-02, 8.66753749e-03, 1.61183651e-03,
 -2.48892472e-03, 2.75485997e-02, 8.91242501e-03, 1.77769348e-03,
  4.96909360e-03,-1.67966308e-03, 0.00000000e+00,-2.76600456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.64902622e-05,-1.19405085e-05,-4.13638886e-05,-4.40043461e-05,
 -3.25031986e-06,-3.36924717e-05,-5.24210433e-05,-2.99927124e-05,
 -8.71792559e-05, 5.31155263e-05, 1.27155492e-05, 1.75872707e-05,
 -4.02140975e-05, 7.07720694e-06,-4.32793843e-05, 2.48520672e-04,
 -4.75712080e-01,-5.18998610e-01,-8.08618812e+00, 1.36758216e-02,
 -1.73762680e-01, 3.02589304e-04]


--- Step 1417 ---
qpos:
[-5.51926669e-04, 8.77179526e-01,-2.02638920e-02,-2.75350847e-02,
  7.64090456e-03, 8.64608091e-01,-2.79630098e-02, 9.47784526e-03,
  2.22109087e-02, 8.72946981e-01,-2.02306517e-02, 2.24330896e-02,
  1.32331883e+00,-1.00127557e-02, 9.78616247e-01, 6.14526513e-02,
 -1.65127224e-01, 7.21381195e-03, 7.84552662e-02, 6.89047538e-01,
  8.09208529e-02,-7.12141785e-01, 1.07328397e-01]

qacc:
[ 1.51484471e-01,-1.47101751e+00, 5.30574342e+00,-8.48403279e+00,
 -1.76777854e-01, 3.69749539e-01,-1.69958538e+00, 2.33857455e+00,
 -7.01290289e-02,-2.78794558e+00, 1.75741860e+01,-4.54848049e+01,
 -1.64626123e-01, 2.68490166e-01,-1.73024260e+01, 5.93008558e+01,
  1.49788658e+01,-1.97279586e-01,-1.00587362e+01, 7.06987620e+01,
  8.12144217e+02,-1.26431499e+03]

qfrc_actuator:
[ 2.44483910e-03, 2.75735998e-02, 8.70745294e-03, 1.58388246e-03,
  3.75240676e-05, 2.74136775e-02, 8.66324245e-03, 1.61426999e-03,
 -2.45994005e-03, 2.75692808e-02, 8.91232959e-03, 1.69656367e-03,
  4.94847225e-03,-1.67153379e-03, 0.00000000e+00,-2.48449660e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.09246602, -0.42777629, -4.07004736, -0.42777629,  0.23963326,
        0.40494627, -4.07004736,  0.40494627,  4.04990474,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -1.8504216485075442e-05
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.99983807e-12, -2.99991903e-12,  1.00000000e+00,  1.79990284e-23,
        1.00000000e+00,  2.99991903e-12, -1.00000000e+00,  0.00000000e+00,
        5.99983807e-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([-0.2414615 ,  0.0054463 ,  0.06199812])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.80349593e-05,-4.05091553e-05, 2.85442322e-06,-1.07635093e-05,
 -3.21030032e-05,-2.89335390e-05,-1.87553920e-05,-1.40818396e-06,
 -1.29539816e-05, 5.37373707e-05, 1.30322193e-05,-7.80758276e-05,
 -4.25964697e-05, 6.45996998e-07, 6.54366276e-06, 2.89534896e-04,
 -4.72863052e-01,-5.24064994e-01,-8.08008362e+00, 1.21839000e-02,
 -1.73872715e-01, 3.91131386e-04]


--- Step 1418 ---
qpos:
[-5.51667272e-04, 8.77179190e-01,-2.02641999e-02,-2.75355379e-02,
  7.64160597e-03, 8.64609075e-01,-2.79638300e-02, 9.47712146e-03,
  2.22102874e-02, 8.72946986e-01,-2.02270352e-02, 2.24319734e-02,
  1.32349725e+00,-1.00128106e-02, 9.78854190e-01, 6.14566171e-02,
 -1.66142873e-01, 7.86152368e-03, 7.75846714e-02, 6.93167001e-01,
  8.14725592e-02,-7.07357597e-01, 1.11923906e-01]

qacc:
[ -0.08636684, -0.85402996,  1.61192484,  1.96570312, -0.18687667,
   2.3144635 , -7.39420508,  7.88542949,  0.15902891, -5.98970283,
  26.60242538,-50.93321836,  0.13975007, -0.44098041,-10.19236466,
  35.54409   , -1.0814708 , -0.42659483, -9.79603685,  8.64389005,
  -6.486249  , 12.71958046]

qfrc_actuator:
[ 2.41527631e-03, 2.75775583e-02, 8.73249821e-03, 1.59723631e-03,
  1.89716142e-05, 2.74680365e-02, 8.64310974e-03, 1.61600826e-03,
 -2.42434547e-03, 2.75458304e-02, 8.96449122e-03, 1.63100756e-03,
  4.93501415e-03,-1.68458473e-03, 0.00000000e+00,-2.31910590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.60788936e-05,-1.85532585e-05, 1.66652631e-05, 1.15110445e-05,
 -3.38347953e-05, 3.42312313e-05,-2.84694825e-05,-1.76934361e-07,
  2.93713681e-05, 5.91834591e-06, 6.21434560e-05,-6.43258716e-05,
 -3.78332220e-05,-2.27338765e-05, 3.16073432e-05, 1.81533289e-04,
 -8.32961312e-01,-4.69858555e-01,-7.93615726e+00, 3.87070737e-03,
 -1.66133243e-01, 1.12402022e-03]


--- Step 1419 ---
qpos:
[-5.52040792e-04, 8.77179002e-01,-2.02646324e-02,-2.75361901e-02,
  7.64220722e-03, 8.64610546e-01,-2.79652988e-02, 9.47676044e-03,
  2.22096667e-02, 8.72946855e-01,-2.02227749e-02, 2.24304563e-02,
  1.32367528e+00,-1.00129303e-02, 9.79092483e-01, 6.14605543e-02,
 -1.67162831e-01, 8.50749692e-03, 7.66749552e-02, 6.97230345e-01,
  8.20148432e-02,-7.02539313e-01, 1.16541518e-01]

qacc:
[-3.29021328e-01, 1.34797552e-01, 6.43464068e-01,-3.99488445e+00,
 -5.31678613e-02, 3.19906525e+00,-1.20063500e+01, 1.89677356e+01,
  7.08192340e-04,-2.80283813e+00, 1.14247548e+01,-1.92904865e+01,
 -2.55916274e-01, 2.07956100e-01, 6.16190882e-01,-1.37612965e+00,
 -1.07693044e+00,-4.34621720e-01,-9.78034791e+00, 8.74612111e+00,
 -6.60299015e+00, 1.27446815e+01]

qfrc_actuator:
[ 2.36202970e-03, 2.75979659e-02, 8.72967936e-03, 1.58753919e-03,
  2.55250436e-05, 2.75000065e-02, 8.61398988e-03, 1.63510124e-03,
 -2.43842834e-03, 2.75318478e-02, 8.99367570e-03, 1.61065876e-03,
  4.90455086e-03,-1.69228853e-03, 0.00000000e+00,-2.32998425e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.09839537e-05, 1.39758014e-05,-4.19327780e-06,-9.68835267e-06,
 -9.54533180e-06, 4.52038982e-05,-2.55638347e-05, 1.95721260e-05,
  5.22081147e-08,-6.18225596e-07, 3.58091861e-05,-1.92008443e-05,
 -5.74452294e-05,-2.13636478e-05, 2.93773462e-05, 2.04394817e-06,
 -8.29207749e-01,-4.78475903e-01,-7.92484413e+00, 3.35257986e-03,
 -1.66137741e-01, 1.16235744e-03]


--- Step 1420 ---
qpos:
[-5.52492169e-04, 8.77178967e-01,-2.02651406e-02,-2.75366120e-02,
  7.64298625e-03, 8.64612103e-01,-2.79663987e-02, 9.47626640e-03,
  2.22091453e-02, 8.72947147e-01,-2.02187214e-02, 2.24293844e-02,
  1.32385277e+00,-1.00128080e-02, 9.79331591e-01, 6.14586769e-02,
 -1.68031541e-01, 9.04208626e-03, 7.59152903e-02, 7.01440535e-01,
  8.41926770e-02,-6.97708777e-01, 1.18723339e-01]

qacc:
[-4.05447630e-02, 8.87197281e-01,-3.84068020e+00, 7.82989719e+00,
  9.35801564e-02,-1.18992133e+00, 4.96962922e+00,-7.92626519e+00,
  5.13324374e-02, 2.05374136e+00,-8.38857209e+00, 1.61105714e+01,
 -9.26385587e-01, 1.44422079e+00, 1.88090152e+01,-6.39456507e+01,
  3.78116692e+01,-2.78459725e+01, 3.75128411e+01,-2.90755738e+02,
 -1.39342975e+02,-1.43274582e+03]

qfrc_actuator:
[ 2.38386878e-03, 2.76101960e-02, 8.72823577e-03, 1.59985387e-03,
  4.70293285e-05, 2.75005548e-02, 8.63299988e-03, 1.62873114e-03,
 -2.42887748e-03, 2.75768510e-02, 8.99134335e-03, 1.63480204e-03,
  4.87455896e-03,-1.67907132e-03, 0.00000000e+00,-2.63986375e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.13930961, -2.19095313, -3.51192375, -2.19095313,  1.89372593,
        1.40093263, -3.51192375,  1.40093263,  3.26532203,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00010264465835016501
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.40808963e-13, -2.16323585e-12,  1.00000000e+00,  1.16989734e-24,
        1.00000000e+00,  2.16323585e-12, -1.00000000e+00,  0.00000000e+00,
        5.40808963e-13])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.19904568,  0.01728569,  0.06198858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.49821443e-06, 1.87665414e-05, 5.97554995e-07, 1.25818804e-05,
  1.69668514e-05, 2.13600762e-05, 2.58741416e-05,-4.93655131e-06,
  9.57816732e-06, 5.12022127e-05, 1.25671151e-06, 2.49783345e-05,
 -6.83116823e-05,-4.56838958e-06, 7.40566615e-06,-3.07464632e-04,
 -8.25242743e-01,-4.87005825e-01,-7.91354908e+00, 2.84206663e-03,
 -1.66112584e-01, 1.20033126e-03]


--- Step 1421 ---
qpos:
[-5.52658505e-04, 8.77179327e-01,-2.02654876e-02,-2.75372766e-02,
  7.64398080e-03, 8.64613516e-01,-2.79668353e-02, 9.47536376e-03,
  2.22089169e-02, 8.72948103e-01,-2.02151585e-02, 2.24289437e-02,
  1.32402975e+00,-1.00125201e-02, 9.79570479e-01, 6.14551360e-02,
 -1.68845126e-01, 9.51321794e-03, 7.52470333e-02, 7.04393063e-01,
  8.64130873e-02,-6.94432604e-01, 1.18855165e-01]

qacc:
[ 1.48070067e-01,-4.29354313e-01, 3.30814793e+00,-8.04929404e+00,
  1.13649768e-01,-2.88170137e+00, 1.17254821e+01,-1.97554058e+01,
  1.51729549e-01, 3.54325875e+00,-1.40308134e+01, 2.52551925e+01,
 -5.89046973e-01, 8.63079608e-01, 4.72928617e+00,-1.69477636e+01,
  1.37813812e+01,-1.58644171e+01, 2.28519647e+01,-7.39553854e+02,
 -1.07273088e+03,-5.93738086e+02]

qfrc_actuator:
[ 2.41495213e-03, 2.76529619e-02, 8.74537098e-03, 1.58952067e-03,
  5.95136143e-05, 2.74824570e-02, 8.66237711e-03, 1.60743387e-03,
 -2.40524532e-03, 2.76212336e-02, 8.97069396e-03, 1.66720236e-03,
  4.85020379e-03,-1.67133515e-03, 0.00000000e+00,-2.71503594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.93364299, -8.12283914, -2.93364299,  1.41383426,
        2.6084873 , -8.12283914,  2.6084873 ,  7.69428287,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001060421800073312
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.8522270e-14,  6.5435225e-14,  1.0000000e+00, -5.1381224e-27,
        1.0000000e+00, -6.5435225e-14, -1.0000000e+00,  0.0000000e+00,
        7.8522270e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.12267115,  0.04243657,  0.06188495])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.74784254e-05, 5.39269627e-05, 2.15249327e-05,-9.26264759e-06,
  2.05618325e-05,-1.04721518e-06, 3.68027426e-05,-1.95828718e-05,
  2.82496610e-05, 7.43079883e-05,-9.08694929e-06, 3.51191583e-05,
 -6.57029422e-05,-8.62627663e-06,-3.77239461e-05,-9.29427166e-05,
 -7.98517214e-01,-1.58526969e-01,-7.75399366e+00,-1.19623432e-02,
 -1.56738249e-01, 1.25823759e-03]


--- Step 1422 ---
qpos:
[-5.53232152e-04, 8.77179900e-01,-2.02652642e-02,-2.75384111e-02,
  7.64496490e-03, 8.64614591e-01,-2.79664768e-02, 9.47388369e-03,
  2.22087916e-02, 8.72949230e-01,-2.02124832e-02, 2.24286408e-02,
  1.32420631e+00,-1.00123897e-02, 9.79808717e-01, 6.14540085e-02,
 -1.69608529e-01, 9.93115146e-03, 7.46504448e-02, 7.06313064e-01,
  8.86736124e-02,-6.92465940e-01, 1.17259406e-01]

qacc:
[-2.11396475e-01,-2.27872601e+00, 1.05124512e+01,-1.97010371e+01,
 -4.90948928e-03,-3.85142305e+00, 1.55266669e+01,-2.65486140e+01,
  5.30339322e-02, 2.98954100e+00,-1.09114644e+01, 1.45869274e+01,
 -4.92383543e-02,-2.05438801e-01,-8.24518276e+00, 2.74531070e+01,
  1.25454840e+01,-1.32995396e+01, 1.79171194e+01,-6.18929511e+02,
 -8.96746703e+02,-5.04437918e+02]

qfrc_actuator:
[ 2.36248712e-03, 2.76604885e-02, 8.77344687e-03, 1.56597958e-03,
  4.87244217e-05, 2.74533673e-02, 8.69753279e-03, 1.57750909e-03,
 -2.40890307e-03, 2.75760730e-02, 8.90391563e-03, 1.66868738e-03,
  4.82392070e-03,-1.68466057e-03, 0.00000000e+00,-2.58019847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.99641798, -8.09989236, -2.99641798,  1.47298177,
        2.64997178, -8.09989236,  2.64997178,  7.65605146,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002122874101491465
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  3.26863185e-14,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -3.26863185e-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([-0.12743477,  0.04080548,  0.06177651])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92390039e-05, 4.17284199e-05, 4.15438912e-05,-2.06680268e-05,
 -1.00330902e-06,-2.29398529e-05, 3.87895416e-05,-2.90774342e-05,
  9.94734126e-06,-4.02634545e-06,-5.13690060e-05, 5.03205121e-06,
 -6.71255367e-05,-2.99205583e-05,-3.10843924e-05, 1.24041845e-04,
 -3.52543118e-01, 3.52366429e-02,-7.76539796e+00,-1.37893675e-02,
 -1.55828719e-01, 3.99986402e-04]


--- Step 1423 ---
qpos:
[-5.54323442e-04, 8.77180432e-01,-2.02648273e-02,-2.75397605e-02,
  7.64531391e-03, 8.64615360e-01,-2.79656909e-02, 9.47276902e-03,
  2.22083249e-02, 8.72950258e-01,-2.02107993e-02, 2.24287476e-02,
  1.32438248e+00,-1.00122024e-02, 9.80046859e-01, 6.14534360e-02,
 -1.70327633e-01, 1.03044416e-02, 7.41085310e-02, 7.07369811e-01,
  9.09813005e-02,-6.91597483e-01, 1.14207160e-01]

qacc:
[-2.68848794e-01,-1.09476564e+00, 4.72810339e+00,-8.75529845e+00,
 -3.33194577e-01,-8.44759594e-01, 8.84402588e-01, 4.97973983e+00,
 -1.78017185e-01, 3.47906119e+00,-1.43280566e+01, 2.30786279e+01,
 -3.07150877e-01, 3.78981571e-01,-1.80070013e+00, 6.13143380e+00,
  1.10748943e+01,-1.11608537e+01, 1.36686768e+01,-5.13742824e+02,
 -7.54069516e+02,-4.31395359e+02]

qfrc_actuator:
[ 2.33148196e-03, 2.76291413e-02, 8.77210811e-03, 1.55259058e-03,
 -1.13943522e-05, 2.74356860e-02, 8.71800576e-03, 1.59599798e-03,
 -2.44661482e-03, 2.75484221e-02, 8.84555850e-03, 1.68736959e-03,
  4.81779494e-03,-1.67486085e-03, 0.00000000e+00,-2.55355090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.02094457, -8.0907769 , -3.02094457,  1.48918289,
        2.66862344, -8.0907769 ,  2.66862344,  7.63994962,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00286000072488643
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.94094885e-14, -1.94094885e-14,  1.00000000e+00,  3.76728245e-28,
        1.00000000e+00,  1.94094885e-14, -1.00000000e+00,  0.00000000e+00,
        1.94094885e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13083384,  0.039767  ,  0.06170259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.98797754e-05,-3.36268986e-07, 1.16772525e-05,-1.05668487e-05,
 -6.05991644e-05,-2.37697998e-05, 1.94991134e-05, 1.82827187e-05,
 -3.29214239e-05,-4.03427879e-05,-6.53718748e-05, 1.68247540e-05,
 -5.23694491e-05,-1.19249060e-05,-3.03670081e-06, 2.89853298e-05,
 -1.21497737e-01, 8.44509442e-02,-7.80770121e+00,-1.16764648e-02,
 -1.57469467e-01,-1.03426797e-04]


--- Step 1424 ---
qpos:
[-5.55112200e-04, 8.77181057e-01,-2.02641514e-02,-2.75412786e-02,
  7.64498512e-03, 8.64616011e-01,-2.79653205e-02, 9.47295525e-03,
  2.22076472e-02, 8.72951122e-01,-2.02090099e-02, 2.24290095e-02,
  1.32455842e+00,-1.00119952e-02, 9.80284400e-01, 6.14575267e-02,
 -1.71008572e-01, 1.06403742e-02, 7.36066645e-02, 7.07692815e-01,
  9.33491088e-02,-6.91644836e-01, 1.09928358e-01]

qacc:
[ 1.57312312e-01,-8.90736553e-01, 4.06591390e+00,-7.43113978e+00,
 -3.56177640e-01, 3.67743399e+00,-1.88355272e+01, 4.21078481e+01,
 -1.09430236e-01,-1.92477603e-01,-2.83005126e-01, 2.91851516e+00,
  5.28826119e-02,-1.68510443e-01,-1.49685848e+01, 5.10760178e+01,
  9.54110094e+00,-9.33935946e+00, 1.00118325e+01,-4.21797647e+02,
 -6.36867168e+02,-3.71047765e+02]

qfrc_actuator:
[ 2.38463650e-03, 2.76456508e-02, 8.78875465e-03, 1.54522598e-03,
 -4.72241735e-05, 2.74249528e-02, 8.69421345e-03, 1.66057584e-03,
 -2.45109761e-03, 2.75669858e-02, 8.86372338e-03, 1.69829033e-03,
  4.81844958e-03,-1.66909013e-03, 0.00000000e+00,-2.30688218e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.99605994, -8.1000248 , -2.99605994,  1.4544811 ,
        2.6564549 , -8.1000248 ,  2.6564549 ,  7.65378663,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003330366225374054
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 2.50022734e-14, -8.33409113e-15,  1.00000000e+00,  2.08371225e-28,
        1.00000000e+00,  8.33409113e-15, -1.00000000e+00,  0.00000000e+00,
        2.50022734e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13326179,  0.03914288,  0.06165295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.91557255e-05, 1.82632920e-05, 1.76458276e-05,-7.17924865e-06,
 -6.46748878e-05,-1.92446512e-05,-2.56759604e-05, 6.45904383e-05,
 -2.03238457e-05,-1.68195971e-05, 2.34024619e-06, 7.25351460e-06,
 -3.27470874e-05,-8.68222768e-06,-2.64183857e-06, 2.46863415e-04,
 -2.65444803e-02, 4.47823057e-02,-7.86404208e+00,-7.16125108e-03,
 -1.60543294e-01,-3.83158917e-04]


--- Step 1425 ---
qpos:
[-5.55423115e-04, 8.77182056e-01,-2.02636864e-02,-2.75428781e-02,
  7.64430005e-03, 8.64616720e-01,-2.79652770e-02, 9.47319441e-03,
  2.22072127e-02, 8.72952157e-01,-2.02071570e-02, 2.24286677e-02,
  1.32473418e+00,-1.00120076e-02, 9.80522184e-01, 6.14618321e-02,
 -1.71657333e-01, 1.09452365e-02, 7.31322440e-02, 7.07383071e-01,
  9.57928248e-02,-6.92450469e-01, 1.04619659e-01]

qacc:
[ 2.48043320e-01, 9.13346066e-01,-2.19916980e+00, 8.55027331e-01,
 -1.87361075e-01, 1.09756958e+00,-4.02675412e+00, 5.42410770e+00,
  1.26279540e-01,-1.19162544e+00, 7.12816887e+00,-1.78040309e+01,
  5.51798003e-02,-3.13060689e-01,-2.96930518e-01, 1.54459521e+00,
  8.04448229e+00,-7.76760587e+00, 6.86151050e+00,-3.41449883e+02,
 -5.39378503e+02,-3.20511240e+02]

qfrc_actuator:
[ 2.41666320e-03, 2.76730024e-02, 8.78057620e-03, 1.54151562e-03,
 -5.04312324e-05, 2.74360766e-02, 8.68003919e-03, 1.66296225e-03,
 -2.41788445e-03, 2.75956296e-02, 8.87384327e-03, 1.66913975e-03,
  4.80719602e-03,-1.68347513e-03, 0.00000000e+00,-2.30533614e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.91349627, -8.13008711, -2.91349627,  1.36641538,
        2.6052571 , -8.13008711,  2.6052571 ,  7.70274426,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003582339332808736
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 7.74789126e-15, -1.16218369e-14,  1.00000000e+00,  9.00447285e-29,
        1.00000000e+00,  1.16218369e-14, -1.00000000e+00,  0.00000000e+00,
        7.74789126e-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([-0.13496256,  0.0388237 ,  0.06162136])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.60543077e-05, 4.08881070e-05,-2.48931399e-06,-2.45789138e-06,
 -3.39915200e-05,-2.19957466e-06,-1.90843780e-05, 1.92954399e-06,
  2.34352404e-05, 1.99942767e-05, 7.16401807e-06,-2.96532755e-05,
 -3.22030926e-05,-2.37324726e-05, 2.30141026e-05, 1.41983102e-05,
 -1.56294071e-02,-4.60640949e-02,-7.92573776e+00,-1.23785609e-03,
 -1.64297711e-01,-5.28053871e-04]


--- Step 1426 ---
qpos:
[-5.55490522e-04, 8.77183039e-01,-2.02637394e-02,-2.75440925e-02,
  7.64361643e-03, 8.64617383e-01,-2.79647737e-02, 9.47238265e-03,
  2.22067338e-02, 8.72953542e-01,-2.02053440e-02, 2.24286536e-02,
  1.32490962e+00,-1.00118748e-02, 9.80760708e-01, 6.14607941e-02,
 -1.72279529e-01, 1.12244813e-02, 7.26744025e-02, 7.06520970e-01,
  9.83285716e-02,-6.93878300e-01, 9.84505717e-02]

qacc:
[ 1.26238928e-01, 2.21997226e+00,-9.56655287e+00, 1.70632394e+01,
  9.96960760e-04,-3.50285036e+00, 1.68439880e+01,-3.57399712e+01,
 -2.31905810e-02, 1.24647398e+00,-5.15935569e+00, 1.06383501e+01,
 -6.64287663e-01, 1.03531613e+00, 1.72628581e+01,-5.87271588e+01,
  6.64135433e+00,-6.40436447e+00, 4.14473089e+00,-2.71433204e+02,
 -4.57335352e+02,-2.77488483e+02]

qfrc_actuator:
[ 2.41796425e-03, 2.76355324e-02, 8.74010432e-03, 1.55773074e-03,
 -3.41150494e-05, 2.74424327e-02, 8.70721865e-03, 1.61100879e-03,
 -2.43343390e-03, 2.76300510e-02, 8.87913589e-03, 1.68765354e-03,
  4.78879931e-03,-1.67421680e-03, 0.00000000e+00,-2.59030164e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.76790638, -8.18079893, -2.76790638,  1.22878181,
        2.5062947 , -8.18079893,  2.5062947 ,  7.78837933,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003656265069567677
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.03649490e-14,  3.03649490e-14,  1.00000000e+00, -9.22030129e-28,
        1.00000000e+00, -3.03649490e-14, -1.00000000e+00,  0.00000000e+00,
        3.03649490e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.1360944 ,  0.03873954,  0.0616038 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34609910e-05,-1.52442858e-05,-3.24291459e-05, 1.78305944e-05,
  1.38132714e-07, 1.24563094e-06, 2.44346843e-05,-5.26716694e-05,
 -4.26748795e-06, 4.57748210e-05, 9.25641079e-06, 1.90372999e-05,
 -4.26433983e-05,-3.16487334e-06, 6.45040416e-06,-2.82562444e-04,
 -5.41751385e-02,-1.62771335e-01,-7.98827576e+00, 5.44539635e-03,
 -1.68230209e-01,-5.98228884e-04]


--- Step 1427 ---
qpos:
[-5.55433827e-04, 8.77183566e-01,-2.02638063e-02,-2.75447350e-02,
  7.64322496e-03, 8.64618336e-01,-2.79646962e-02, 9.47166351e-03,
  2.22061392e-02, 8.72954710e-01,-2.02029923e-02, 2.24295845e-02,
  1.32508476e+00,-1.00116430e-02, 9.80999045e-01, 6.14580463e-02,
 -1.72880282e-01, 1.14828299e-02, 7.22237603e-02, 7.05171921e-01,
  1.00970882e-01,-6.95810830e-01, 9.15681859e-02]

qacc:
[ 6.46596947e-02, 6.15221645e-01,-5.47462429e+00, 1.57159086e+01,
  1.53101989e-01, 1.76059070e+00,-6.11522307e+00, 8.18842949e+00,
 -5.96783579e-02, 1.52470749e-01,-4.94993994e+00, 2.06033622e+01,
 -3.77222913e-01, 5.59851719e-01, 4.90566161e+00,-1.75209992e+01,
  5.36062811e+00,-5.22403878e+00, 1.79983720e+00,-2.10734586e+02,
 -3.87552300e+02,-2.40176265e+02]

qfrc_actuator:
[ 2.41862574e-03, 2.75949142e-02, 8.73390587e-03, 1.58546709e-03,
 -6.30011797e-06, 2.74637605e-02, 8.68754386e-03, 1.61629722e-03,
 -2.44254539e-03, 2.75966827e-02, 8.89936286e-03, 1.73407608e-03,
  4.77678973e-03,-1.66880194e-03, 0.00000000e+00,-2.66889656e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.5568508 , -8.24919941, -2.5568508 ,  1.05120851,
        2.35102936, -8.24919941,  2.35102936,  7.90765882,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003586131568892148
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.09587923e-14, -3.09587923e-14,  1.00000000e+00,  9.58446822e-28,
        1.00000000e+00,  3.09587923e-14, -1.00000000e+00,  0.00000000e+00,
        3.09587923e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13676281,  0.03884467,  0.06159768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.19453012e-05,-5.50939411e-05,-1.27298334e-05, 2.63090850e-05,
  2.78812973e-05, 2.47954638e-05,-1.82378970e-05, 5.16177390e-06,
 -1.11555903e-05,-5.09160452e-06, 3.14558285e-05, 4.90703305e-05,
 -3.80943164e-05,-4.69291158e-06,-3.50081902e-05,-9.50262186e-05,
 -1.19233782e-01,-2.88575255e-01,-8.04924532e+00, 1.24616098e-02,
 -1.72011109e-01,-6.33923255e-04]


--- Step 1428 ---
qpos:
[-5.55130125e-04, 8.77183714e-01,-2.02636991e-02,-2.75447176e-02,
  7.64296126e-03, 8.64619495e-01,-2.79654258e-02, 9.47139608e-03,
  2.22054354e-02, 8.72956083e-01,-2.02013010e-02, 2.24300579e-02,
  1.32525963e+00,-1.00111094e-02, 9.81237037e-01, 6.14553251e-02,
 -1.73458194e-01, 1.17273195e-02, 7.17884687e-02, 7.03168469e-01,
  1.03586160e-01,-6.98366213e-01, 8.43127713e-02]

qacc:
[ 1.28618079e-01, 3.73339019e-01,-4.83488619e+00, 1.62396163e+01,
  6.65541469e-02, 3.45209035e+00,-1.38249812e+01, 2.27870205e+01,
 -5.72575084e-02, 1.17402062e+00,-1.86188777e+00,-5.15011724e+00,
 -4.37988546e-01, 8.09609490e-01,-5.61449993e-01, 1.28659166e+00,
  5.71033253e+00,-3.46475859e+00, 3.83761983e+00,-1.34793066e+02,
 -4.64882621e+02,-6.07199142e+01]

qfrc_actuator:
[ 2.43667813e-03, 2.75883586e-02, 8.74797452e-03, 1.61977538e-03,
 -7.38250357e-06, 2.74582495e-02, 8.64045821e-03, 1.63745500e-03,
 -2.44770500e-03, 2.75940774e-02, 8.85697727e-03, 1.70773244e-03,
  4.77394613e-03,-1.64795258e-03, 0.00000000e+00,-2.66067057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.81000851, -8.5982942 , -0.81000851,  0.39624681,
        0.77626616, -8.5982942 ,  0.77626616,  8.56323492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034508099307325873
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.60864123e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.60864123e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.13265574,  0.02981596,  0.06159662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.37916354e-05,-3.88748868e-05, 2.03088682e-06, 3.20223979e-05,
  1.21907175e-05, 4.78979402e-06,-4.40405956e-05, 2.16884649e-05,
 -1.05247351e-05, 3.09793634e-06,-3.78930661e-05,-2.45247804e-05,
 -2.67213034e-05, 1.15129734e-05,-3.00109974e-05,-2.33880188e-06,
 -1.95726967e-01,-4.12621793e-01,-8.10728705e+00, 1.95268484e-02,
 -1.75431445e-01,-6.61413390e-04]


--- Step 1429 ---
qpos:
[-5.54966409e-04, 8.77183274e-01,-2.02629964e-02,-2.75449825e-02,
  7.64275189e-03, 8.64620485e-01,-2.79657249e-02, 9.47100141e-03,
  2.22048349e-02, 8.72956769e-01,-2.01995277e-02, 2.24313128e-02,
  1.32543427e+00,-1.00103382e-02, 9.81474620e-01, 6.14543435e-02,
 -1.73948249e-01, 1.18543311e-02, 7.14586057e-02, 7.01374694e-01,
  1.07503862e-01,-7.00545974e-01, 7.58405981e-02]

qacc:
[-7.21878915e-02,-3.02245903e+00, 1.08368335e+01,-1.62358730e+01,
  2.88671832e-02,-1.68585897e+00, 6.22586895e+00,-8.99432604e+00,
  5.40487551e-02, 4.70826349e-01,-6.29614822e+00, 2.01958083e+01,
 -2.58808659e-01, 4.96982391e-01,-5.83744586e+00, 1.95860783e+01,
  2.19643290e+01,-2.93695106e+01, 2.63571885e+01, 3.80094853e+01,
  8.73461131e+01,-9.10899801e+02]

qfrc_actuator:
[ 2.41173461e-03, 2.75490877e-02, 8.77402108e-03, 1.60445223e-03,
 -8.00310516e-06, 2.74543562e-02, 8.66624080e-03, 1.63223299e-03,
 -2.43270106e-03, 2.75208316e-02, 8.84901821e-03, 1.74526920e-03,
  4.76595947e-03,-1.63583751e-03, 0.00000000e+00,-2.56589936e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.90066688, -5.19303124, -6.90066688,  6.44507883,
        2.9118497 , -5.19303124,  2.9118497 ,  4.76700413,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034969627532030895
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 1.58741042e-14,  0.00000000e+00,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00,  0.00000000e+00, -1.00000000e+00,  0.00000000e+00,
        1.58741042e-14])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.20295181,  0.01876162,  0.06157747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.35026349e-05,-5.92207262e-05, 1.93744171e-05,-1.62937180e-05,
  5.18231629e-06,-9.40136232e-06, 2.20930003e-05,-6.11937705e-06,
  9.94521675e-06,-8.04399433e-05,-1.28605329e-05, 3.58758731e-05,
 -2.13281064e-05, 8.84436590e-06,-1.71641802e-05, 9.00689859e-05,
 -3.01750467e-01,-5.47726570e-01,-8.14267283e+00, 2.68582108e-02,
 -1.77324278e-01,-6.44961590e-04]


--- Step 1430 ---
qpos:
[-5.55209473e-04, 8.77182634e-01,-2.02623352e-02,-2.75464703e-02,
  7.64256492e-03, 8.64621692e-01,-2.79658752e-02, 9.47051630e-03,
  2.22047482e-02, 8.72956039e-01,-2.01971857e-02, 2.24330688e-02,
  1.32560875e+00,-1.00096521e-02, 9.81711685e-01, 6.14574776e-02,
 -1.74361168e-01, 1.20199274e-02, 7.11146308e-02, 7.00257718e-01,
  1.09228649e-01,-7.01920478e-01, 7.08228204e-02]

qacc:
[-2.11387719e-01,-2.66780218e+00, 1.42775897e+01,-3.52028946e+01,
  1.17754114e-02,-3.13579703e-01, 1.91803369e+00,-3.88200073e+00,
  2.67753484e-01,-2.42702460e+00, 3.82382516e+00, 4.98313161e+00,
  1.62993461e-01,-3.91139846e-01,-1.32001532e+01, 4.50511931e+01,
  1.92839512e+01, 9.64620018e+00,-3.52799872e+00, 4.35128953e+02,
  7.88319346e+02, 1.91063767e+03]

qfrc_actuator:
[ 2.37903437e-03, 2.75438067e-02, 8.77125792e-03, 1.54227574e-03,
 -8.32432628e-06, 2.74872309e-02, 8.68157170e-03, 1.62933399e-03,
 -2.38801529e-03, 2.74060114e-02, 8.86123692e-03, 1.76682047e-03,
  4.74956625e-03,-1.64677208e-03, 0.00000000e+00,-2.34991400e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.39342355, -8.52321229,  1.39342355,  4.41238979,
       -0.69055943, -8.52321229, -0.69055943,  8.52346703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004633521484076267
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 5.99016875e-15,  1.19803375e-14,  1.00000000e+00, -7.17642434e-29,
        1.00000000e+00, -1.19803375e-14, -1.00000000e+00,  0.00000000e+00,
        5.99016875e-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([-0.22720524, -0.01619498,  0.0614612 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.92031187e-05,-3.50885292e-05,-1.31715223e-05,-6.43577012e-05,
  2.14392174e-06, 3.18982963e-05, 1.58946525e-05,-2.65675965e-06,
  4.94636908e-05,-1.60952436e-04,-4.76032913e-06, 1.83516219e-05,
 -2.69863827e-05,-1.36582371e-05,-1.12025164e-06, 2.18043233e-04,
 -2.44339852e-01,-6.25804669e-01,-8.21871931e+00, 3.46299735e-02,
 -1.81451557e-01,-9.92667666e-04]


--- Step 1431 ---
qpos:
[-5.55295774e-04, 8.77182374e-01,-2.02617537e-02,-2.75484186e-02,
  7.64238727e-03, 8.64623052e-01,-2.79661573e-02, 9.47106389e-03,
  2.22049993e-02, 8.72955295e-01,-2.01948727e-02, 2.24328584e-02,
  1.32578288e+00,-1.00087478e-02, 9.81949052e-01, 6.14601373e-02,
 -1.75441976e-01, 1.17578393e-02, 7.05123334e-02, 7.02233467e-01,
  1.07096198e-01,-7.00918285e-01, 6.41258200e-02]

qacc:
[ 8.12601416e-02,-2.25541111e-01, 3.46900972e+00,-1.15787946e+01,
  4.81886572e-03, 2.69101371e+00,-1.36669380e+01, 3.16435575e+01,
  1.75479443e-01,-3.98239398e+00, 2.24765229e+01,-5.64546065e+01,
 -4.77389895e-01, 7.81113198e-01, 1.90541179e+00,-5.95643039e+00,
 -1.66972372e+02,-1.06921125e+02,-6.45806260e+01,-2.02463832e+03,
  1.96246766e+03, 5.26469520e+02]

qfrc_actuator:
[ 2.41301342e-03, 2.76120243e-02, 8.78711308e-03, 1.52405137e-03,
 -8.45570884e-06, 2.74885894e-02, 8.67298844e-03, 1.68110079e-03,
 -2.37922995e-03, 2.74802811e-02, 8.88504273e-03, 1.67223236e-03,
  4.72813244e-03,-1.63580365e-03, 0.00000000e+00,-2.38381956e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.10497913454172406
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98638001e-01, -5.28782710e-16,  5.21741584e-02, -5.28062508e-16,
        1.00000000e+00,  2.75887928e-17, -5.21741584e-02,  0.00000000e+00,
       -9.98638001e-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([-0.22206312, -0.01349625,  0.06138532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.51159812e-05, 4.31307451e-05, 4.76219963e-06,-2.14325470e-05,
  8.92753211e-07, 2.23374699e-05,-1.36572148e-07, 5.36309687e-05,
  3.25657596e-05,-1.59285555e-05,-9.40595438e-06,-1.01298816e-04,
 -4.02169826e-05, 1.87895438e-06, 2.03590767e-05,-2.26996589e-05,
 -1.19769474e-01,-2.13079089e-01,-8.00108113e+00, 1.75569845e-02,
 -1.68161358e-01,-1.07576588e-03]


--- Step 1432 ---
qpos:
[-5.54911442e-04, 8.77182343e-01,-2.02607702e-02,-2.75495502e-02,
  7.64221392e-03, 8.64624524e-01,-2.79664849e-02, 9.47188129e-03,
  2.22054644e-02, 8.72955635e-01,-2.01932741e-02, 2.24328010e-02,
  1.32595693e+00,-1.00082954e-02, 9.82186645e-01, 6.14610569e-02,
 -1.77037596e-01, 1.11906051e-02, 6.97245286e-02, 7.07070701e-01,
  1.01128394e-01,-6.97646722e-01, 5.57953645e-02]

qacc:
[ 2.44760933e-01, 8.63213442e-01,-6.07598746e+00, 1.93822008e+01,
  2.20714127e-03, 8.30920790e-01,-3.88607525e+00, 8.54685349e+00,
  1.10315040e-01, 3.74183354e+00,-1.19094064e+01, 1.49008074e+01,
  2.08381367e-01,-6.92715452e-01, 5.56886194e+00,-1.90410588e+01,
 -1.28702745e+02,-7.62865167e+01,-4.63768323e+01,-1.99967150e+03,
  1.83520456e+03, 5.57321689e+02]

qfrc_actuator:
[ 2.45109394e-03, 2.76350791e-02, 8.81419410e-03, 1.56743029e-03,
 -8.46906896e-06, 2.74887699e-02, 8.66803038e-03, 1.69356958e-03,
 -2.37426198e-03, 2.76139126e-02, 8.88066581e-03, 1.68775399e-03,
  4.71967399e-03,-1.66522040e-03, 0.00000000e+00,-2.47595269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.38020726, -4.48545624, -7.38020726, 14.06877085,
       -8.93828609, -4.48545624, -8.93828609, 23.34309587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.1034067514514446
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99835198,  0.        ,  0.05738747,  0.        ,  1.        ,
        0.        , -0.05738747,  0.        , -0.99835198])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.21349755, -0.01024655,  0.06134249])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.53587853e-05, 4.72450045e-05, 3.58331606e-05, 4.49744536e-05,
  4.13486964e-07, 1.49097121e-05, 1.48529132e-06, 1.44624876e-05,
  2.06368323e-05, 1.18444856e-04,-1.23430485e-05, 1.25396771e-05,
 -3.14633161e-05,-3.81371119e-05, 9.02587727e-07,-9.21627830e-05,
 -6.74249265e-01,-5.30198808e-02,-8.18752650e+00, 5.37392588e-03,
 -1.78950984e-01,-1.98298605e-03]


--- Step 1433 ---
qpos:
[-5.54068056e-04, 8.77182406e-01,-2.02594134e-02,-2.75494435e-02,
  7.64222929e-03, 8.64626064e-01,-2.79664648e-02, 9.47109374e-03,
  2.22062443e-02, 8.72957012e-01,-2.01932797e-02, 2.24336868e-02,
  1.32613096e+00,-1.00087326e-02, 9.82424080e-01, 6.14618688e-02,
 -1.79046369e-01, 1.04599176e-02, 6.88566544e-02, 7.14228880e-01,
  9.16453843e-02,-6.92355742e-01, 4.60625421e-02]

qacc:
[ 2.38790670e-01, 1.63288695e+00,-1.08557809e+01, 3.15941405e+01,
  9.92300932e-02,-4.17986554e+00, 2.18150415e+01,-5.02055736e+01,
  1.62303191e-01, 7.78724784e+00,-2.97661990e+01, 4.78954589e+01,
  7.18658053e-01,-1.79317517e+00, 3.67123338e-02,-5.89828427e-01,
 -1.03288466e+02,-4.08633004e+01,-2.00173488e+01,-1.79313395e+03,
  1.55081387e+03, 5.63541053e+02]

qfrc_actuator:
[ 2.47350614e-03, 2.76310338e-02, 8.82980801e-03, 1.62892549e-03,
  9.34230518e-06, 2.74882216e-02, 8.68296656e-03, 1.61179885e-03,
 -2.35384289e-03, 2.76400468e-02, 8.78906572e-03, 1.73250345e-03,
  4.70833791e-03,-1.71828558e-03, 0.00000000e+00,-2.47729843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -2.49826635,  -8.26713022,  -2.49826635,
        58.39337855, -15.03620637,  -8.26713022, -15.03620637,
        13.18019535,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.10095530787954589
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98257085e-01,  5.49858669e-16,  5.90151829e-02,  5.48900312e-16,
        1.00000000e+00, -3.24500099e-17, -5.90151829e-02,  0.00000000e+00,
       -9.98257085e-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([-0.20545255, -0.00737149,  0.06130226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.42388393e-05, 3.16966850e-05, 3.13343382e-05, 6.56327668e-05,
  1.80097666e-05, 8.68153394e-06, 1.86887274e-05,-8.08020155e-05,
  3.03645267e-05, 9.03390228e-05,-6.82368127e-05, 4.96392346e-05,
 -3.88278300e-05,-6.82935325e-05,-1.48475221e-05,-7.54483794e-06,
 -2.15745166e+00,-2.18805468e-01,-8.18240455e+00,-3.64162342e-04,
 -1.82230654e-01,-4.83377494e-03]


--- Step 1434 ---
qpos:
[-5.52870583e-04, 8.77182406e-01,-2.02577391e-02,-2.75485763e-02,
  7.64244531e-03, 8.64627486e-01,-2.79661793e-02, 9.46936286e-03,
  2.22071136e-02, 8.72958502e-01,-2.01931560e-02, 2.24344106e-02,
  1.32630469e+00,-1.00097101e-02, 9.82661438e-01, 6.14622928e-02,
 -1.80943190e-01, 9.85210856e-03, 6.82983787e-02, 7.17423177e-01,
  8.13304414e-02,-6.90721869e-01, 3.99079393e-02]

qacc:
[ 1.84244932e-01, 5.97237586e-01,-5.45178643e+00, 1.81364821e+01,
  1.05543694e-01,-2.83714116e+00, 1.38725973e+01,-3.05397125e+01,
  4.64971786e-02,-5.43587727e-01, 2.84189576e+00,-5.93813500e+00,
  1.84305549e-01,-8.09819958e-01, 1.03716125e+00,-3.83923892e+00,
  2.79878562e+01, 3.07195834e+01, 7.73995965e+01, 1.03916416e+03,
 -2.49522901e+03, 1.82476093e+03]

qfrc_actuator:
[ 2.48634068e-03, 2.76107725e-02, 8.83840976e-03, 1.66503696e-03,
  1.99097479e-05, 2.74694827e-02, 8.69171152e-03, 1.56401441e-03,
 -2.35984494e-03, 2.76190503e-02, 8.78832829e-03, 1.72292756e-03,
  4.67929387e-03,-1.74941604e-03, 0.00000000e+00,-2.49611865e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.73107687, -7.78882804,  3.73107687,  1.92996521,
       -3.21256137, -7.78882804, -3.21256137,  7.0974526 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007768720673015109
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 0.00000000e+00,  7.14546881e-15,  1.00000000e+00,  0.00000000e+00,
        1.00000000e+00, -7.14546881e-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([-0.15214972,  0.0049996 ,  0.06115193])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.41196228e-05, 6.73362980e-06, 2.12662408e-05, 3.98276249e-05,
  1.91411237e-05,-1.35201165e-05, 1.00325979e-05,-4.83398199e-05,
  8.62186157e-06, 1.75251280e-05, 1.12220207e-05,-7.10331818e-06,
 -6.78215660e-05,-5.46055090e-05,-1.13318007e-05,-2.20206641e-05,
 -4.22696493e+00,-5.60922722e-01,-7.93826772e+00, 3.58580516e-04,
 -1.77449944e-01,-8.91100979e-03]


--- Step 1435 ---
qpos:
[-5.51429944e-04, 8.77182176e-01,-2.02563652e-02,-2.75475626e-02,
  7.64263506e-03, 8.64628723e-01,-2.79657885e-02, 9.46778304e-03,
  2.22076161e-02, 8.72959617e-01,-2.01922904e-02, 2.24360709e-02,
  1.32647802e+00,-1.00110650e-02, 9.82898367e-01, 6.14651435e-02,
 -1.82733407e-01, 9.34553997e-03, 6.79929024e-02, 7.17488082e-01,
  7.02605224e-02,-6.92041242e-01, 3.67862922e-02]

qacc:
[ 1.26257929e-01, 8.36063529e-01,-4.03927334e+00, 7.21931742e+00,
 -1.36521623e-02,-2.25920027e-01,-1.84007528e-01, 2.76482329e+00,
 -1.89949537e-01,-6.40521373e-01,-2.38979172e+00, 1.76903062e+01,
  1.49462657e-01,-6.66281303e-01,-7.97574109e+00, 2.69498749e+01,
  2.66513366e+01, 2.53101221e+01, 6.31998930e+01, 8.45015909e+02,
 -2.00178371e+03, 1.53126324e+03]

qfrc_actuator:
[ 2.49334996e-03, 2.75631478e-02, 8.80720530e-03, 1.66814797e-03,
  8.29079198e-06, 2.74577423e-02, 8.69668519e-03, 1.57210735e-03,
 -2.39935283e-03, 2.75880351e-02, 8.82326401e-03, 1.77024767e-03,
  4.66095615e-03,-1.76737919e-03, 0.00000000e+00,-2.36532658e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.55655331, -7.87005117,  3.55655331,  1.76702509,
       -3.10432146, -7.87005117, -3.10432146,  7.23349032,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00870133539713415
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([ 3.18980643e-15, -1.91388386e-14,  1.00000000e+00,  6.10491904e-29,
        1.00000000e+00,  1.91388386e-14, -1.00000000e+00,  0.00000000e+00,
        3.18980643e-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([-0.15725761,  0.00388054,  0.06107729])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34232502e-05,-3.77758876e-05,-2.58315448e-05, 4.90631094e-06,
 -2.50989137e-06,-1.93307650e-05, 1.73331973e-06, 6.91980459e-06,
 -3.53541855e-05,-1.92359765e-05, 3.96790950e-05, 4.83177855e-05,
 -7.07228178e-05,-4.52164018e-05,-1.18832713e-05, 1.27127555e-04,
 -2.41039522e+00,-5.55987139e-01,-7.28917027e+00, 1.56055781e-02,
 -1.36001467e-01,-4.10272547e-03]


--- Step 1436 ---
qpos:
[-5.49836218e-04, 8.77181902e-01,-2.02554363e-02,-2.75465323e-02,
  7.64292469e-03, 8.64629732e-01,-2.79650306e-02, 9.46629999e-03,
  2.22078808e-02, 8.72960123e-01,-2.01922783e-02, 2.24398088e-02,
  1.32665074e+00,-1.00120816e-02, 9.83135347e-01, 6.14681656e-02,
 -1.86298373e-01, 9.04014068e-03, 6.79041735e-02, 7.18496918e-01,
  6.02677180e-02,-6.92149090e-01, 3.25517733e-02]

qacc:
[ 7.92913904e-02, 1.21928571e+00,-4.50080141e+00, 5.53007645e+00,
  5.27755980e-02,-1.12813459e+00, 3.17475550e+00,-1.91920989e+00,
 -1.23804878e-01, 5.85084725e+00,-3.08059930e+01, 6.85788467e+01,
 -7.41253865e-01, 1.17858182e+00,-3.96803308e-01, 1.59753993e+00,
 -4.43687506e+02, 5.02923255e+01, 5.41868167e+01,-9.53231268e+00,
  7.02355211e+02,-8.31886513e+02]

qfrc_actuator:
[ 2.49683337e-03, 2.75703088e-02, 8.78811326e-03, 1.66952124e-03,
  1.90119014e-05, 2.74503131e-02, 8.71720241e-03, 1.57750441e-03,
 -2.40528586e-03, 2.74981942e-02, 8.75467095e-03, 1.86842420e-03,
  4.63840846e-03,-1.74188336e-03, 0.00000000e+00,-2.36045822e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.98287506, -3.29552463,  7.98287506, 18.69877558,
       24.37456441, -3.29552463, 24.37456441, 67.67980108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.22380531954749094
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99926916,  0.        ,  0.03822483,  0.        ,  1.        ,
        0.        , -0.03822483,  0.        , -0.99926916])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.15917286,  0.00127082,  0.06107086])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47477523e-05,-1.90935505e-05,-2.99170010e-05,-1.04566108e-06,
  9.52404291e-06,-1.76146593e-05, 1.69674956e-05, 4.76349416e-06,
 -2.29443663e-05,-9.03698282e-05,-6.60232073e-05, 9.96608313e-05,
 -7.42188764e-05,-4.97601134e-07, 5.18149476e-06, 9.61099307e-06,
 -1.68865005e+00,-2.58717650e-01,-6.85038822e+00, 4.90668708e-03,
 -1.11156821e-01,-6.35751102e-04]


--- Step 1437 ---
qpos:
[-5.47970539e-04, 8.77181682e-01,-2.02545542e-02,-2.75455345e-02,
  7.64332730e-03, 8.64631161e-01,-2.79651041e-02, 9.46420176e-03,
  2.22079945e-02, 8.72959537e-01,-2.01924357e-02, 2.24429844e-02,
  1.32682284e+00,-1.00125510e-02, 9.83372191e-01, 6.14722286e-02,
 -1.91253048e-01, 8.90749732e-03, 6.79785847e-02, 7.20157103e-01,
  5.08286955e-02,-6.91400455e-01, 2.74882087e-02]

qacc:
[ 1.41266500e-01, 1.34885836e-01,-2.41410999e-01,-2.83145878e-01,
  5.86400563e-02, 1.61107862e+00,-2.34072911e+00,-7.28544937e+00,
 -7.81528946e-02,-2.12597121e+00, 7.86059204e+00,-1.65179065e+01,
 -8.48156613e-01, 1.50579718e+00,-3.29077700e+00, 1.13402873e+01,
 -3.47427039e+02, 4.31889824e+01, 4.07850287e+01,-9.36550878e+01,
  4.99118717e+02,-5.25904160e+02]

qfrc_actuator:
[ 2.51594670e-03, 2.75924940e-02, 8.79430614e-03, 1.66992317e-03,
  2.52687934e-05, 2.74810952e-02, 8.67573149e-03, 1.54577254e-03,
 -2.40880882e-03, 2.74089475e-02, 8.73177498e-03, 1.83582527e-03,
  4.61869584e-03,-1.70862960e-03, 0.00000000e+00,-2.30559089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.60780196, -8.23323423,  2.60780196, 65.86530206,
       18.12674502, -8.23323423, 18.12674502, 14.37784503,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.21996984215952048
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99235537e-01,  2.52358008e-16,  3.90940200e-02,  2.52165090e-16,
        1.00000000e+00, -9.86568902e-18, -3.90940200e-02,  1.54074396e-33,
       -9.99235537e-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([-0.16226286,  0.00033042,  0.06108631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62065642e-05, 5.28199925e-06,-1.47949615e-06,-1.47391413e-06,
  1.07873825e-05, 2.46140682e-05,-4.28651970e-05,-3.18071408e-05,
 -1.45727158e-05,-1.49166807e-04,-4.62554707e-05,-3.68225912e-05,
 -6.30358191e-05, 1.61713537e-05,-1.78432947e-06, 5.48647449e-05,
 -1.68187318e+00,-2.95881416e-01,-7.13993324e+00, 8.65036562e-03,
 -1.26287446e-01,-1.66378535e-03]


--- Step 1438 ---
qpos:
[-5.46232944e-04, 8.77181658e-01,-2.02539748e-02,-2.75445408e-02,
  7.64382079e-03, 8.64632415e-01,-2.79654942e-02, 9.46212673e-03,
  2.22078299e-02, 8.72958044e-01,-2.01920289e-02, 2.24442891e-02,
  1.32699449e+00,-1.00124165e-02, 9.83609264e-01, 6.14745595e-02,
 -1.97273233e-01, 8.92180425e-03, 6.81750332e-02, 7.22231610e-01,
  4.16280483e-02,-6.90052196e-01, 2.18305786e-02]

qacc:
[-6.68089018e-02, 1.09684636e+00,-3.51612695e+00, 3.78298953e+00,
  4.75980073e-02, 6.98832979e-01,-2.92802819e+00, 3.96640747e+00,
 -1.44076469e-01,-6.62009766e+00, 2.97693584e+01,-6.23872912e+01,
 -9.34287482e-01, 1.74301886e+00, 5.63001146e+00,-1.90700999e+01,
 -2.66377539e+02, 3.67375726e+01, 3.05093391e+01,-1.21829751e+02,
  3.40777271e+02,-3.17255609e+02]

qfrc_actuator:
[ 2.49100000e-03, 2.76058610e-02, 8.77994441e-03, 1.66978463e-03,
  2.87940955e-05, 2.74454819e-02, 8.65137712e-03, 1.54569445e-03,
 -2.42863022e-03, 2.73917948e-02, 8.77145991e-03, 1.74432249e-03,
  4.61135682e-03,-1.67106523e-03, 0.00000000e+00,-2.39918873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.72658164, -7.79097979,  3.72658164, 40.00562431,
       15.00454554, -7.79097979, 15.00454554, 15.81333823,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.21468040405103428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9991911 ,  0.        ,  0.04021386,  0.        ,  1.        ,
        0.        , -0.04021386,  0.        , -0.9991911 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.16654081, -0.00048753,  0.0611077 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23380694e-05, 1.59479817e-05,-1.35124631e-05, 4.43195972e-09,
  8.66356956e-06,-3.20942778e-05,-2.56609452e-05,-1.12526455e-06,
 -2.68508415e-05,-1.11689196e-04, 1.90362554e-06,-1.00215758e-04,
 -4.02992105e-05, 2.66998010e-05, 6.58574666e-07,-9.18361371e-05,
 -1.78067722e+00,-2.84788365e-01,-7.30014747e+00, 9.11737180e-03,
 -1.35424431e-01,-2.36004310e-03]


--- Step 1439 ---
qpos:
[-5.45087144e-04, 8.77181631e-01,-2.02535035e-02,-2.75435444e-02,
  7.64419104e-03, 8.64633195e-01,-2.79655216e-02, 9.46074902e-03,
  2.22075945e-02, 8.72956061e-01,-2.01914307e-02, 2.24454941e-02,
  1.32716586e+00,-1.00121133e-02, 9.83846762e-01, 6.14720681e-02,
 -2.04087412e-01, 9.05961359e-03, 6.84608379e-02, 7.24523934e-01,
  3.24940970e-02,-6.88302218e-01, 1.57879361e-02]

qacc:
[-3.07579675e-01, 3.03281824e-01,-1.09929778e+00, 1.32300126e+00,
 -6.42954108e-02,-2.03630424e-01,-3.12622415e+00, 1.49638611e+01,
 -3.65349323e-02,-1.38689794e+00, 4.42709561e+00,-6.09882685e+00,
 -6.01358286e-01, 9.71912779e-01, 1.52192029e+01,-5.22629754e+01,
 -1.98498590e+02, 3.08756011e+01, 2.23390275e+01,-1.08910383e+02,
  2.11483369e+02,-1.72787515e+02]

qfrc_actuator:
[ 2.43990853e-03, 2.75960202e-02, 8.77127735e-03, 1.66930657e-03,
  1.29047261e-05, 2.74237181e-02, 8.67261578e-03, 1.58196895e-03,
 -2.42253755e-03, 2.74003968e-02, 8.79476969e-03, 1.74327938e-03,
  4.59547331e-03,-1.66669543e-03, 0.00000000e+00,-2.65051944e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.44509743, -7.40458545,  4.44509743, 24.98808022,
        9.81621102, -7.40458545,  9.81621102, 14.52920053,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.2082679782103161
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99913856,  0.        ,  0.04149863,  0.        ,  1.        ,
        0.        , -0.04149863,  0.        , -0.99913856])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17173633, -0.00122508,  0.06113368])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.70258695e-05,-3.72392970e-06,-7.04491061e-06,-2.65477753e-07,
 -1.17695383e-05,-4.50807200e-05, 1.14058293e-05, 3.39911104e-05,
 -6.84143633e-06,-5.77288576e-05,-2.98618471e-06,-7.71389543e-06,
 -3.34142403e-05, 1.17900590e-06,-1.52809583e-05,-2.57607084e-04,
 -1.90986571e+00,-2.52230102e-01,-7.38364396e+00, 8.47238984e-03,
 -1.40844831e-01,-2.83999400e-03]


--- Step 1440 ---
qpos:
[-5.44545264e-04, 8.77181580e-01,-2.02530901e-02,-2.75432528e-02,
  7.64440173e-03, 8.64634270e-01,-2.79656003e-02, 9.45940015e-03,
  2.22071799e-02, 8.72953928e-01,-2.01909986e-02, 2.24463115e-02,
  1.32733720e+00,-1.00125548e-02, 9.84084118e-01, 6.14669054e-02,
 -2.11469532e-01, 9.29938985e-03, 6.88091606e-02, 7.26870263e-01,
  2.33547514e-02,-6.86311094e-01, 9.55291835e-03]

qacc:
[-3.13874815e-01,-1.32088072e+00, 7.63312150e+00,-1.97074948e+01,
 -8.39469384e-02, 5.92131165e-01,-1.66738612e+00, 2.03188354e+00,
 -9.31139317e-02,-5.31302673e-01, 3.24337524e+00,-9.57540799e+00,
  4.63187967e-01,-1.28259781e+00, 7.81528619e+00,-2.77369115e+01,
 -1.41985294e+02, 2.54917320e+01, 1.56295114e+01,-6.71388093e+01,
  1.02864472e+02,-7.21790853e+01]

qfrc_actuator:
[ 2.40915040e-03, 2.75901286e-02, 8.76595337e-03, 1.63311418e-03,
  3.29694384e-06, 2.74816426e-02, 8.68515233e-03, 1.58611371e-03,
 -2.43649788e-03, 2.74066452e-02, 8.79064877e-03, 1.72447873e-03,
  4.57978894e-03,-1.71755394e-03, 0.00000000e+00,-2.77967529e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.90366203, -7.10921061,  4.90366203, 16.06769259,
        5.12584697, -7.10921061,  5.12584697, 12.17197716,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.20101074259507307
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.9990804 ,  0.        ,  0.04287603,  0.        ,  1.        ,
        0.        , -0.04287603,  0.        , -0.9990804 ])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.17762322, -0.00191262,  0.06116312])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.81946413e-05,-9.45384614e-06,-6.97505030e-06,-3.66022807e-05,
 -1.52156473e-05, 3.65105298e-05, 5.80422047e-06, 3.27081523e-06,
 -1.72624342e-05,-2.69416919e-05,-1.66707119e-05,-2.15276950e-05,
 -3.55304034e-05,-5.78096816e-05,-4.08802217e-05,-1.46677060e-04,
 -2.02305782e+00,-2.09928847e-01,-7.41846095e+00, 7.59582379e-03,
 -1.43754511e-01,-3.14198691e-03]


--- Step 1441 ---
qpos:
[-5.44852453e-04, 8.77181648e-01,-2.02528032e-02,-2.75437558e-02,
  7.64466238e-03, 8.64635111e-01,-2.79653647e-02, 9.45884438e-03,
  2.22065952e-02, 8.72951513e-01,-2.01908276e-02, 2.24462303e-02,
  1.32750832e+00,-1.00135225e-02, 9.84320735e-01, 6.14641913e-02,
 -2.19232680e-01, 9.62110630e-03, 6.91973955e-02, 7.29135649e-01,
  1.42060773e-02,-6.84213765e-01, 3.30402101e-03]

qacc:
[-4.41354995e-01,-1.12821111e+00, 7.59436733e+00,-2.12139172e+01,
  2.65693814e-02, 4.45009917e-01,-5.38420118e+00, 1.87815804e+01,
 -8.85627483e-02,-1.49158453e+00, 8.57290414e+00,-2.35024361e+01,
  3.98958999e-01,-1.10926585e+00,-8.51427233e+00, 2.81348364e+01,
 -9.52568387e+01, 2.04850465e+01, 9.97805754e+00,-6.70122793e+00,
  1.07048173e+01,-2.69672816e+00]

qfrc_actuator:
[ 2.35533586e-03, 2.76043802e-02, 8.76262841e-03, 1.59395241e-03,
  1.52963681e-05, 2.74447796e-02, 8.69273652e-03, 1.62462808e-03,
 -2.44460082e-03, 2.73758323e-02, 8.77035045e-03, 1.67759864e-03,
  4.55888502e-03,-1.74744556e-03, 0.00000000e+00,-2.64046938e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  5.19237688, -6.90115927,  5.19237688, 10.5177082 ,
        1.41550856, -6.90115927,  1.41550856,  9.70138093,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.1931425876345646
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99901911,  0.        ,  0.0442812 ,  0.        ,  1.        ,
        0.        , -0.0442812 ,  0.        , -0.99901911])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.18401251, -0.00257156,  0.06119506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.18133466e-05, 5.94787542e-06,-7.40603431e-06,-4.05209052e-05,
  4.76190111e-06,-1.51331203e-05, 1.59473374e-05, 4.03439316e-05,
 -1.64155709e-05,-5.02017334e-05,-2.86497937e-05,-4.90289997e-05,
 -5.57443449e-05,-5.01363158e-05,-3.81256445e-05, 1.25075623e-04,
 -2.09123398e+00,-1.63537589e-01,-7.42237640e+00, 6.78152845e-03,
 -1.44898616e-01,-3.27671599e-03]


--- Step 1442 ---
qpos:
[-5.45528141e-04, 8.77181563e-01,-2.02522297e-02,-2.75440278e-02,
  7.64464881e-03, 8.64635426e-01,-2.79646002e-02, 9.45946848e-03,
  2.22060657e-02, 8.72948690e-01,-2.01900511e-02, 2.24458894e-02,
  1.32767904e+00,-1.00148027e-02, 9.84556311e-01, 6.14694522e-02,
 -2.27282439e-01, 9.97125967e-03, 6.96269037e-02, 7.31140455e-01,
  5.86452144e-03,-6.82195495e-01,-2.92378217e-03]

qacc:
[-1.91245555e-01,-5.25087881e-01, 6.07855078e-01, 3.03965133e+00,
 -1.43453092e-01, 2.54961865e-01,-6.89976059e+00, 2.68625042e+01,
  2.92224566e-02,-2.76406190e+00, 1.01706603e+01,-1.53334694e+01,
  3.85921645e-01,-1.00132900e+00,-2.56400456e+01, 8.74167045e+01,
 -7.16528219e+01, 7.10922851e+00, 1.03183315e+01, 3.03206469e+02,
 -1.19158176e+02,-2.67445818e+02]

qfrc_actuator:
[ 2.35918471e-03, 2.75950808e-02, 8.77834713e-03, 1.60663860e-03,
 -1.31434793e-05, 2.74047130e-02, 8.71475691e-03, 1.68298841e-03,
 -2.43137389e-03, 2.73762326e-02, 8.81151763e-03, 1.66779489e-03,
  4.53486934e-03,-1.76467779e-03, 0.00000000e+00,-2.22002940e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.60795976, -8.61493829,  0.60795976,  6.65892749,
       -0.13954849, -8.61493829, -0.13954849,  8.62651564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.18483524247724356
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98661291e-01,  3.00327743e-16,  5.17264528e-02,  2.99925692e-16,
        1.00000000e+00, -1.55348888e-17, -5.17264528e-02,  3.08148791e-33,
       -9.98661291e-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([-0.19071676,  0.01203641,  0.06122858])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55113274e-05,-9.24935495e-06, 1.46317041e-05, 1.18966620e-05,
 -2.61760838e-05,-4.35271366e-05, 2.22485021e-05, 5.90483132e-05,
  5.31866731e-06,-3.56385271e-05, 2.55894083e-05,-1.38971105e-05,
 -6.83594378e-05,-4.07236728e-05,-5.57298064e-06, 4.22060088e-04,
 -2.09839723e+00,-1.16517379e-01,-7.40864685e+00, 6.05535575e-03,
 -1.44828638e-01,-3.25101808e-03]


--- Step 1443 ---
qpos:
[-5.45799401e-04, 8.77181570e-01,-2.02518779e-02,-2.75434513e-02,
  7.64432755e-03, 8.64635512e-01,-2.79630421e-02, 9.46003963e-03,
  2.22056466e-02, 8.72946556e-01,-2.01899008e-02, 2.24464121e-02,
  1.32784906e+00,-1.00156867e-02, 9.84792024e-01, 6.14776563e-02,
 -2.35486220e-01, 1.03499683e-02, 7.00787758e-02, 7.32804692e-01,
 -1.85766514e-03,-6.80374963e-01,-9.15104887e-03]

qacc:
[ 2.10023829e-01, 2.48824432e+00,-1.22680465e+01, 2.72194733e+01,
 -1.61041286e-01,-2.62540080e+00, 9.14779253e+00,-1.11679255e+01,
  5.68286945e-02, 4.43581801e+00,-1.81429062e+01, 3.35863866e+01,
 -7.05038331e-01, 1.13294431e+00,-8.63918206e+00, 3.06197374e+01,
 -3.85056202e+01, 7.13881388e+00, 5.59095812e+00, 2.27907969e+02,
 -1.87553374e+02,-2.10992207e+02]

qfrc_actuator:
[ 2.41524330e-03, 2.76073788e-02, 8.76962439e-03, 1.64972571e-03,
 -3.00374270e-05, 2.74163681e-02, 8.76285114e-03, 1.68154178e-03,
 -2.42325910e-03, 2.74666100e-02, 8.80003870e-03, 1.71546272e-03,
  4.50368398e-03,-1.73881227e-03, 0.00000000e+00,-2.08117050e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.39851877, -7.43234886,  4.39851877,  4.79370016,
       -2.27411653, -7.43234886, -2.27411653,  7.29052473,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.1768879316301019
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98554259e-01,  3.13821021e-16,  5.37530668e-02,  3.13367317e-16,
        1.00000000e+00, -1.68688423e-17, -5.37530668e-02,  3.08148791e-33,
       -9.98554259e-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([-0.19743299,  0.01164576,  0.06126216])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.89720456e-05, 1.06518612e-05,-8.42116163e-06, 4.34295895e-05,
 -2.93589434e-05,-5.57729856e-06, 4.38805376e-05,-1.39433387e-06,
  1.06641991e-05, 7.51989156e-05,-1.61527325e-05, 4.67589471e-05,
 -7.99401804e-05, 1.12191351e-06, 4.20894626e-05, 1.61121688e-04,
 -1.86656698e+00,-4.19972377e-02,-7.52113466e+00, 4.04126810e-03,
 -1.50235431e-01,-2.90944744e-03]


--- Step 1444 ---
qpos:
[-5.45896994e-04, 8.77182085e-01,-2.02520904e-02,-2.75427385e-02,
  7.64394286e-03, 8.64635883e-01,-2.79616734e-02, 9.46059055e-03,
  2.22051480e-02, 8.72945441e-01,-2.01898510e-02, 2.24474212e-02,
  1.32801838e+00,-1.00159813e-02, 9.85028359e-01, 6.14838273e-02,
 -2.43749613e-01, 1.07520035e-02, 7.05360660e-02, 7.34095966e-01,
 -8.93053103e-03,-6.78809724e-01,-1.55150950e-02]

qacc:
[ 8.97295315e-02, 2.52835235e+00,-8.61463255e+00, 1.15002956e+01,
 -3.35410713e-02, 8.63440829e-01,-2.44677152e+00, 2.19042043e+00,
 -4.17725743e-02, 2.62607058e+00,-9.46446364e+00, 1.72921824e+01,
 -1.14202536e+00, 1.96130144e+00, 7.12680721e+00,-2.34440770e+01,
 -1.49028274e+01, 5.83164826e+00, 1.35452476e+00, 1.92214813e+02,
 -2.17324892e+02,-2.72955593e+02]

qfrc_actuator:
[ 2.41323903e-03, 2.76502052e-02, 8.74663044e-03, 1.65708573e-03,
 -2.21080498e-05, 2.74412168e-02, 8.75510312e-03, 1.68047712e-03,
 -2.43604155e-03, 2.75567814e-02, 8.81121962e-03, 1.74333607e-03,
  4.47356328e-03,-1.70542444e-03, 0.00000000e+00,-2.19818172e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.37601413,  -6.7590864 ,  -5.37601413,
        32.01172051, -18.59219449,  -6.7590864 , -18.59219449,
        23.42414625,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.16876220050121948
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98455123e-01,  3.28931189e-16,  5.55640821e-02,  3.28423031e-16,
        1.00000000e+00, -1.82767596e-17, -5.55640821e-02,  0.00000000e+00,
       -9.98455123e-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([-0.20423441,  0.01589313,  0.06129617])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.67460496e-05, 4.89036918e-05,-2.03326772e-05, 8.36839447e-06,
 -6.04523833e-06, 3.07140669e-05,-3.55502731e-06, 1.85073555e-07,
 -7.64691885e-06, 1.30938352e-04, 2.63555644e-05, 3.14489260e-05,
 -7.58184816e-05, 1.50351388e-05, 3.08256968e-05,-1.04118307e-04,
 -1.68479450e+00, 1.28586885e-02,-7.60375571e+00, 2.52816082e-03,
 -1.54074085e-01,-2.54237094e-03]


--- Step 1445 ---
qpos:
[-5.46292714e-04, 8.77183234e-01,-2.02526530e-02,-2.75426653e-02,
  7.64357997e-03, 8.64636217e-01,-2.79608091e-02, 9.46084319e-03,
  2.22045342e-02, 8.72944342e-01,-2.01883890e-02, 2.24484344e-02,
  1.32818734e+00,-1.00164693e-02, 9.85265110e-01, 6.14862523e-02,
 -2.52026776e-01, 1.11647178e-02, 7.09692044e-02, 7.35195774e-01,
 -1.57432150e-02,-6.77316678e-01,-2.19418048e-02]

qacc:
[-1.55375578e-01, 4.97666293e-01, 2.13367551e+00,-1.30933743e+01,
  1.11303361e-02, 7.44223483e-01,-1.46763955e+00,-2.85963157e+00,
 -5.89663781e-02,-3.91327767e+00, 1.39686351e+01,-1.61670394e+01,
 -3.13919425e-01, 2.20373759e-01, 1.19348254e+01,-4.08386118e+01,
 -3.44263835e+00, 2.66978283e+00,-6.03792863e+00, 7.39399225e+01,
 -8.91863773e+01,-1.13117005e+02]

qfrc_actuator:
[ 2.37646605e-03, 2.76931430e-02, 8.73325768e-03, 1.62562957e-03,
 -1.71584849e-05, 2.74025485e-02, 8.71451515e-03, 1.66187746e-03,
 -2.44346376e-03, 2.75219559e-02, 8.87122645e-03, 1.74161206e-03,
  4.45475969e-03,-1.72113284e-03, 0.00000000e+00,-2.39390532e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.39792431, -7.43270063,  4.39792431,  2.33055563,
       -3.73114265, -7.43270063, -3.73114265,  6.42864886,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.1605600873803287
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98365290e-01,  3.45734436e-16,  5.71554692e-02,  3.45169260e-16,
        1.00000000e+00, -1.97606139e-17, -5.71554692e-02,  0.00000000e+00,
       -9.98365290e-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([-0.21107476,  0.01581139,  0.06133037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87112933e-05, 6.64332002e-05,-5.49241715e-06,-2.99056224e-05,
  2.07614703e-06,-2.22412340e-05,-3.46907870e-05,-1.74065713e-05,
 -1.10887010e-05, 4.52084296e-05, 9.13935519e-05, 5.41141757e-06,
 -5.93520849e-05,-2.98321298e-05,-4.66676070e-06,-1.99241298e-04,
 -1.53239043e+00, 5.89148215e-02,-7.69968349e+00, 1.23255544e-03,
 -1.58631006e-01,-2.18965109e-03]


--- Step 1446 ---
qpos:
[-5.47057292e-04, 8.77184675e-01,-2.02529884e-02,-2.75429658e-02,
  7.64326011e-03, 8.64635930e-01,-2.79598911e-02, 9.46090859e-03,
  2.22038221e-02, 8.72943115e-01,-2.01868574e-02, 2.24498780e-02,
  1.32835595e+00,-1.00169089e-02, 9.85501525e-01, 6.14886559e-02,
 -2.60311308e-01, 1.15779304e-02, 7.13636970e-02, 7.36227787e-01,
 -2.25411637e-02,-6.75762577e-01,-2.83809812e-02]

qacc:
[-1.91645971e-01,-1.01910112e+00, 5.76639292e+00,-1.28038438e+01,
  2.28434728e-02,-1.35318321e+00, 4.42774806e+00,-7.29976168e+00,
 -5.09392009e-02, 5.20173916e-01,-3.91987978e+00, 1.13526746e+01,
 -2.94703743e-01, 3.63732319e-01,-4.14716336e-01, 7.66128203e-01,
 -1.84211585e+00, 1.24547554e-01,-9.66147038e+00,-8.79651335e-03,
 -2.56010646e-01,-9.83622902e+00]

qfrc_actuator:
[ 2.35473942e-03, 2.77003130e-02, 8.74342168e-03, 1.60711030e-03,
 -1.40566696e-05, 2.73437317e-02, 8.70787192e-03, 1.65079557e-03,
 -2.44760247e-03, 2.74659850e-02, 8.85254054e-03, 1.75792254e-03,
  4.44806570e-03,-1.71249399e-03, 0.00000000e+00,-2.38579353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.15245299089524572
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99883452,  0.        ,  0.04826595,  0.        ,  1.        ,
        0.        , -0.04826595,  0.        , -0.99883452])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.2179045 ,  0.0254771 ,  0.06136452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55334790e-05, 4.18780241e-05, 2.21674597e-05,-1.64491790e-05,
  4.08792973e-06,-7.91789203e-05,-1.61233073e-05,-1.35764909e-05,
 -9.47099407e-06,-1.15709327e-05, 2.09318935e-06, 2.15137908e-05,
 -4.85801305e-05,-1.12007203e-05,-2.98420021e-05,-4.88023150e-06,
 -1.47483582e+00, 9.03651607e-02,-7.73405079e+00, 7.05261805e-04,
 -1.60370173e-01,-2.04823134e-03]


--- Step 1447 ---
qpos:
[-5.47944908e-04, 8.77186252e-01,-2.02528374e-02,-2.75434840e-02,
  7.64298115e-03, 8.64635628e-01,-2.79593352e-02, 9.46113708e-03,
  2.22030405e-02, 8.72942260e-01,-2.01862128e-02, 2.24504732e-02,
  1.32852417e+00,-1.00167758e-02, 9.85737577e-01, 6.14924232e-02,
 -2.68603193e-01, 1.19917802e-02, 7.17195690e-02, 7.37191562e-01,
 -2.93238376e-02,-6.74147936e-01,-3.48320763e-02]

qacc:
[ -0.06369192, -1.62746203,  6.97865851,-11.61639695,  0.02126925,
   1.32506666, -5.44473817,  8.85996687, -0.03686838,  1.22509888,
  -0.07104571,-13.46802928, -0.67538298,  1.33337195, -4.60614831,
  15.43977133, -1.83845891,  0.15930944, -9.65514242, -0.03239479,
  -0.41952791, -9.8346812 ]

qfrc_actuator:
[ 2.35998322e-03, 2.77038636e-02, 8.76727058e-03, 1.59634322e-03,
 -1.20934552e-05, 2.73799387e-02, 8.70348654e-03, 1.66198526e-03,
 -2.44974193e-03, 2.74862289e-02, 8.80516931e-03, 1.71361530e-03,
  4.44865001e-03,-1.67165859e-03, 0.00000000e+00,-2.31086456e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.1444853872765212
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98753423e-01,  3.84199069e-16,  4.99159217e-02,  3.83720135e-16,
        1.00000000e+00, -1.91776506e-17, -4.99159217e-02, -3.08148791e-33,
       -9.98753423e-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([-0.22461562,  0.02552038,  0.06139808])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.18494597e-05, 3.08079069e-05, 3.46513455e-05,-8.52867581e-06,
  3.89955532e-06,-1.19796877e-05,-2.31996349e-05, 6.97394221e-06,
 -6.69945192e-06, 1.51401253e-05,-4.87636928e-05,-4.43144930e-05,
 -3.06642753e-05, 2.75360435e-05,-1.74654884e-05, 7.00735937e-05,
 -1.47245865e+00, 1.18617924e-01,-7.73160678e+00, 4.55158982e-04,
 -1.60448564e-01,-2.03466912e-03]


--- Step 1448 ---
qpos:
[-5.48670374e-04, 8.77187887e-01,-2.02525887e-02,-2.75444353e-02,
  7.64292086e-03, 8.64635692e-01,-2.79593350e-02, 9.46111551e-03,
  2.22024000e-02, 8.72941662e-01,-2.01866807e-02, 2.24498737e-02,
  1.32869218e+00,-1.00164539e-02, 9.85974109e-01, 6.14919973e-02,
 -2.76902415e-01, 1.24064059e-02, 7.20368456e-02, 7.38086661e-01,
 -3.60907056e-02,-6.72473273e-01,-4.12945329e-02]

qacc:
[ 8.42782862e-02,-1.08814533e+00, 5.81587130e+00,-1.35022793e+01,
  1.14373777e-01, 1.51998194e+00,-3.66270139e+00,-4.44894895e-02,
  7.24993615e-02, 9.88225647e-01, 2.01380017e+00,-2.11046821e+01,
 -5.38368570e-01, 9.10233650e-01, 1.33976768e+01,-4.57785930e+01,
 -1.83412242e+00, 1.93989382e-01,-9.64887448e+00,-5.59554788e-02,
 -5.83015599e-01,-9.83172967e+00]

qfrc_actuator:
[ 2.38131100e-03, 2.76875291e-02, 8.76347513e-03, 1.57246816e-03,
  6.92415278e-06, 2.74195458e-02, 8.68309764e-03, 1.65075718e-03,
 -2.43291857e-03, 2.74807408e-02, 8.74151569e-03, 1.65179653e-03,
  4.43763964e-03,-1.66530690e-03, 0.00000000e+00,-2.53452173e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.13655349791209365
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.99056492e-01,  2.25947305e-04,  4.34289639e-02,  2.25734128e-04,
        9.99999974e-01, -9.81265761e-06, -4.34289650e-02,  0.00000000e+00,
       -9.99056517e-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([-0.23133038,  0.02583415,  0.06143165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56269902e-05, 7.64626632e-06, 6.52812734e-06,-2.15250867e-05,
  2.08723307e-05, 2.84188053e-05,-2.54825346e-05,-1.24093376e-05,
  1.36017902e-05,-8.98117834e-06,-6.80666952e-05,-6.37203519e-05,
 -2.26675609e-05, 5.55893545e-06,-3.73303231e-06,-2.22814790e-04,
 -1.46954118e+00, 1.46817060e-01,-7.72920815e+00, 2.00404914e-04,
 -1.60525132e-01,-2.02063327e-03]


--- Step 1449 ---
qpos:
[-5.49367175e-04, 8.77189231e-01,-2.02524977e-02,-2.75452560e-02,
  7.64326936e-03, 8.64635560e-01,-2.79596432e-02, 9.46066962e-03,
  2.22017497e-02, 8.72940989e-01,-2.01870543e-02, 2.24491876e-02,
  1.32886004e+00,-1.00160447e-02, 9.86210520e-01, 6.14895682e-02,
 -2.85208954e-01, 1.28219459e-02, 7.23155514e-02, 7.38912655e-01,
 -4.28412454e-02,-6.70739111e-01,-4.77677847e-02]

qacc:
[ 1.49037020e-02, 3.24892565e-01,-2.26636623e+00, 4.98912368e+00,
  2.14565527e-01,-2.70716903e-01, 2.38074262e+00,-9.08748718e+00,
 -4.99856052e-03,-5.39300984e-01, 2.14607828e+00,-3.74017442e+00,
 -2.85373146e-01, 4.54493586e-01, 5.88663103e+00,-2.08183577e+01,
 -1.82910873e+00, 2.28574232e-01,-9.64266880e+00,-7.94615519e-02,
 -7.46452984e-01,-9.82737429e+00]

qfrc_actuator:
[ 2.37654794e-03, 2.76415337e-02, 8.74328706e-03, 1.57653619e-03,
  3.59802525e-05, 2.73720542e-02, 8.65344497e-03, 1.62642638e-03,
 -2.44040565e-03, 2.74952859e-02, 8.75743600e-03, 1.65116722e-03,
  4.43032212e-03,-1.66173785e-03, 0.00000000e+00,-2.63052450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.1285374513282725
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.98961360e-01,  2.43307098e-04,  4.55647117e-02,  2.43054396e-04,
        9.99999970e-01, -1.10862181e-05, -4.55647130e-02, -1.69406589e-21,
       -9.98961389e-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([-0.2380472 ,  0.02582565,  0.06146524])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.75301823e-06,-4.13284206e-05,-1.85626615e-05, 4.20037493e-06,
  3.89943167e-05,-3.73939847e-05,-2.73533981e-05,-2.42371226e-05,
 -9.43426657e-07,-7.24807547e-06, 3.48376862e-06,-4.60750171e-06,
 -1.97645254e-05,-4.93283613e-09,-3.20538279e-05,-1.10192668e-04,
 -1.46608486e+00, 1.74952164e-01,-7.72685632e+00,-5.88993389e-05,
 -1.60599918e-01,-2.00612919e-03]


--- Step 1450 ---
qpos:
[-5.50261438e-04, 8.77190484e-01,-2.02527386e-02,-2.75456893e-02,
  7.64380518e-03, 8.64634654e-01,-2.79597909e-02, 9.46066940e-03,
  2.22010508e-02, 8.72940399e-01,-2.01870770e-02, 2.24488052e-02,
  1.32902776e+00,-1.00155901e-02, 9.86446356e-01, 6.14889698e-02,
 -2.93522786e-01, 1.32385381e-02, 7.25557111e-02, 7.39669118e-01,
 -4.95749433e-02,-6.68945978e-01,-5.42512564e-02]

qacc:
[-1.02761861e-01, 1.60481626e+00,-7.52723904e+00, 1.48202878e+01,
  9.87972446e-02,-5.52770709e-01,-1.39396009e+00, 9.41997383e+00,
 -2.50686276e-02,-2.46762692e-01,-2.44677765e-01, 4.87872865e+00,
 -2.48085304e-02, 1.86355052e-02,-6.37446002e+00, 2.10726684e+01,
 -1.82342048e+00, 2.63050889e-01,-9.63652759e+00,-1.02896015e-01,
 -9.09819323e-01,-9.82161500e+00]

qfrc_actuator:
[ 2.35619898e-03, 2.76490789e-02, 8.73123247e-03, 1.59697957e-03,
  3.52766174e-05, 2.73082243e-02, 8.65371433e-03, 1.64776610e-03,
 -2.44463193e-03, 2.75220792e-02, 8.78483373e-03, 1.66886863e-03,
  4.42522320e-03,-1.65981254e-03, 0.00000000e+00,-2.52617889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.12052074918774965
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99898375,  0.        ,  0.04507177,  0.        ,  1.        ,
        0.        , -0.04507177,  0.        , -0.99898375])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.24477098,  0.0257394 ,  0.06149885])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.90319220e-05,-1.92472199e-05,-2.27399414e-05, 1.81131657e-05,
  1.78519073e-05,-9.14163397e-05,-1.16590124e-05, 1.83199084e-05,
 -4.68274669e-06, 2.32806227e-05, 2.61790287e-05, 1.74241432e-05,
 -1.72359266e-05,-2.14526024e-06,-3.04199094e-05, 9.32882987e-05,
 -1.46209139e+00, 2.03012869e-01,-7.72455266e+00,-3.22650300e-04,
 -1.60672962e-01,-1.99116245e-03]


--- Step 1451 ---
qpos:
[-5.50819859e-04, 8.77191845e-01,-2.02532460e-02,-2.75459050e-02,
  7.64442219e-03, 8.64633408e-01,-2.79598358e-02, 9.46121837e-03,
  2.22003055e-02, 8.72939439e-01,-2.01868491e-02, 2.24490482e-02,
  1.32919545e+00,-1.00153942e-02, 9.86682058e-01, 6.14888942e-02,
 -3.01843886e-01, 1.36563200e-02, 7.27573490e-02, 7.40355635e-01,
 -5.62912942e-02,-6.67094406e-01,-6.07443632e-02]

qacc:
[ 0.17432222, 1.33507615,-5.47057443, 9.5803903 , 0.042859  , 0.39238678,
 -4.37168331,13.96393238,-0.02378962, 0.09843024,-3.70014549,14.39611385,
  0.22098341,-0.54797321,-1.79211055, 5.94608102,-1.81706056, 0.29740632,
 -9.63045302,-0.12624191,-1.07309386,-9.81445185]

qfrc_actuator:
[ 2.39772369e-03, 2.76709121e-02, 8.72429514e-03, 1.60918648e-03,
  3.45277067e-05, 2.73240106e-02, 8.67159139e-03, 1.67805525e-03,
 -2.44685895e-03, 2.74673315e-02, 8.78331833e-03, 1.69721290e-03,
  4.42145887e-03,-1.67661909e-03, 0.00000000e+00,-2.49993595e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.11245235586307298
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99883095,  0.        ,  0.04833976,  0.        ,  1.        ,
        0.        , -0.04833976,  0.        , -0.99883095])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.25150242,  0.02559184,  0.06153251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.23635711e-05, 7.12279039e-06,-1.30927343e-05, 1.09485307e-05,
  7.73643291e-06,-3.69296657e-05,-1.79730696e-06, 2.63268961e-05,
 -4.47915361e-06,-3.55626997e-05, 7.12598452e-06, 3.05883764e-05,
 -1.46285626e-05,-2.09148515e-05,-6.03786788e-06, 2.69600630e-05,
 -1.45756264e+00, 2.30988847e-01,-7.72229857e+00,-5.90742111e-04,
 -1.60744307e-01,-1.97573879e-03]


--- Step 1452 ---
qpos:
[-5.50773721e-04, 8.77193265e-01,-2.02535685e-02,-2.75459986e-02,
  7.64506986e-03, 8.64632494e-01,-2.79601951e-02, 9.46068578e-03,
  2.21995274e-02, 8.72937813e-01,-2.01861709e-02, 2.24499999e-02,
  1.32936305e+00,-1.00153718e-02, 9.86917600e-01, 6.14897850e-02,
 -3.10172227e-01, 1.40754284e-02, 7.29204892e-02, 7.40971795e-01,
 -6.29898019e-02,-6.65184930e-01,-6.72465116e-02]

qacc:
[ 3.14242841e-01,-1.85685512e-01, 2.63394545e-01, 1.50668891e+00,
  1.57230634e-02,-9.07982777e-01, 8.44165223e+00,-2.69041676e+01,
 -1.64726253e-02,-6.79958447e-01,-1.84665527e+00, 1.38853622e+01,
  1.15998576e-01,-3.50597140e-01,-3.16394140e+00, 1.07049083e+01,
 -1.81003214e+00, 3.31627567e-01,-9.62444725e+00,-1.49482327e-01,
 -1.23625582e+00,-9.80588495e+00]

qfrc_actuator:
[ 2.44041301e-03, 2.76834035e-02, 8.73824829e-03, 1.61646627e-03,
  3.37828464e-05, 2.73696906e-02, 8.66452128e-03, 1.62466912e-03,
 -2.44786921e-03, 2.74173356e-02, 8.79992012e-03, 1.73149967e-03,
  4.41316463e-03,-1.68662610e-03, 0.00000000e+00,-2.44896824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.10435780537514663
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99862193,  0.        ,  0.05248083,  0.        ,  1.        ,
        0.        , -0.05248083,  0.        , -0.99862193])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.2582421 ,  0.02538948,  0.06156621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.82583350e-05, 1.42164244e-05, 1.41838071e-05, 7.34341232e-06,
  2.93242573e-06, 2.58167397e-05,-1.39980775e-05,-5.45171155e-05,
 -3.17197714e-06,-6.70812846e-05, 1.11975031e-05, 3.36053294e-05,
 -2.19068172e-05,-1.76654943e-05,-3.71979536e-06, 5.07631812e-05,
 -1.45250071e+00, 2.58869814e-01,-7.72009538e+00,-8.63066557e-04,
 -1.60813999e-01,-1.95986411e-03]


--- Step 1453 ---
qpos:
[-5.50911792e-04, 8.77194702e-01,-2.02539738e-02,-2.75459801e-02,
  7.64553857e-03, 8.64631382e-01,-2.79602038e-02, 9.45988482e-03,
  2.21990990e-02, 8.72936206e-01,-2.01863231e-02, 2.24503204e-02,
  1.32953017e+00,-1.00145883e-02, 9.87152912e-01, 6.14926025e-02,
 -3.18507777e-01, 1.44959995e-02, 7.30451552e-02, 7.41517195e-01,
 -6.96699783e-02,-6.63218089e-01,-7.37570988e-02]

qacc:
[ -0.09577108,  0.48409767, -2.16639909,  4.22384128, -0.09372006,
  -1.79076106,  7.14131729,-12.20415679,  0.1811345 ,  1.04476616,
  -1.02438001, -8.58840455, -0.86415065,  1.73549435, -6.09599212,
  20.96848563, -1.80233865,  0.36570174, -9.61851238, -0.17260041,
  -1.39928441, -9.79591452]

qfrc_actuator:
[ 2.39463489e-03, 2.76725412e-02, 8.72888558e-03, 1.62079835e-03,
  1.53058430e-05, 2.73440070e-02, 8.67836419e-03, 1.61125203e-03,
 -2.41263923e-03, 2.74238936e-02, 8.75608191e-03, 1.69800788e-03,
  4.39683458e-03,-1.63927725e-03, 0.00000000e+00,-2.34831329e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0962379800141428
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99833298,  0.        ,  0.05771704,  0.        ,  1.        ,
        0.        , -0.05771704,  0.        , -0.99833298])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.26499088,  0.0251323 ,  0.06159995])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.77504722e-05, 3.06667580e-07,-4.43472886e-06, 5.57199924e-06,
 -1.70771614e-05,-1.64482993e-05, 1.55739878e-05,-1.38539063e-05,
  3.36923366e-05,-2.71708907e-05,-5.51460945e-05,-3.53250686e-05,
 -3.33408408e-05, 3.86769629e-05,-8.22181752e-08, 1.02059158e-04,
 -1.44690788e+00, 2.86645534e-01,-7.71794442e+00,-1.13951311e-03,
 -1.60882086e-01,-1.94354445e-03]


--- Step 1454 ---
qpos:
[-5.51421825e-04, 8.77196109e-01,-2.02544371e-02,-2.75462504e-02,
  7.64580520e-03, 8.64629574e-01,-2.79592660e-02, 9.45964315e-03,
  2.21990579e-02, 8.72934430e-01,-2.01873393e-02, 2.24516454e-02,
  1.32969695e+00,-1.00132382e-02, 9.87388665e-01, 6.14925711e-02,
 -3.26850503e-01, 1.49181692e-02, 7.31313707e-02, 7.41991440e-01,
 -7.63313443e-02,-6.61194427e-01,-8.02755131e-02]

qacc:
[ -0.19331908, -0.47370268,  2.84627188, -7.72328015, -0.10527686,
  -2.41157007,  4.90240183,  3.77447672,  0.20076677,  4.25585329,
 -19.74173355, 38.63516831, -0.88309271,  1.6716539 ,  9.30718267,
 -31.49376456, -1.79398379,  0.39961605, -9.61265049, -0.19557939,
  -1.5621588 , -9.78454085]

qfrc_actuator:
[ 2.36733376e-03, 2.76654393e-02, 8.72347983e-03, 1.60557034e-03,
  4.13952194e-06, 2.72936547e-02, 8.72196829e-03, 1.63918846e-03,
 -2.39153970e-03, 2.74107077e-02, 8.71258545e-03, 1.74917392e-03,
  4.38104505e-03,-1.61163810e-03, 0.00000000e+00,-2.50323492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.08809415884299593
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99792716,  0.        ,  0.06435362,  0.        ,  1.        ,
        0.        , -0.06435362,  0.        , -0.99792716])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.27174962,  0.02482024,  0.06163375])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58437968e-05,-7.64018998e-06,-5.70358716e-06,-1.52611698e-05,
 -1.92962212e-05,-5.69012126e-05, 4.16567549e-05, 2.75042577e-05,
  3.73052555e-05,-4.12422669e-05,-5.71119353e-05, 4.74074751e-05,
 -2.61941180e-05, 2.85514257e-05, 7.00950433e-06,-1.50241217e-04,
 -1.44078665e+00, 3.14305821e-01,-7.71584700e+00,-1.41996894e-03,
 -1.60948616e-01,-1.92678604e-03]


--- Step 1455 ---
qpos:
[-5.51908011e-04, 8.77197691e-01,-2.02547862e-02,-2.75467398e-02,
  7.64590546e-03, 8.64627637e-01,-2.79582188e-02, 9.45903231e-03,
  2.21991478e-02, 8.72932435e-01,-2.01883573e-02, 2.24538645e-02,
  1.32986369e+00,-1.00125858e-02, 9.87624669e-01, 6.14886886e-02,
 -3.35200368e-01, 1.53420722e-02, 7.31791587e-02, 7.42394143e-01,
 -8.29734290e-02,-6.59114490e-01,-8.68011338e-02]

qacc:
[ 1.23922598e-02,-5.38323078e-01, 3.17804044e+00,-7.27532228e+00,
 -8.72995752e-02,-1.23334356e+00, 5.71196292e+00,-1.21840686e+01,
  6.82576614e-02, 1.55527249e+00,-9.74103369e+00, 2.53808943e+01,
  3.39499321e-01,-1.05205180e+00, 1.19675550e+01,-4.14009582e+01,
 -1.78497151e+00, 4.33357764e-01,-9.60686365e+00,-2.18402531e-01,
 -1.72485816e+00,-9.77176434e+00]

qfrc_actuator:
[ 2.38688555e-03, 2.76961393e-02, 8.73820908e-03, 1.59671494e-03,
 -2.54567155e-06, 2.73000904e-02, 8.72943511e-03, 1.62020614e-03,
 -2.39684847e-03, 2.74213602e-02, 8.72291767e-03, 1.79649342e-03,
  4.35493478e-03,-1.66694500e-03, 0.00000000e+00,-2.70098180e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.07992821726909466
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99734498,  0.        ,  0.07282158,  0.        ,  1.        ,
        0.        , -0.07282158,  0.        , -0.99734498])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.27851919,  0.02445327,  0.0616676 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30362778e-06, 2.45646515e-05, 1.19146753e-05,-9.67745217e-06,
 -1.58771561e-05,-1.55666952e-05, 1.80720206e-06,-1.94410934e-05,
  1.26316157e-05,-2.21227108e-05,-3.56227213e-06, 4.45000386e-05,
 -3.50411314e-05,-5.47958521e-05,-1.93579138e-05,-2.06576723e-04,
 -1.43413972e+00, 3.41840549e-01,-7.71380441e+00,-1.70431897e-03,
 -1.61013641e-01,-1.90959525e-03]


--- Step 1456 ---
qpos:
[-5.52074888e-04, 8.77199410e-01,-2.02552562e-02,-2.75469654e-02,
  7.64588505e-03, 8.64625869e-01,-2.79575483e-02, 9.45888493e-03,
  2.21992665e-02, 8.72930649e-01,-2.01892977e-02, 2.24538093e-02,
  1.33003000e+00,-1.00121476e-02, 9.87860058e-01, 6.14864615e-02,
 -3.43557335e-01, 1.57678430e-02, 7.31885422e-02, 7.42724923e-01,
 -8.95957702e-02,-6.56978825e-01,-9.33333312e-02]

qacc:
[ 1.65811337e-01, 1.06218280e+00,-4.63488697e+00, 9.28671204e+00,
 -6.36500445e-02, 2.22790929e+00,-9.57777757e+00, 1.80800797e+01,
  1.47681106e-02,-4.61860830e+00, 2.64746122e+01,-6.61195607e+01,
 -5.22577617e-02,-2.44936021e-01,-5.90896650e+00, 1.93482166e+01,
 -1.77530602e+00, 4.66914276e-01,-9.60115387e+00,-2.41053229e-01,
 -1.88736160e+00,-9.75758547e+00]

qfrc_actuator:
[ 2.41654941e-03, 2.76960684e-02, 8.72936512e-03, 1.60948151e-03,
 -6.49706383e-06, 2.73225560e-02, 8.71567800e-03, 1.64478785e-03,
 -2.40014842e-03, 2.74464332e-02, 8.72952535e-03, 1.68143994e-03,
  4.31729013e-03,-1.68221892e-03, 0.00000000e+00,-2.60273467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0717429648800863
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99648685,  0.        ,  0.08374943,  0.        ,  1.        ,
        0.        , -0.08374943,  0.        , -0.99648685])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.28530049,  0.02403133,  0.0617015 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.07721700e-05, 1.56789415e-05,-2.64687349e-06, 1.40406012e-05,
 -1.15097692e-05, 1.33383023e-05,-1.74141051e-05, 2.36014303e-05,
  2.77000451e-06, 1.39265578e-05, 3.15920610e-06,-1.15257760e-04,
 -7.13895197e-05,-3.48878404e-05,-3.63275122e-05, 8.32096428e-05,
 -1.42696999e+00, 3.69239649e-01,-7.71181789e+00,-1.99244591e-03,
 -1.61077215e-01,-1.89197861e-03]


--- Step 1457 ---
qpos:
[-5.52088946e-04, 8.77201131e-01,-2.02560198e-02,-2.75473518e-02,
  7.64596929e-03, 8.64624144e-01,-2.79570014e-02, 9.45868648e-03,
  2.21990093e-02, 8.72929052e-01,-2.01907681e-02, 2.24527663e-02,
  1.33019568e+00,-1.00113280e-02, 9.88094752e-01, 6.14890418e-02,
 -3.51921362e-01, 1.61956148e-02, 7.31595435e-02, 7.42983408e-01,
 -9.61979140e-02,-6.54787986e-01,-9.98714666e-02]

qacc:
[ 7.92209660e-02, 4.91289709e-01,-1.07103716e+00,-1.23997616e+00,
  5.48772948e-02, 2.94581729e-01,-7.55177840e-01, 3.84568731e-02,
 -1.95734494e-01,-3.01907563e-01, 5.60947516e+00,-2.19963314e+01,
 -5.24168469e-01, 8.52980814e-01,-1.55053527e+01, 5.28342862e+01,
 -1.76499180e+00, 5.00273064e-01,-9.59552312e+00,-2.63514951e-01,
 -2.04964821e+00,-9.74200481e+00]

qfrc_actuator:
[ 2.41647027e-03, 2.76775034e-02, 8.70656664e-03, 1.59932080e-03,
  8.96529536e-06, 2.73188882e-02, 8.70738165e-03, 1.64156512e-03,
 -2.43769832e-03, 2.74443136e-02, 8.69831426e-03, 1.63154725e-03,
  4.29406562e-03,-1.65592476e-03, 0.00000000e+00,-2.34860992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.06354274719815214
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.95177597e-01,  8.73603262e-16,  9.80895011e-02,  8.69390395e-16,
        1.00000000e+00, -8.56913082e-17, -9.80895011e-02,  0.00000000e+00,
       -9.95177597e-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([-0.29209441,  0.02355438,  0.06173547])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.47243799e-05,-9.77577820e-06,-1.94104478e-05,-9.30980066e-06,
  9.98579865e-06, 1.24098131e-06,-6.86134426e-06,-2.79255677e-06,
 -3.62181195e-05, 1.43127778e-06,-3.19125369e-05,-5.14256306e-05,
 -7.30677556e-05, 2.42115389e-06,-9.89853524e-06, 2.53539182e-04,
 -1.41928055e+00, 3.96493117e-01,-7.70988869e+00,-2.28423026e-03,
 -1.61139391e-01,-1.87394280e-03]


--- Step 1458 ---
qpos:
[-5.52215186e-04, 8.77203068e-01,-2.02571375e-02,-2.75482252e-02,
  7.64638555e-03, 8.64622766e-01,-2.79566671e-02, 9.45772695e-03,
  2.21983411e-02, 8.72926700e-01,-2.01926065e-02, 2.24533169e-02,
  1.33036100e+00,-1.00105632e-02, 9.88329527e-01, 6.14929322e-02,
 -3.60292405e-01, 1.66255203e-02, 7.30921849e-02, 7.43169235e-01,
 -1.02779415e-01,-6.52542527e-01,-1.06414893e-01]

qacc:
[ -0.05860569,  0.27223444,  1.49589609, -9.5082211 ,  0.17409661,
  -0.5114422 ,  5.70550216,-18.79527383, -0.21344813,  3.30799463,
 -19.97272957, 48.69801391, -0.15749215,  0.07240526, -3.82718058,
  13.58283385, -1.75403355,  0.53342171, -9.58997337, -0.28577127,
  -2.21169706, -9.72502304]

qfrc_actuator:
[ 2.39858408e-03, 2.77011802e-02, 8.69336911e-03, 1.57572276e-03,
  3.58988508e-05, 2.73528580e-02, 8.70225916e-03, 1.60423624e-03,
 -2.45989985e-03, 2.73548045e-02, 8.66274109e-03, 1.70913718e-03,
  4.28485246e-03,-1.65845759e-03, 0.00000000e+00,-2.28881467e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.055334585942934306
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.93090157e-01,  1.00319087e-15,  1.17353906e-01,  9.96258976e-16,
        1.00000000e+00, -1.17728366e-16, -1.17353906e-01,  2.46519033e-32,
       -9.93090157e-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([-0.29890186,  0.02302235,  0.06176951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.08057836e-05, 1.37715500e-05,-1.79365528e-05,-2.48705624e-05,
  3.16865673e-05, 3.31655003e-05,-5.79874919e-06,-3.75656044e-05,
 -3.96308940e-05,-9.74585194e-05,-4.09627803e-05, 7.55526521e-05,
 -5.08688332e-05,-1.88851164e-05, 2.04950496e-05, 7.19338347e-05,
 -1.41107469e+00, 4.23591021e-01,-7.70801801e+00,-2.57955038e-03,
 -1.61200228e-01,-1.85549465e-03]


--- Step 1459 ---
qpos:
[-5.52321349e-04, 8.77205134e-01,-2.02581202e-02,-2.75497430e-02,
  7.64712534e-03, 8.64621921e-01,-2.79568473e-02, 9.45701518e-03,
  2.21975264e-02, 8.72923283e-01,-2.01938295e-02, 2.24547655e-02,
  1.33052603e+00,-1.00098646e-02, 9.88564898e-01, 6.14931767e-02,
 -3.68670418e-01, 1.70576912e-02, 7.29864883e-02, 7.43282050e-01,
 -1.09339836e-01,-6.50243005e-01,-1.12962953e-01]

qacc:
[ 1.04430195e-02,-1.53639411e+00, 8.43468732e+00,-1.98801182e+01,
  1.69442667e-01, 2.64696756e+00,-9.46660285e+00, 1.41897127e+01,
 -7.53122318e-02,-1.27862903e+00,-1.27540480e+00, 1.66179641e+01,
 -3.75955628e-01, 4.32259345e-01, 1.19036690e+01,-4.03312661e+01,
 -1.74243625e+00, 5.66347910e-01,-9.58450651e+00,-3.07805890e-01,
 -2.37348716e+00,-9.70664092e+00]

qfrc_actuator:
[ 2.40572280e-03, 2.77144810e-02, 8.70386286e-03, 1.54445295e-03,
  5.16932708e-05, 2.73913344e-02, 8.68142693e-03, 1.61818465e-03,
 -2.45495426e-03, 2.73024926e-02, 8.69561126e-03, 1.75451480e-03,
  4.27339154e-03,-1.66025035e-03, 0.00000000e+00,-2.48606403e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.047127469712293424
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.91138320e-01,  1.17789373e-15,  1.32833846e-01,  1.16745562e-15,
        1.00000000e+00, -1.56464154e-16, -1.32833846e-01, -2.46519033e-32,
       -9.91138320e-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([-0.30572378,  0.0224352 ,  0.06180362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.93901182e-06, 1.61966131e-05, 1.02627100e-05,-3.17852895e-05,
  3.08802789e-05, 5.42503318e-05,-1.59880041e-05, 1.44400274e-05,
 -1.41409890e-05,-1.11970668e-04, 1.03400685e-05, 4.12598496e-05,
 -4.52501168e-05,-1.76356559e-05, 1.20111293e-05,-1.91870242e-04,
 -1.40235590e+00, 4.50523496e-01,-7.70620704e+00,-2.87828251e-03,
 -1.61259782e-01,-1.83664116e-03]


--- Step 1460 ---
qpos:
[-5.52372992e-04, 8.77206909e-01,-2.02590868e-02,-2.75512162e-02,
  7.64774129e-03, 8.64621143e-01,-2.79573652e-02, 9.45617840e-03,
  2.21966758e-02, 8.72920343e-01,-2.01949159e-02, 2.24545077e-02,
  1.33069078e+00,-1.00089781e-02, 9.88800143e-01, 6.14924202e-02,
 -3.77055352e-01, 1.74922582e-02, 7.28424752e-02, 7.43321504e-01,
 -1.15878748e-01,-6.47889980e-01,-1.19514984e-01]

qacc:
[ 2.84405295e-02,-3.35815796e-01, 4.54286350e-01, 5.02893081e-01,
 -6.52878468e-02, 7.74666196e-01,-2.10547110e+00, 4.32975446e-01,
 -1.88122946e-02,-3.26027832e+00, 1.97469806e+01,-4.98506326e+01,
 -4.12047070e-01, 6.76305313e-01, 2.86080530e+00,-1.02255311e+01,
 -1.73020512e+00, 5.99039474e-01,-9.57912443e+00,-3.29602615e-01,
 -2.53499750e+00,-9.68685931e+00]

qfrc_actuator:
[ 2.41003645e-03, 2.76683009e-02, 8.69271850e-03, 1.54443737e-03,
  2.51746294e-05, 2.73611814e-02, 8.65155569e-03, 1.60893710e-03,
 -2.45157315e-03, 2.74151325e-02, 8.73320603e-03, 1.67410739e-03,
  4.27124149e-03,-1.64381303e-03, 0.00000000e+00,-2.53131340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.038908785172539935
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.90715923e-01,  1.42669968e-15,  1.35948370e-01,  1.41345409e-15,
        1.00000000e+00, -1.93957496e-16, -1.35948370e-01,  0.00000000e+00,
       -9.90715923e-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([-0.3125611 ,  0.02179286,  0.06183781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.24544804e-06,-3.64024558e-05,-7.64141468e-06, 4.14317649e-07,
 -1.18146259e-05,-2.47425695e-06,-2.01283880e-05,-7.19338185e-06,
 -3.44463120e-06, 5.40147466e-05, 1.72021823e-05,-8.40402441e-05,
 -3.28523133e-05, 2.41191022e-06,-2.21045141e-05,-5.58568955e-05,
 -1.39312787e+00, 4.77280757e-01,-7.70445692e+00,-3.18030080e-03,
 -1.61318114e-01,-1.81738946e-03]


--- Step 1461 ---
qpos:
[-5.52187456e-04, 8.77208269e-01,-2.02595916e-02,-2.75516563e-02,
  7.64794368e-03, 8.64620346e-01,-2.79578947e-02, 9.45488138e-03,
  2.21960167e-02, 8.72918791e-01,-2.01966368e-02, 2.24532223e-02,
  1.33085525e+00,-1.00079017e-02, 9.89034735e-01, 6.14951057e-02,
 -3.85447155e-01, 1.79293512e-02, 7.26601668e-02, 7.43287260e-01,
 -1.22395731e-01,-6.45484013e-01,-1.26070310e-01]

qacc:
[  0.12371385,  0.2887542 , -6.17707272, 23.60118923, -0.21726146,
  -0.93901894,  5.25571776,-13.19031347,  0.09856535,  1.49216196,
   1.68074315,-19.47457319, -0.17004065,  0.29370576,-11.34258135,
  38.31252787, -1.71734561,  0.63148433, -9.57382897, -0.3511454 ,
  -2.69620702, -9.66567919]

qfrc_actuator:
[ 2.43036522e-03, 2.76578091e-02, 8.72191416e-03, 1.59824845e-03,
 -8.66127046e-06, 2.73611130e-02, 8.65179541e-03, 1.58604566e-03,
 -2.43143009e-03, 2.75368640e-02, 8.72061016e-03, 1.62698983e-03,
  4.25871011e-03,-1.63441799e-03, 0.00000000e+00,-2.34452814e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.03067621399108684
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.99022776,  0.        ,  0.13945964,  0.        ,  1.        ,
        0.        , -0.13945964,  0.        , -0.99022776])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.31941248,  0.02125486,  0.06187206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.28454069e-05,-3.24383781e-05, 2.07472586e-05, 5.19977238e-05,
 -3.94589673e-05,-5.89483066e-06,-2.98864979e-06,-2.38307142e-05,
  1.84864407e-05, 1.51963645e-04,-2.19717445e-06,-4.58369038e-05,
 -3.14935903e-05, 2.70180524e-06,-2.01529983e-05, 1.79956423e-04,
 -1.38339445e+00, 5.03853099e-01,-7.70276880e+00,-3.48547736e-03,
 -1.61375286e-01,-1.79774682e-03]


--- Step 1462 ---
qpos:
[-5.51763536e-04, 8.77209231e-01,-2.02591561e-02,-2.75514846e-02,
  7.64792418e-03, 8.64619783e-01,-2.79582543e-02, 9.45292913e-03,
  2.21957610e-02, 8.72918075e-01,-2.01987209e-02, 2.24528149e-02,
  1.33101941e+00,-1.00066770e-02, 9.89269532e-01, 6.14969429e-02,
 -3.93845773e-01, 1.83690989e-02, 7.24395838e-02, 7.43178990e-01,
 -1.28890371e-01,-6.43025667e-01,-1.32628251e-01]

qacc:
[  0.12460915, -1.89147452,  3.40587666,  5.95700523, -0.11656437,
  -1.51168363,  8.60755148,-20.39472113,  0.20914093,  3.92398044,
 -16.09640367, 31.25761349, -0.39933167,  0.61998915,  2.88636935,
  -9.60766936, -1.70386343,  0.66367054, -9.56862192, -0.37241833,
  -2.85709462, -9.64310162]

qfrc_actuator:
[ 2.44234596e-03, 2.76512200e-02, 8.77486164e-03, 1.63009126e-03,
 -1.10429942e-05, 2.73969074e-02, 8.66991062e-03, 1.55535311e-03,
 -2.40144286e-03, 2.75564329e-02, 8.69636912e-03, 1.67086054e-03,
  4.23995985e-03,-1.62932549e-03, 0.00000000e+00,-2.39537011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.02243022603125551
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98973029,  0.        ,  0.14294736,  0.        ,  1.        ,
        0.        , -0.14294736,  0.        , -0.98973029])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.32628037,  0.02052373,  0.0619064 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.29648314e-05,-1.82427236e-05, 5.05975020e-05, 3.21842891e-05,
 -2.11624088e-05, 3.08802842e-05, 1.57176756e-05,-3.15078308e-05,
  3.88964027e-05, 1.02180575e-04, 5.31667423e-06, 4.94211966e-05,
 -3.65006977e-05,-1.40840662e-06, 8.09574744e-06,-4.40285387e-05,
 -1.37315971e+00, 5.30230900e-01,-7.70114377e+00,-3.79368227e-03,
 -1.61431359e-01,-1.77772069e-03]


--- Step 1463 ---
qpos:
[-5.51337797e-04, 8.77209801e-01,-2.02582576e-02,-2.75515909e-02,
  7.64759946e-03, 8.64619718e-01,-2.79588622e-02, 9.45130933e-03,
  2.21957006e-02, 8.72917368e-01,-2.02004294e-02, 2.24533379e-02,
  1.33118341e+00,-1.00056722e-02, 9.89504828e-01, 6.14941481e-02,
 -4.02251151e-01, 1.88116289e-02, 7.21807469e-02, 7.42996373e-01,
 -1.35362266e-01,-6.40515508e-01,-1.39188115e-01]

qacc:
[ 1.34967731e-03,-2.38335883e+00, 8.91711272e+00,-1.41748633e+01,
 -1.60639964e-01, 2.03302256e+00,-7.70011871e+00, 1.34872396e+01,
  1.01755849e-01, 8.74852395e-01,-7.03450863e+00, 2.25335565e+01,
 -1.96982424e-01, 9.07074822e-02, 1.47284064e+01,-5.04456925e+01,
 -1.68976450e+00, 6.95586281e-01,-9.56350505e+00,-3.93405651e-01,
 -3.01763915e+00,-9.61912778e+00]

qfrc_actuator:
[ 2.43146918e-03, 2.76116149e-02, 8.78813905e-03, 1.61325597e-03,
 -3.00837295e-05, 2.74362211e-02, 8.66306905e-03, 1.57361689e-03,
 -2.40134291e-03, 2.75147007e-02, 8.70062858e-03, 1.71457181e-03,
  4.22814189e-03,-1.64460148e-03, 0.00000000e+00,-2.63913280e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.014171262033504247
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-9.89229724e-01,  3.91716356e-15,  1.46371284e-01,  3.87497463e-15,
        1.00000000e+00, -5.73360259e-16, -1.46371284e-01,  0.00000000e+00,
       -9.89229724e-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([-0.33316585,  0.01973848,  0.06194083])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.66463759e-07,-3.80039538e-05, 1.68450362e-05,-1.52409964e-05,
 -2.91088479e-05, 5.84941453e-05, 3.92661493e-07, 1.95222111e-05,
  1.88232490e-05, 1.86603461e-05, 2.77514627e-05, 4.92400110e-05,
 -3.35001987e-05,-2.38102047e-05,-6.49219500e-06,-2.46414185e-04,
 -1.36242790e+00, 5.56404625e-01,-7.69958292e+00,-4.10478364e-03,
 -1.61486398e-01,-1.75731861e-03]


--- Step 1464 ---
qpos:
[-5.51349118e-04, 8.77209864e-01,-2.02570736e-02,-2.75522151e-02,
  7.64682694e-03, 8.64620148e-01,-2.79598916e-02, 9.45062362e-03,
  2.21953654e-02, 8.72916643e-01,-2.02016576e-02, 2.24536870e-02,
  1.33134718e+00,-1.00050591e-02, 9.89739412e-01, 6.14938112e-02,
 -4.10663228e-01, 1.92570678e-02, 7.18836761e-02, 7.42739099e-01,
 -1.41811018e-01,-6.37954101e-01,-1.45749203e-01]

qacc:
[ -0.22678   , -2.53546806, 10.24664727,-19.28144041, -0.23559514,
   3.75047205,-16.36976588, 32.85109643, -0.14251454, -1.72117108,
   6.83977204,-10.60597841,  0.29272753, -0.83628641, -8.49718682,
  28.1467591 , -1.67505501,  0.72721988, -9.55848008, -0.41409177,
  -3.17781943, -9.59375894]

qfrc_actuator:
[ 2.38926645e-03, 2.75701060e-02, 8.79546836e-03, 1.58561150e-03,
 -5.89477730e-05, 2.74595370e-02, 8.64160357e-03, 1.62052888e-03,
 -2.43688123e-03, 2.75076926e-02, 8.72139498e-03, 1.70452584e-03,
  4.20450440e-03,-1.67178973e-03, 0.00000000e+00,-2.49745117e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005899787733791938
  efc_address: 0
  elem: array([-1, -1], dtype=int32)
  exclude: 0
  flex: array([-1, -1], dtype=int32)
  frame: array([-0.98872714,  0.        ,  0.14972858,  0.        ,  1.        ,
        0.        , -0.14972858,  0.        , -0.98872714])
  friction: array([1.e+00, 1.e+00, 5.e-03, 1.e-04, 1.e-04])
  geom: array([44, 43], dtype=int32)
  geom1: 44
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.34006989,  0.01889903,  0.06197535])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.21289303e-05,-5.99541907e-05, 1.01727863e-06,-2.89870088e-05,
 -4.27113804e-05, 5.69472254e-05,-8.65260409e-06, 4.98155747e-05,
 -2.64830481e-05, 1.13000771e-05, 2.97608657e-05,-7.32521291e-06,
 -4.92173609e-05,-3.97167769e-05,-3.58505711e-05, 1.25849244e-04,
 -1.35120344e+00, 5.82364834e-01,-7.69808727e+00,-4.41864766e-03,
 -1.61540467e-01,-1.73654832e-03]


--- Step 1465 ---
qpos:
[-5.52014976e-04, 8.77209607e-01,-2.02564214e-02,-2.75531325e-02,
  7.64585207e-03, 8.64620395e-01,-2.79606084e-02, 9.45088749e-03,
  2.21950481e-02, 8.72916295e-01,-2.02036009e-02, 2.24539459e-02,
  1.33151071e+00,-1.00050124e-02, 9.89973333e-01, 6.14984485e-02,
 -4.18922876e-01, 1.97272681e-02, 7.18837622e-02, 7.37378918e-01,
 -1.43402363e-01,-6.41081113e-01,-1.57235810e-01]

qacc:
[-3.40339541e-01, 4.59612333e-01,-1.01586329e+00,-2.96835215e+00,
 -1.05974346e-01, 8.39581501e-01,-7.35341842e+00, 2.34245682e+01,
  8.75964520e-03, 2.30990189e+00,-7.13263423e+00, 6.43785445e+00,
  5.42938262e-01,-1.36579828e+00,-1.60337728e+01, 5.45911888e+01,
  3.81074357e+01, 6.19035480e+00, 7.42892451e+01, 2.85426757e+02,
 -3.03706336e+03,-4.15392446e+03]

qfrc_actuator:
[ 2.34645895e-03, 2.75454805e-02, 8.76371578e-03, 1.56958520e-03,
 -5.79358864e-05, 2.74197995e-02, 8.64714152e-03, 1.66614253e-03,
 -2.42239996e-03, 2.75215406e-02, 8.68080006e-03, 1.69846299e-03,
  4.18443847e-03,-1.70586550e-03, 0.00000000e+00,-2.23625588e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.33810881, -0.15611678, -4.33529879, -0.15611678,  0.06484315,
        0.15388293, -4.33529879,  0.15388293,  4.33256739,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00022710983213642538
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.35011325,  0.01685169,  0.04988645])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.30842194e-05,-5.91953542e-05,-4.50195732e-05,-1.91219237e-05,
 -1.93100008e-05,-7.55293316e-06, 1.79635199e-05, 4.87261985e-05,
  1.73802754e-06, 2.60221881e-05,-3.48334804e-05,-4.68862275e-06,
 -5.81344429e-05,-5.39016608e-05,-4.53249785e-06, 2.63122514e-04,
 -1.33949096e+00, 6.08102180e-01,-7.69665787e+00,-4.73513860e-03,
 -1.61593634e-01,-1.71541765e-03]


--- Step 1466 ---
qpos:
[-5.53071302e-04, 8.77209320e-01,-2.02563244e-02,-2.75542704e-02,
  7.64497885e-03, 8.64619899e-01,-2.79609562e-02, 9.45245630e-03,
  2.21950151e-02, 8.72916252e-01,-2.02063060e-02, 2.24541435e-02,
  1.33167394e+00,-1.00053971e-02, 9.90207369e-01, 6.15044731e-02,
 -4.27189498e-01, 2.01993791e-02, 7.18453817e-02, 7.31816760e-01,
 -1.44972063e-01,-6.44202161e-01,-1.68614670e-01]

qacc:
[-2.03235013e-01, 1.05800096e+00,-2.89949068e+00,-3.95080328e-03,
  5.39629392e-02, 6.70672269e-01,-9.32843594e+00, 3.18726218e+01,
  1.47115254e-01, 2.40261179e+00,-7.72545087e+00, 7.65783155e+00,
  1.91901404e-01,-7.28753024e-01,-4.03805039e+00, 1.43326132e+01,
 -1.74337681e+00, 4.77673524e-01,-9.61667247e+00, 2.75680558e+01,
 -6.85688194e+01, 1.73362551e+01]

qfrc_actuator:
[ 2.33918615e-03, 2.75665048e-02, 8.74472240e-03, 1.56051228e-03,
 -3.90647628e-05, 2.73427096e-02, 8.65056356e-03, 1.72834067e-03,
 -2.39584244e-03, 2.75297619e-02, 8.63989687e-03, 1.69477581e-03,
  4.17185115e-03,-1.72598974e-03, 0.00000000e+00,-2.17314134e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.76300163e-05,-2.21949345e-05,-3.74254967e-05,-1.35349341e-05,
  9.67875353e-06,-7.55187427e-05, 5.76549015e-06, 6.34452884e-05,
  2.73954312e-05, 1.53994267e-05,-3.99645562e-05,-3.86574149e-06,
 -5.86416139e-05,-4.53812491e-05, 2.41826733e-05, 7.64826472e-05,
 -1.77526603e+00, 6.96413493e-02,-8.78374096e+00, 3.05283065e-02,
 -2.24182206e-01, 6.58780131e-04]


--- Step 1467 ---
qpos:
[-5.54538242e-04, 8.77209124e-01,-2.02563278e-02,-2.75552108e-02,
  7.64427562e-03, 8.64618991e-01,-2.79613155e-02, 9.45474286e-03,
  2.21950983e-02, 8.72916337e-01,-2.02089408e-02, 2.24549507e-02,
  1.33183694e+00,-1.00061101e-02, 9.90441731e-01, 6.15092242e-02,
 -4.35463102e-01, 2.06735119e-02, 7.17684666e-02, 7.26055181e-01,
 -1.46521254e-01,-6.47315834e-01,-1.79882203e-01]

qacc:
[-2.13446337e-01, 8.06099336e-01,-3.53268750e+00, 7.03968899e+00,
  8.94733020e-02, 9.64201048e-01,-7.25912245e+00, 2.00049205e+01,
  6.04301336e-02, 1.22715515e+00,-6.70389097e+00, 1.70488820e+01,
  9.99736448e-03,-3.44141526e-01, 4.31742725e+00,-1.44237488e+01,
 -1.74571840e+00, 5.05440029e-01,-9.63361594e+00, 2.82871400e+01,
 -6.78776769e+01, 1.78527427e+01]

qfrc_actuator:
[ 2.31772665e-03, 2.75970043e-02, 8.75137340e-03, 1.57340864e-03,
 -2.74537902e-05, 2.73326060e-02, 8.65253440e-03, 1.76424908e-03,
 -2.39781788e-03, 2.75522823e-02, 8.65239931e-03, 1.72802653e-03,
  4.16908960e-03,-1.73765167e-03, 0.00000000e+00,-2.24503057e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.95654473e-05, 9.78621274e-06,-3.00661867e-06, 1.03904222e-05,
  1.62072146e-05,-4.84096430e-05,-1.07154113e-05, 3.41060953e-05,
  1.12061121e-05, 2.27361641e-05, 1.06468223e-05, 3.24558247e-05,
 -4.71488638e-05,-3.51541047e-05, 1.41011309e-05,-6.58184904e-05,
 -1.77016252e+00, 9.87770179e-02,-8.79465205e+00, 3.37592992e-02,
 -2.23766519e-01, 5.69208322e-04]


--- Step 1468 ---
qpos:
[-5.55959268e-04, 8.77209015e-01,-2.02560293e-02,-2.75556729e-02,
  7.64354200e-03, 8.64618153e-01,-2.79618265e-02, 9.45669846e-03,
  2.21952242e-02, 8.72916028e-01,-2.02109316e-02, 2.24568677e-02,
  1.33199986e+00,-1.00075675e-02, 9.90676374e-01, 6.15110866e-02,
 -4.43743697e-01, 2.11497792e-02, 7.16529480e-02, 7.20096817e-01,
 -1.48051069e-01,-6.50420719e-01,-1.91034925e-01]

qacc:
[ 2.40346704e-02, 2.57787100e-01,-2.76591980e+00, 1.04886410e+01,
 -1.61083840e-02,-1.63368099e-01, 2.11590687e+00,-7.65386535e+00,
  2.27563068e-02,-3.64649923e-02,-5.31289499e+00, 2.37835678e+01,
  3.86410748e-01,-1.17543108e+00, 9.10390757e+00,-3.13233543e+01,
 -1.74754233e+00, 5.33640370e-01,-9.65090360e+00, 2.89874531e+01,
 -6.71707937e+01, 1.83536581e+01]

qfrc_actuator:
[ 2.34118935e-03, 2.76153286e-02, 8.77317820e-03, 1.59915679e-03,
 -3.80605458e-05, 2.73626594e-02, 8.65386755e-03, 1.74894359e-03,
 -2.39910618e-03, 2.75124253e-02, 8.67866512e-03, 1.78279357e-03,
  4.16157744e-03,-1.77967189e-03, 0.00000000e+00,-2.39581628e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.42850389e-06, 2.36246778e-05, 2.38194471e-05, 2.62678326e-05,
 -2.89933990e-06, 2.25515538e-06,-8.79825212e-06,-1.70883634e-05,
  4.10401264e-06,-2.35343357e-05, 3.34150485e-05, 5.67438339e-05,
 -4.31724649e-05,-6.04309307e-05,-6.52170431e-06,-1.53977961e-04,
 -1.76448549e+00, 1.28055448e-01,-8.80559519e+00, 3.69870040e-02,
 -2.23286614e-01, 4.77236616e-04]


--- Step 1469 ---
qpos:
[-5.56653702e-04, 8.77208599e-01,-2.02552708e-02,-2.75557831e-02,
  7.64291649e-03, 8.64617506e-01,-2.79623782e-02, 9.45774108e-03,
  2.21953618e-02, 8.72915224e-01,-2.02120808e-02, 2.24576993e-02,
  1.33216264e+00,-1.00095590e-02, 9.90911577e-01, 6.15060979e-02,
 -4.52031286e-01, 2.16282957e-02, 7.14987552e-02, 7.13944379e-01,
 -1.49562633e-01,-6.53515400e-01,-2.02069454e-01]

qacc:
[ 3.77953454e-01,-9.65721136e-01, 1.37275908e+00, 4.19910731e+00,
  5.66469429e-02,-1.51289317e+00, 9.61479957e+00,-2.54934982e+01,
  6.72644628e-03,-5.23628998e+00, 2.23073177e+01,-4.20772642e+01,
 -4.14536379e-02,-3.71949376e-01, 2.15007780e+01,-7.40458210e+01,
 -1.74881079e+00, 5.62268387e-01,-9.66852955e+00, 2.96687344e+01,
 -6.64489860e+01, 1.88387301e+01]

qfrc_actuator:
[ 2.40906574e-03, 2.75730565e-02, 8.78596049e-03, 1.61450345e-03,
 -2.63602762e-05, 2.73809840e-02, 8.65496293e-03, 1.70367137e-03,
 -2.39995512e-03, 2.74711186e-02, 8.71258722e-03, 1.72545791e-03,
  4.15653499e-03,-1.80385433e-03, 0.00000000e+00,-2.75158886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 7.00092861e-05,-2.30144227e-05, 2.15043175e-05, 1.76942008e-05,
  1.03209869e-05, 1.70570749e-05,-1.06627466e-07,-4.58136011e-05,
  1.11984063e-06,-4.51127988e-05, 3.51559954e-05,-5.60830697e-05,
 -4.45959255e-05,-4.70493472e-05,-2.50249968e-05,-3.66347875e-04,
 -1.75821979e+00, 1.57466781e-01,-8.81656903e+00, 4.02096840e-02,
 -2.22742461e-01, 3.82920072e-04]


--- Step 1470 ---
qpos:
[-5.56761777e-04, 8.77207937e-01,-2.02545969e-02,-2.75556776e-02,
  7.64279007e-03, 8.64617161e-01,-2.79630365e-02, 9.45891344e-03,
  2.21954989e-02, 8.72914503e-01,-2.02129818e-02, 2.24571139e-02,
  1.33232499e+00,-1.00110568e-02, 9.91146609e-01, 6.14972001e-02,
 -4.60325874e-01, 2.21091773e-02, 7.13058165e-02, 7.07600647e-01,
 -1.51057065e-01,-6.56598461e-01,-2.12982507e-01]

qacc:
[ 3.04725068e-01, 3.55830618e-01,-2.64811190e+00, 6.69202923e+00,
  2.61990389e-01, 9.63609906e-01,-3.40449845e+00, 5.59938999e+00,
 -1.79448463e-04,-3.49698773e+00, 1.86128269e+01,-4.35949546e+01,
 -9.10100573e-01, 1.62591872e+00, 1.16048938e+01,-4.08468161e+01,
 -1.74948632e+00, 5.91315804e-01,-9.68648698e+00, 3.03307560e+01,
 -6.57130742e+01, 1.93077147e+01]

qfrc_actuator:
[ 2.43188075e-03, 2.75480439e-02, 8.77529788e-03, 1.62354443e-03,
  1.63504796e-05, 2.74098762e-02, 8.65586519e-03, 1.71214404e-03,
 -2.40052656e-03, 2.75002110e-02, 8.73289514e-03, 1.65586993e-03,
  4.15298306e-03,-1.76398893e-03, 0.00000000e+00,-2.94119368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.64950659e-05,-3.26697209e-05,-1.21568895e-05, 9.14355049e-06,
  4.76257487e-05, 3.64648501e-05, 2.83399089e-06, 8.30813950e-06,
 -4.00188811e-08, 8.75057943e-06, 1.33939801e-05,-7.13945497e-05,
 -4.12725267e-05, 1.98528482e-05,-5.73363326e-05,-2.14410895e-04,
 -1.75135053e+00, 1.87000179e-01,-8.82757185e+00, 4.34256241e-02,
 -2.22134088e-01, 2.86317242e-04]


--- Step 1471 ---
qpos:
[-5.56817459e-04, 8.77207493e-01,-2.02542561e-02,-2.75555068e-02,
  7.64298101e-03, 8.64617427e-01,-2.79638470e-02, 9.46014069e-03,
  2.21956317e-02, 8.72914024e-01,-2.02138587e-02, 2.24577656e-02,
  1.33248675e+00,-1.00117425e-02, 9.91380783e-01, 6.14903701e-02,
 -4.68627460e-01, 2.25925421e-02, 7.10740588e-02, 7.01068472e-01,
 -1.52535474e-01,-6.59668484e-01,-2.23770905e-01]

qacc:
[ 2.69487830e-02, 1.35328140e+00,-4.68105325e+00, 6.18069959e+00,
  1.66395564e-01, 1.34359323e+00,-3.85235398e+00, 4.59807498e+00,
 -2.29518089e-03, 2.79578392e+00,-1.47293146e+01, 3.59227912e+01,
 -9.65031401e-01, 1.87485616e+00,-7.44273024e+00, 2.43462006e+01,
 -1.74953187e+00, 6.20772265e-01,-9.70476811e+00, 3.09733228e+01,
 -6.49638820e+01, 1.97603950e+01]

qfrc_actuator:
[ 2.40975591e-03, 2.75867065e-02, 8.76868149e-03, 1.62879739e-03,
  2.39754181e-05, 2.74626733e-02, 8.65673388e-03, 1.71668085e-03,
 -2.40092401e-03, 2.75356576e-02, 8.74529142e-03, 1.72171718e-03,
  4.12372712e-03,-1.72201410e-03, 0.00000000e+00,-2.81826774e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.05316269e-06, 1.82925562e-05,-1.45449677e-05, 3.61118472e-06,
  3.02964375e-05, 7.41460863e-05, 9.04195699e-06, 6.35794276e-06,
 -4.16958695e-07, 4.00718723e-05, 1.33966559e-05, 6.52995227e-05,
 -4.95242862e-05, 3.74637472e-05,-5.30779722e-05, 1.02977419e-04,
 -1.74386310e+00, 2.16643848e-01,-8.83860155e+00, 4.66331324e-02,
 -2.21461584e-01, 1.87490019e-04]


--- Step 1472 ---
qpos:
[-5.56617313e-04, 8.77207241e-01,-2.02543136e-02,-2.75552670e-02,
  7.64318213e-03, 8.64618133e-01,-2.79645764e-02, 9.46107269e-03,
  2.21959434e-02, 8.72914086e-01,-2.02144656e-02, 2.24594894e-02,
  1.33264812e+00,-1.00123825e-02, 9.91614538e-01, 6.14856376e-02,
 -4.76936041e-01, 2.30785093e-02, 7.08034075e-02, 6.94350765e-01,
 -1.53998957e-01,-6.62724056e-01,-2.34431571e-01]

qacc:
[ 1.32626906e-01, 1.50773825e+00,-5.29961082e+00, 6.98974019e+00,
  5.22203083e-03,-2.51347429e-01, 2.98813447e+00,-8.55271614e+00,
  9.30362355e-02, 2.16543732e+00,-1.12129782e+01, 2.89420329e+01,
 -2.19155421e-01, 2.20817827e-01,-6.93909081e+00, 2.34055593e+01,
 -1.74891099e+00, 6.50625373e-01,-9.72336432e+00, 3.15962714e+01,
 -6.42022337e+01, 2.01965808e+01]

qfrc_actuator:
[ 2.43197711e-03, 2.75921979e-02, 8.74702258e-03, 1.63184174e-03,
  1.05309540e-05, 2.74761260e-02, 8.65767053e-03, 1.70112647e-03,
 -2.38346030e-03, 2.75924771e-02, 8.77081803e-03, 1.77797533e-03,
  4.08973026e-03,-1.73254746e-03, 0.00000000e+00,-2.70751561e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.46553593e-05, 1.28791698e-05,-1.95475884e-05, 3.39405035e-06,
  9.83799800e-07, 5.70552176e-05, 1.75860500e-05,-1.19424620e-05,
  1.72652756e-05, 8.48102772e-05, 3.77229767e-05, 5.97108650e-05,
 -5.44232752e-05,-1.33685827e-05,-1.45455186e-05, 1.09338002e-04,
 -1.73574324e+00, 2.46385055e-01,-8.84965570e+00, 4.98305429e-02,
 -2.20725096e-01, 8.65034768e-05]


--- Step 1473 ---
qpos:
[-5.55973883e-04, 8.77207066e-01,-2.02546409e-02,-2.75542961e-02,
  7.64330280e-03, 8.64618750e-01,-2.79653291e-02, 9.46223280e-03,
  2.21964477e-02, 8.72914463e-01,-2.02142507e-02, 2.24597921e-02,
  1.33280919e+00,-1.00131433e-02, 9.91847828e-01, 6.14849104e-02,
 -4.85251613e-01, 2.35672000e-02, 7.04937872e-02, 6.87450501e-01,
 -1.55448603e-01,-6.65763763e-01,-2.44961532e-01]

qacc:
[ 2.30179640e-01, 2.36221637e+00,-1.13520819e+01, 2.43641257e+01,
 -4.22257643e-02, 4.15097369e-01,-2.61590974e+00, 6.66795147e+00,
  1.00343991e-01,-4.80154627e+00, 2.37276673e+01,-4.98713724e+01,
  9.72581365e-02,-3.55064469e-01,-1.27860707e+01, 4.37218640e+01,
 -1.74758794e+00, 6.80860738e-01,-9.74226607e+00, 3.21994707e+01,
 -6.34289528e+01, 2.06161085e+01]

qfrc_actuator:
[ 2.46282890e-03, 2.75954789e-02, 8.73428924e-03, 1.66903625e-03,
  2.37772592e-06, 2.74303927e-02, 8.64072308e-03, 1.70935083e-03,
 -2.37321417e-03, 2.75907145e-02, 8.80396752e-03, 1.70388160e-03,
  4.07952195e-03,-1.73863895e-03, 0.00000000e+00,-2.49840875e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.27162814e-05, 6.59968750e-06,-1.23626012e-05, 3.71350757e-05,
 -7.67805612e-06,-1.07213676e-05,-3.41174489e-06, 1.10436600e-05,
  1.85618223e-05, 5.60167672e-05, 5.73819351e-05,-6.79937735e-05,
 -4.49639482e-05,-2.14299143e-05, 2.08416710e-06, 2.12566267e-04,
 -1.72697711e+00, 2.76210156e-01,-8.86073145e+00, 5.30162174e-02,
 -2.19924831e-01,-1.65742985e-05]


--- Step 1474 ---
qpos:
[-5.55667418e-04, 8.77206924e-01,-2.02551244e-02,-2.75525440e-02,
  7.64351994e-03, 8.64619355e-01,-2.79659922e-02, 9.46346546e-03,
  2.21969210e-02, 8.72914570e-01,-2.02133486e-02, 2.24599813e-02,
  1.33297004e+00,-1.00137852e-02, 9.92081223e-01, 6.14853351e-02,
 -4.93574167e-01, 2.40587366e-02, 7.01451211e-02, 6.80370707e-01,
 -1.56885487e-01,-6.68786197e-01,-2.55357920e-01]

qacc:
[-1.75165254e-01, 2.09007835e+00,-1.06760484e+01, 2.44018950e+01,
  5.07413926e-02,-1.16947096e-01, 8.70956973e-02, 1.03436660e+00,
 -1.55551078e-02,-2.50830117e+00, 8.90657407e+00,-1.17703475e+01,
 -2.17054500e-01, 3.37090188e-01,-3.30874566e+00, 1.18325891e+01,
 -1.74552779e+00, 7.11462035e-01,-9.76146302e+00, 3.27828207e+01,
 -6.26448606e+01, 2.10188404e+01]

qfrc_actuator:
[ 2.40980611e-03, 2.75974711e-02, 8.72694199e-03, 1.70827851e-03,
  1.52384207e-05, 2.74382652e-02, 8.64862221e-03, 1.71368453e-03,
 -2.38513630e-03, 2.75360593e-02, 8.82327808e-03, 1.69566222e-03,
  4.08359107e-03,-1.72416431e-03, 0.00000000e+00,-2.44606754e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.24702200e-05, 4.72777998e-06,-6.22070953e-06, 3.98187608e-05,
  9.20494457e-06, 1.63443442e-06, 5.64615246e-06, 3.96978640e-06,
 -2.98348247e-06,-1.44002460e-05, 3.55918335e-05,-5.15798675e-06,
 -2.68142074e-05,-5.81184393e-07, 2.09793382e-05, 6.36178951e-05,
 -1.71755134e+00, 3.06104619e-01,-8.87182565e+00, 5.61885470e-02,
 -2.19061047e-01,-1.21672378e-04]


--- Step 1475 ---
qpos:
[-5.55668138e-04, 8.77206700e-01,-2.02555758e-02,-2.75513694e-02,
  7.64367624e-03, 8.64620163e-01,-2.79666385e-02, 9.46437191e-03,
  2.21971191e-02, 8.72914795e-01,-2.02128627e-02, 2.24600984e-02,
  1.33313063e+00,-1.00142487e-02, 9.92315090e-01, 6.14830562e-02,
 -5.01903692e-01, 2.45532428e-02, 6.97573312e-02, 6.73114467e-01,
 -1.58310669e-01,-6.71789953e-01,-2.65617970e-01]

qacc:
[-1.59597967e-01,-1.38802230e+00, 7.22203900e+00,-1.71933676e+01,
 -3.20440085e-02,-4.48630525e-01, 3.36808292e+00,-9.19155512e+00,
 -1.43268337e-01, 1.16946439e+00,-3.63968297e+00, 2.96872914e+00,
 -4.95544634e-01, 8.08305698e-01, 8.88661358e+00,-3.00170739e+01,
 -1.74269660e+00, 7.42411064e-01,-9.78094398e+00, 3.33462522e+01,
 -6.18507738e+01, 2.14046647e+01]

qfrc_actuator:
[ 2.39582466e-03, 2.75809503e-02, 8.72282074e-03, 1.67739648e-03,
  5.05746116e-06, 2.74605070e-02, 8.65357323e-03, 1.69799553e-03,
 -2.41021299e-03, 2.75388903e-02, 8.79858597e-03, 1.69072296e-03,
  4.06960286e-03,-1.71529416e-03, 0.00000000e+00,-2.59305011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.96031131e-05,-1.34577005e-05,-2.53088921e-06,-3.01207140e-05,
 -5.79986103e-06, 2.44819672e-05, 6.12012938e-06,-1.53482042e-05,
 -2.65134274e-05, 1.89971280e-06,-2.34681746e-05,-4.42679286e-06,
 -2.95981018e-05, 2.66174792e-06, 1.13840797e-05,-1.41982921e-04,
 -1.70745309e+00, 3.36053061e-01,-8.88293475e+00, 5.93459546e-02,
 -2.18134059e-01,-2.28717167e-04]


--- Step 1476 ---
qpos:
[-5.55533359e-04, 8.77206523e-01,-2.02561085e-02,-2.75509275e-02,
  7.64355327e-03, 8.64621047e-01,-2.79676935e-02, 9.46443886e-03,
  2.21970296e-02, 8.72915438e-01,-2.02133165e-02, 2.24587721e-02,
  1.33329079e+00,-1.00140234e-02, 9.92548697e-01, 6.14813979e-02,
 -5.10240173e-01, 2.50508437e-02, 6.93303385e-02, 6.65684910e-01,
 -1.59725197e-01,-6.74773630e-01,-2.75739025e-01]

qacc:
[  0.07030938, -1.22112904,  7.52870782,-20.09952771, -0.1470216 ,
  -0.48506396,  5.42035486,-19.35374746, -0.15027134,  0.20735374,
   6.15704342,-29.94435565, -0.8356882 ,  1.64519567, -2.19875955,
   7.2637805 , -1.73906148,  0.77368782, -9.800697  , 33.88972597,
 -61.04750361, 21.77349499]

qfrc_actuator:
[ 2.42312565e-03, 2.75889295e-02, 8.72050933e-03, 1.64099122e-03,
 -1.88297528e-05, 2.74379013e-02, 8.62128701e-03, 1.65291000e-03,
 -2.42517317e-03, 2.75581811e-02, 8.74832092e-03, 1.61674538e-03,
  4.05544292e-03,-1.67438853e-03, 0.00000000e+00,-2.55443750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.30577757e-05,-1.35428227e-06,-6.44083843e-06,-3.76558097e-05,
 -2.66444705e-05,-8.32579390e-06,-2.70097365e-05,-4.41250641e-05,
 -2.77153583e-05, 1.53040295e-05,-5.29220463e-05,-7.47952059e-05,
 -3.09985424e-05, 3.49545887e-05,-1.64899225e-05, 3.07932136e-05,
 -1.69667009e+00, 3.66039275e-01,-8.89405489e+00, 6.24868958e-02,
 -2.17144235e-01,-3.37632586e-04]


--- Step 1477 ---
qpos:
[-5.55533302e-04, 8.77206562e-01,-2.02567526e-02,-2.75512907e-02,
  7.64333552e-03, 8.64621913e-01,-2.79688261e-02, 9.46395487e-03,
  2.21965264e-02, 8.72916591e-01,-2.02140155e-02, 2.24575452e-02,
  1.33345072e+00,-1.00133474e-02, 9.92782205e-01, 6.14798427e-02,
 -5.18583592e-01, 2.55516658e-02, 6.88640629e-02, 6.58085213e-01,
 -1.61130101e-01,-6.77735837e-01,-2.85718530e-01]

qacc:
[-7.01816027e-02,-1.06263495e+00, 7.59089730e+00,-2.14844607e+01,
 -4.98617341e-02,-9.39851259e-01, 5.64378226e+00,-1.50435482e+01,
 -2.15270779e-01, 1.56427461e+00,-5.01788138e+00, 6.75360142e+00,
 -5.29447485e-01, 1.06742083e+00,-4.21446752e-01, 1.34200521e+00,
 -1.73459071e+00, 8.05270570e-01,-9.82070937e+00, 3.44132323e+01,
 -6.02358539e+01, 2.21252693e+01]

qfrc_actuator:
[ 2.40386577e-03, 2.76115124e-02, 8.71938434e-03, 1.60165840e-03,
 -1.51927035e-05, 2.74416912e-02, 8.62033514e-03, 1.62633561e-03,
 -2.45169349e-03, 2.76225058e-02, 8.75441235e-03, 1.62701320e-03,
  4.05185557e-03,-1.65034841e-03, 0.00000000e+00,-2.54873161e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.29763784e-05, 1.88928164e-05,-3.49661660e-06,-4.03468993e-05,
 -9.04423050e-06,-8.35054283e-06,-7.52491574e-06,-2.87242292e-05,
 -3.98507293e-05, 5.87331632e-05, 1.45668356e-07, 7.63877783e-06,
 -1.36924345e-05, 2.48583984e-05,-7.89291847e-06, 4.44948095e-06,
 -1.68519071e+00, 3.96046275e-01,-8.90518186e+00, 6.56098607e-02,
 -2.16091992e-01,-4.48340248e-04]


--- Step 1478 ---
qpos:
[-5.55348645e-04, 8.77206661e-01,-2.02573537e-02,-2.75524588e-02,
  7.64328303e-03, 8.64622823e-01,-2.79692268e-02, 9.46378172e-03,
  2.21956637e-02, 8.72918322e-01,-2.02150733e-02, 2.24574845e-02,
  1.33361056e+00,-1.00128705e-02, 9.93015623e-01, 6.14783473e-02,
 -5.26933929e-01, 2.60558363e-02, 6.83584235e-02, 6.50318593e-01,
 -1.62526396e-01,-6.80675187e-01,-2.95554037e-01]

qacc:
[  0.09589118, -1.69828805,  9.56048949,-23.58650141,  0.08727478,
  -1.34589968,  3.57101154,  0.60511766, -0.18715589,  4.16274406,
 -18.66060151, 38.99258485,  0.09988148, -0.33488766, -0.32226114,
   0.91460477, -1.72925386,  0.83713592, -9.84096768, 34.91679014,
 -59.41661975, 22.45995013]

qfrc_actuator:
[ 2.42789592e-03, 2.76071647e-02, 8.71903386e-03, 1.56093432e-03,
  4.88612929e-06, 2.74791347e-02, 8.67352151e-03, 1.64642040e-03,
 -2.46715619e-03, 2.76603329e-02, 8.74074142e-03, 1.68686294e-03,
  4.03330650e-03,-1.67197048e-03, 0.00000000e+00,-2.54474783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.77902295e-05, 3.77090256e-06, 1.72947934e-06,-4.08206858e-05,
  1.57737858e-05, 2.99771657e-05, 4.95433667e-05, 1.89087585e-05,
 -3.46276236e-05, 7.10020367e-05,-1.25887838e-06, 6.25220451e-05,
 -2.09906843e-05,-1.90126673e-05,-7.26524926e-06, 2.26055313e-06,
 -1.67300400e+00, 4.26056325e-01,-8.91631114e+00, 6.87133755e-02,
 -2.14977797e-01,-5.60759652e-04]


--- Step 1479 ---
qpos:
[-5.54743188e-04, 8.77206631e-01,-2.02576752e-02,-2.75527164e-02,
  7.64343463e-03, 8.64623929e-01,-2.79690992e-02, 9.46487946e-03,
  2.21949061e-02, 8.72920288e-01,-2.02164389e-02, 2.24585272e-02,
  1.33377014e+00,-1.00125282e-02, 9.93249167e-01, 6.14752179e-02,
 -5.35291157e-01, 2.65634839e-02, 6.78133382e-02, 6.42388305e-01,
 -1.63915079e-01,-6.83590301e-01,-3.05243203e-01]

qacc:
[ 2.18912454e-01, 9.23962419e-01,-7.37542672e+00, 2.27607743e+01,
  1.07531112e-01, 1.39835740e+00,-9.97578910e+00, 3.09847951e+01,
  5.44213034e-02, 3.44038507e+00,-1.64768865e+01, 3.58972808e+01,
 -1.84129546e-01, 8.77687801e-02, 5.12437370e+00,-1.76461165e+01,
 -1.72302187e+00, 8.69258924e-01,-9.86145783e+00, 3.54004460e+01,
 -5.85905862e+01, 2.27775232e+01]

qfrc_actuator:
[ 2.45988201e-03, 2.76044798e-02, 8.73679085e-03, 1.60846060e-03,
  1.68552585e-05, 2.75012109e-02, 8.70515449e-03, 1.71161193e-03,
 -2.44036777e-03, 2.76464849e-02, 8.71542453e-03, 1.73985006e-03,
  4.00577586e-03,-1.68501507e-03, 0.00000000e+00,-2.63055848e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.05467241e-05,-1.96042239e-06, 1.73414380e-05, 4.69547179e-05,
  1.94793256e-05, 4.98645538e-05, 4.45789176e-05, 6.85579048e-05,
  1.01383468e-05, 2.82369057e-05,-8.64827902e-06, 5.72025713e-05,
 -4.44020108e-05,-2.18035137e-05,-7.11853804e-06,-8.75607177e-05,
 -1.66009970e+00, 4.56050987e-01,-8.92743786e+00, 7.17960035e-02,
 -2.13802165e-01,-6.74808362e-04]


--- Step 1480 ---
qpos:
[-5.54293944e-04, 8.77206530e-01,-2.02577965e-02,-2.75520595e-02,
  7.64357069e-03, 8.64625087e-01,-2.79687267e-02, 9.46644293e-03,
  2.21947370e-02, 8.72922289e-01,-2.02171070e-02, 2.24594628e-02,
  1.33392937e+00,-1.00122950e-02, 9.93483051e-01, 6.14677238e-02,
 -5.43655249e-01, 2.70747380e-02, 6.72287243e-02, 6.34297640e-01,
 -1.65297127e-01,-6.86479811e-01,-3.14783788e-01]

qacc:
[-8.09833344e-02, 1.23077346e+00,-8.37584328e+00, 2.39151913e+01,
 -7.99332894e-03, 3.41746096e-01,-3.08659272e+00, 1.07183499e+01,
  3.06126498e-01,-2.12356887e+00, 8.08998994e+00,-1.10852558e+01,
 -4.00182575e-01, 4.21397727e-01, 1.36992314e+01,-4.71578789e+01,
 -1.71586712e+00, 9.01613138e-01,-9.88216510e+00, 3.58642736e+01,
 -5.77585267e+01, 2.30779971e+01]

qfrc_actuator:
[ 2.42532111e-03, 2.76029582e-02, 8.74740577e-03, 1.65428574e-03,
  6.10102215e-06, 2.74783907e-02, 8.70601363e-03, 1.73177258e-03,
 -2.38854953e-03, 2.76550007e-02, 8.75422328e-03, 1.73505781e-03,
  3.98352748e-03,-1.69289798e-03, 0.00000000e+00,-2.85733901e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.50538579e-05, 2.98008782e-06, 1.39733839e-05, 4.72561743e-05,
 -1.47865254e-06, 1.71803561e-05, 1.90113986e-05, 2.51705516e-05,
  5.67021396e-05, 2.49332802e-05, 4.55383064e-05,-2.77083625e-06,
 -5.33950035e-05,-2.26572086e-05,-1.76909436e-05,-2.33651620e-04,
 -1.64646833e+00, 4.86011163e-01,-8.93855689e+00, 7.48563460e-02,
 -2.12565654e-01,-7.90402197e-04]


--- Step 1481 ---
qpos:
[-5.54135886e-04, 8.77206145e-01,-2.02575976e-02,-2.75518753e-02,
  7.64344526e-03, 8.64626097e-01,-2.79681324e-02, 9.46722835e-03,
  2.21951706e-02, 8.72924466e-01,-2.02176072e-02, 2.24603520e-02,
  1.33408828e+00,-1.00123960e-02, 9.93716780e-01, 6.14578866e-02,
 -5.52026172e-01, 2.75897288e-02, 6.66044981e-02, 6.26049917e-01,
 -1.66673501e-01,-6.89342357e-01,-3.24173657e-01]

qacc:
[ -0.15103446, -2.24321058,  9.44510185,-17.92061409, -0.13721126,
  -2.41268328, 11.60738821,-25.32325172,  0.31324813, -0.33149055,
   1.71597431, -2.9166598 , -0.08917879, -0.22585369,  6.84189706,
 -24.27836539, -1.70776352,  0.93417074, -9.90307418, 36.30837225,
 -56.92120232, 23.36140264]

qfrc_actuator:
[ 2.40449860e-03, 2.75666237e-02, 8.75370327e-03, 1.62771147e-03,
 -1.81492611e-05, 2.74464521e-02, 8.70623310e-03, 1.68970625e-03,
 -2.35774393e-03, 2.76592897e-02, 8.75959864e-03, 1.73187256e-03,
  3.95913838e-03,-1.71540811e-03, 0.00000000e+00,-2.97003830e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.80655391e-05,-2.97604655e-05, 1.02701644e-05,-2.50432486e-05,
 -2.49525535e-05,-1.73601248e-05, 6.96684781e-06,-4.01869956e-05,
  5.80933359e-05, 2.74818755e-05, 1.60267105e-05,-5.99058886e-07,
 -6.12182895e-05,-3.94163808e-05,-3.90598839e-05,-1.29113267e-04,
 -1.63210119e+00, 5.15917136e-01,-8.94966279e+00, 7.78930440e-02,
 -2.11268868e-01,-9.07455422e-04]


--- Step 1482 ---
qpos:
[-5.54062204e-04, 8.77205540e-01,-2.02570350e-02,-2.75520215e-02,
  7.64304503e-03, 8.64627045e-01,-2.79675480e-02, 9.46750961e-03,
  2.21955278e-02, 8.72926855e-01,-2.02188470e-02, 2.24609100e-02,
  1.33424681e+00,-1.00127500e-02, 9.93950104e-01, 6.14480541e-02,
 -5.60075206e-01, 2.79305829e-02, 6.59245297e-02, 6.27804734e-01,
 -1.76274932e-01,-6.82370639e-01,-3.30391700e-01]

qacc:
[-4.35606297e-02,-1.98678664e+00, 8.05311935e+00,-1.41828013e+01,
 -1.44358516e-01,-1.09193835e+00, 5.90252320e+00,-1.45679633e+01,
 -4.01943966e-02, 1.66440065e+00,-4.12947169e+00,-5.77344288e-01,
 -7.21084462e-02,-2.18605654e-01,-6.12824084e-01, 1.27276395e+00,
  8.04722425e+01,-4.35341434e+01,-1.39355503e+01,-2.24191550e+03,
  4.92859492e+03, 6.26881659e+03]

qfrc_actuator:
[ 2.40986922e-03, 2.75628995e-02, 8.77496261e-03, 1.61197691e-03,
 -3.24923598e-05, 2.74447258e-02, 8.70599406e-03, 1.66461912e-03,
 -2.39305358e-03, 2.76431338e-02, 8.70966527e-03, 1.71188091e-03,
  3.93880167e-03,-1.72867330e-03, 0.00000000e+00,-2.96130652e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.13964842, -8.36711907, -2.13964842,  0.71969828,
        2.02445792, -8.36711907,  2.02445792,  8.11866714,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013205505942715245
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.62116378,  0.06331289,  0.04933972])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.13498740e-06,-1.93127036e-05, 1.55134562e-05,-1.71402175e-05,
 -2.62207541e-05,-1.17496868e-05,-4.37044661e-06,-2.63752215e-05,
 -7.35144150e-06, 2.45569305e-06,-4.23181498e-05,-1.82755470e-05,
 -6.56085097e-05,-3.56735161e-05,-3.55698501e-05,-4.20520776e-06,
 -1.61699043e+00, 5.45748618e-01,-8.96074985e+00, 8.09047785e-02,
 -2.09912454e-01,-1.02588093e-03]


--- Step 1483 ---
qpos:
[-5.53811325e-04, 8.77205128e-01,-2.02564010e-02,-2.75523884e-02,
  7.64242726e-03, 8.64627706e-01,-2.79666013e-02, 9.46749091e-03,
  2.21956278e-02, 8.72928712e-01,-2.02195087e-02, 2.24608841e-02,
  1.33440485e+00,-1.00129965e-02, 9.94182535e-01, 6.14436971e-02,
 -5.67307200e-01, 2.84056492e-02, 6.60391183e-02, 6.33364195e-01,
 -1.92734233e-01,-6.74367373e-01,-3.27004524e-01]

qacc:
[ 9.20439500e-02,-4.00554294e-01, 2.72455810e+00,-6.79302273e+00,
 -1.13954256e-01,-2.00626759e+00, 7.87208918e+00,-1.34350351e+01,
 -1.33224703e-01,-3.51678431e+00, 1.39877806e+01,-2.46279589e+01,
 -1.52729460e-01, 1.21257990e-01,-1.78398960e+01, 6.05221859e+01,
  2.04259890e+02, 3.35530387e+01, 1.98639243e+02, 1.28926473e+03,
 -3.57542112e+02, 6.07478946e+03]

qfrc_actuator:
[ 2.43086537e-03, 2.75965439e-02, 8.78727496e-03, 1.60279285e-03,
 -4.07732445e-05, 2.74255961e-02, 8.72337542e-03, 1.64975682e-03,
 -2.41433650e-03, 2.75968521e-02, 8.73390281e-03, 1.68210883e-03,
  3.92091337e-03,-1.71858638e-03, 0.00000000e+00,-2.66809524e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.40714489,  0.87537329, -8.36144765,  0.87537329,  0.43734448,
       -0.83437111, -8.36144765, -0.83437111,  8.31979324,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000886276088596677
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.62866782,  0.06521208,  0.04955686])
  solimp: array([9.0e-01, 9.5e-01, 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([ 7.81162159,  0.70155876, -7.78005445,  0.70155876,  0.24338498,
       -0.68245829, -7.78005445, -0.68245829,  7.75008159,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007766469017587638
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.52895168, -0.02575171,  0.04961168])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.28838267,  0.55619165, -6.2637375 ,  0.55619165,  0.05357548,
       -0.55362277, -6.2637375 , -0.55362277,  6.23922347,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005827387810063284
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.52965459, -0.02625558,  0.04970863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70808618e-05, 2.53242888e-05, 9.64258377e-06,-9.80718429e-06,
 -2.07615238e-05,-2.77633778e-05, 1.34911690e-05,-1.60326822e-05,
 -2.48147482e-05,-5.44800524e-05, 1.88898898e-05,-3.14892284e-05,
 -6.46024912e-05,-1.26301078e-05,-1.96576858e-05, 2.87783997e-04,
 -2.28258616e+00, 1.49376198e+00,-6.98906121e+00, 4.84342039e-02,
 -1.09872143e-01,-5.95964804e-03]


--- Step 1484 ---
qpos:
[-5.53346626e-04, 8.77205055e-01,-2.02559933e-02,-2.75528614e-02,
  7.64165783e-03, 8.64628191e-01,-2.79657769e-02, 9.46765895e-03,
  2.21954726e-02, 8.72929940e-01,-2.02195847e-02, 2.24618952e-02,
  1.33456249e+00,-1.00131800e-02, 9.94414824e-01, 6.14424929e-02,
 -5.74337450e-01, 2.89755101e-02, 6.64563743e-02, 6.37227034e-01,
 -2.09350184e-01,-6.70245792e-01,-3.17623654e-01]

qacc:
[ 1.10846035e-01, 8.61622772e-01,-1.97441516e+00, 2.52355896e-01,
 -7.96660096e-02, 4.93835212e-01,-2.88627024e+00, 6.44387179e+00,
 -1.31921967e-01,-3.35293876e-01,-4.39311867e+00, 2.18714721e+01,
 -1.83024397e-01, 1.79291784e-01,-9.71751783e+00, 3.37188123e+01,
  5.04362592e+01, 2.36986340e+01, 7.56668532e+01, 2.44267886e+03,
 -2.40469642e+03, 1.29955830e+03]

qfrc_actuator:
[ 2.44325639e-03, 2.76167805e-02, 8.77661339e-03, 1.59756156e-03,
 -4.53641458e-05, 2.74140259e-02, 8.71545549e-03, 1.65877954e-03,
 -2.42699179e-03, 2.75686587e-02, 8.76611577e-03, 1.73561683e-03,
  3.90984363e-03,-1.71250009e-03, 0.00000000e+00,-2.51146354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.34374742, -0.38125919, -6.33228022, -0.38125919,  0.09349413,
        0.37632045, -6.33228022,  0.37632045,  6.32108961,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005893699325114701
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.53761799, -0.02610523,  0.04970532])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.06124777e-05, 3.59755883e-05,-4.58502124e-06,-4.00485114e-06,
 -1.44756098e-05,-2.50211492e-05,-1.25588705e-05, 7.98601367e-06,
 -2.45976045e-05,-5.61473704e-05, 2.21886889e-05, 5.12127937e-05,
 -5.12677801e-05,-1.16064609e-05, 2.07012911e-05, 1.69643554e-04,
 -2.18151009e+00, 2.60112163e-01,-5.13548823e+00, 6.93516197e-02,
 -1.24161640e-02,-4.52023959e-03]


--- Step 1485 ---
qpos:
[-5.53442072e-04, 8.77205270e-01,-2.02556949e-02,-2.75537403e-02,
  7.64097772e-03, 8.64628030e-01,-2.79648523e-02, 9.46832477e-03,
  2.21953022e-02, 8.72931224e-01,-2.02194964e-02, 2.24627888e-02,
  1.33471998e+00,-1.00136497e-02, 9.94647650e-01, 6.14391697e-02,
 -5.81369596e-01, 2.95477017e-02, 6.68372419e-02, 6.40937741e-01,
 -2.25871397e-01,-6.65736879e-01,-3.08180680e-01]

qacc:
[-2.91246345e-01,-1.49867462e-01, 2.79645002e+00,-9.84953728e+00,
  4.72382444e-02,-1.09548696e-01,-2.95029756e+00, 1.18810970e+01,
 -7.83939507e-03,-6.25505687e-01, 2.83701159e+00,-5.17791904e+00,
 -1.41428259e-02,-2.42328972e-01, 7.18423760e+00,-2.39957178e+01,
 -4.74190192e-01, 5.82684400e-01,-9.09708411e+00,-2.64412159e+01,
  8.09771203e+01, 4.42283893e+00]

qfrc_actuator:
[ 2.37936631e-03, 2.76287481e-02, 8.77018910e-03, 1.57692305e-03,
 -2.99672877e-05, 2.73537372e-02, 8.71044725e-03, 1.68176654e-03,
 -2.41661720e-03, 2.76048880e-02, 8.78512262e-03, 1.73118966e-03,
  3.90819916e-03,-1.72656542e-03, 0.00000000e+00,-2.63192609e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.39686642e-05, 3.09665691e-05, 2.99102246e-07,-1.93356595e-05,
  8.50420675e-06,-7.65517542e-05,-1.14572188e-05, 2.16337415e-05,
 -1.46547653e-06, 1.15766828e-05, 1.19050189e-05,-5.07164687e-06,
 -3.37451890e-05,-2.85148531e-05, 2.34830393e-05,-1.09473797e-04,
 -1.58644297e-01, 5.58330248e-01,-5.90922575e+00,-4.56043651e-03,
 -7.03988499e-02,-4.87842300e-04]


--- Step 1486 ---
qpos:
[-5.54016521e-04, 8.77205037e-01,-2.02551847e-02,-2.75540959e-02,
  7.64043938e-03, 8.64626784e-01,-2.79637211e-02, 9.46896591e-03,
  2.21951898e-02, 8.72932455e-01,-2.02185351e-02, 2.24625507e-02,
  1.33487738e+00,-1.00145838e-02, 9.94880228e-01, 6.14371436e-02,
 -5.88403594e-01, 3.01222765e-02, 6.71816997e-02, 6.44495028e-01,
 -2.42289148e-01,-6.60842358e-01,-2.98679604e-01]

qacc:
[-2.48594080e-01,-1.04766846e-01,-2.68801440e+00, 1.17233520e+01,
  7.49695764e-02,-2.06024175e+00, 5.36962250e+00,-5.33028224e+00,
  3.06855700e-02,-4.83610192e+00, 2.19204992e+01,-4.28633611e+01,
  3.75870315e-01,-9.61736546e-01,-4.30927659e+00, 1.44835941e+01,
 -4.63044044e-01, 5.95809117e-01,-9.10245818e+00,-2.42506955e+01,
  8.18928726e+01, 4.08947480e+00]

qfrc_actuator:
[ 2.35915916e-03, 2.75646589e-02, 8.76628071e-03, 1.60064033e-03,
 -2.05107254e-05, 2.72647580e-02, 8.70701225e-03, 1.67724111e-03,
 -2.41031513e-03, 2.76083248e-02, 8.83189797e-03, 1.67498862e-03,
  3.90155113e-03,-1.75239765e-03, 0.00000000e+00,-2.55958190e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.61691076e-05,-4.75516331e-05, 1.85229118e-06, 2.46776656e-05,
  1.34945245e-05,-1.33227922e-04,-1.99151111e-05,-7.78296140e-06,
  5.60109222e-06, 1.21193030e-05, 5.04455542e-05,-5.53949930e-05,
 -3.29766749e-05,-3.97221461e-05,-7.64720396e-06, 6.78109571e-05,
 -1.39731592e-01, 5.78912208e-01,-5.91237329e+00,-8.14890709e-03,
 -7.03737116e-02,-2.25434771e-04]


--- Step 1487 ---
qpos:
[-5.54573385e-04, 8.77204268e-01,-2.02546344e-02,-2.75537948e-02,
  7.63984311e-03, 8.64625040e-01,-2.79628013e-02, 9.46846570e-03,
  2.21949606e-02, 8.72933833e-01,-2.02176715e-02, 2.24623730e-02,
  1.33503459e+00,-1.00158236e-02, 9.95112916e-01, 6.14342990e-02,
 -5.95439400e-01, 3.06992856e-02, 6.74897265e-02, 6.47897659e-01,
 -2.58594751e-01,-6.55564195e-01,-2.89124479e-01]

qacc:
[ 9.37421991e-03, 5.32568338e-01,-5.69138722e+00, 1.73704603e+01,
 -3.04475994e-02,-2.41346597e+00, 1.24727729e+01,-3.15266084e+01,
 -6.08498626e-02, 5.92414537e-01,-2.08424241e+00, 3.17763706e+00,
  6.51590408e-02,-3.90758990e-01, 2.62232755e+00,-8.96243770e+00,
 -4.51895090e-01, 6.08562706e-01,-9.10775270e+00,-2.20319900e+01,
  8.27313465e+01, 3.74144979e+00]

qfrc_actuator:
[ 2.38305731e-03, 2.75265672e-02, 8.76360453e-03, 1.63245154e-03,
 -3.24591340e-05, 2.72657785e-02, 8.70437491e-03, 1.62102631e-03,
 -2.42427645e-03, 2.76099271e-02, 8.82354966e-03, 1.67754748e-03,
  3.89190118e-03,-1.76724466e-03, 0.00000000e+00,-2.60490640e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.67937800e-06,-6.32447584e-05,-1.14144208e-05, 3.03217394e-05,
 -5.54172724e-06,-7.79025291e-05,-3.28759707e-05,-6.27645657e-05,
 -1.12616418e-05, 1.63894089e-05,-1.56437538e-06, 3.74279542e-06,
 -3.81557847e-05,-3.10186893e-05, 3.66161372e-07,-4.33825067e-05,
 -1.20649450e-01, 5.99174492e-01,-5.91589249e+00,-1.17340820e-02,
 -7.01886798e-02, 3.66249335e-05]


--- Step 1488 ---
qpos:
[-5.55523652e-04, 8.77203673e-01,-2.02544018e-02,-2.75535269e-02,
  7.63896070e-03, 8.64623544e-01,-2.79620353e-02, 9.46684917e-03,
  2.21945899e-02, 8.72935529e-01,-2.02172675e-02, 2.24622307e-02,
  1.33519128e+00,-1.00166138e-02, 9.95345570e-01, 6.14309305e-02,
 -6.02476969e-01, 3.12787786e-02, 6.77613015e-02, 6.51144454e-01,
 -2.74779565e-01,-6.49904604e-01,-2.79519401e-01]

qacc:
[-2.04675659e-01, 1.04854724e+00,-3.26527164e+00, 3.07114095e+00,
 -1.50548602e-01,-1.53891613e+00, 1.06766576e+01,-2.99364043e+01,
 -7.39074509e-02, 1.77590554e+00,-5.87218373e+00, 6.98472651e+00,
 -7.94288168e-01, 1.36038796e+00, 1.58300942e+00,-5.49854745e+00,
 -4.40732441e-01, 6.20974328e-01,-9.11294795e+00,-1.97873903e+01,
  8.34912976e+01, 3.38006759e+00]

qfrc_actuator:
[ 2.34435050e-03, 2.75753522e-02, 8.76175467e-03, 1.63327122e-03,
 -5.71075522e-05, 2.73383972e-02, 8.72030397e-03, 1.57042969e-03,
 -2.43249141e-03, 2.76280012e-02, 8.80050127e-03, 1.67911760e-03,
  3.86448359e-03,-1.73996831e-03, 0.00000000e+00,-2.63047217e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.79055294e-05, 1.23756015e-05,-1.52655607e-05,-1.69155331e-06,
 -2.72942187e-05, 1.96129089e-05,-6.37567852e-06,-5.62916909e-05,
 -1.36280685e-05, 2.70355787e-05,-1.97434454e-05, 2.28830367e-06,
 -5.69691513e-05, 1.18669068e-05,-9.39594909e-06,-2.90329185e-05,
 -1.01402511e-01, 6.19119622e-01,-5.91977668e+00,-1.53090650e-02,
 -6.98440774e-02, 2.98002253e-04]


--- Step 1489 ---
qpos:
[-5.56713571e-04, 8.77203214e-01,-2.02542397e-02,-2.75532646e-02,
  7.63797860e-03, 8.64622728e-01,-2.79625557e-02, 9.46569611e-03,
  2.21939184e-02, 8.72936554e-01,-2.02161217e-02, 2.24614621e-02,
  1.33534739e+00,-1.00167827e-02, 9.95577266e-01, 6.14342931e-02,
 -6.09516256e-01, 3.18608039e-02, 6.79964044e-02, 6.54234294e-01,
 -2.90835002e-01,-6.43866043e-01,-2.69868505e-01]

qacc:
[-1.24618626e-01, 3.66434616e-01,-1.02083262e+00, 9.37269724e-01,
 -5.33863366e-02, 5.44175957e+00,-2.00584919e+01, 2.96427082e+01,
 -1.55616110e-01,-4.24502679e+00, 1.64957819e+01,-2.80277217e+01,
 -5.53725805e-01, 1.09068367e+00,-2.16966886e+01, 7.39444675e+01,
 -4.29542934e-01, 6.33073267e-01,-9.11802732e+00,-1.75192461e+01,
  8.41715826e+01, 3.00668792e+00]

qfrc_actuator:
[ 2.33949519e-03, 2.75870045e-02, 8.76074230e-03, 1.63367580e-03,
 -5.36193252e-05, 2.73824183e-02, 8.65863680e-03, 1.59464602e-03,
 -2.45493983e-03, 2.75492133e-02, 8.82229157e-03, 1.64459012e-03,
  3.84242147e-03,-1.70580352e-03, 0.00000000e+00,-2.27134462e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.30896932e-05, 1.53566730e-05,-3.92178022e-07, 3.73821127e-07,
 -9.49907103e-06, 5.12885237e-05,-6.03418620e-05, 2.37442560e-05,
 -2.89982399e-05,-6.76949620e-05, 2.50054111e-05,-3.40102724e-05,
 -5.25078299e-05, 2.38617540e-05,-1.20574101e-05, 3.55282742e-04,
 -8.19945645e-02, 6.38750301e-01,-5.92401998e+00,-1.88669866e-02,
 -6.93405331e-02, 5.58368008e-04]


--- Step 1490 ---
qpos:
[-5.57305679e-04, 8.77202986e-01,-2.02543855e-02,-2.75536858e-02,
  7.63697579e-03, 8.64622392e-01,-2.79643900e-02, 9.46521559e-03,
  2.21933357e-02, 8.72936620e-01,-2.02142623e-02, 2.24610167e-02,
  1.33550325e+00,-1.00168645e-02, 9.95809224e-01, 6.14385311e-02,
 -6.16557216e-01, 3.24454087e-02, 6.81950154e-02, 6.57166119e-01,
 -3.06752531e-01,-6.37451212e-01,-2.60175957e-01]

qacc:
[ 3.10337867e-01,-2.44630828e-01, 4.19104049e+00,-1.56821755e+01,
 -1.18294314e-02, 5.68055777e+00,-2.21817688e+01, 3.55784472e+01,
  4.68925526e-02,-2.59550925e+00, 6.05068105e+00,-8.91592691e-01,
 -2.36914648e-01, 3.30970603e-01,-2.24177530e+00, 8.43801688e+00,
 -4.18311269e-01, 6.44888639e-01,-9.12297737e+00,-1.52299608e+01,
  8.47711633e+01, 2.62272122e+00]

qfrc_actuator:
[ 2.40821230e-03, 2.75940973e-02, 8.74235977e-03, 1.59831168e-03,
 -5.10737316e-05, 2.73909958e-02, 8.58711126e-03, 1.62711160e-03,
 -2.43245458e-03, 2.74841803e-02, 8.85221508e-03, 1.66006208e-03,
  3.83424610e-03,-1.70336247e-03, 0.00000000e+00,-2.23877808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.76108325e-05, 1.56235549e-05,-1.52436234e-05,-3.47126295e-05,
 -1.96873461e-06, 2.58360164e-05,-6.75336375e-05, 3.30405513e-05,
  8.52778344e-06,-9.92169600e-05, 1.78289202e-05, 1.27726209e-05,
 -3.27139067e-05,-4.45478549e-06, 3.15606646e-05, 5.02641956e-05,
 -6.24285884e-02, 6.58069307e-01,-5.92861732e+00,-2.24010175e-02,
 -6.86789789e-02, 8.17398714e-04]


--- Step 1491 ---
qpos:
[-5.57367771e-04, 8.77202981e-01,-2.02550365e-02,-2.75548579e-02,
  7.63598353e-03, 8.64622016e-01,-2.79657539e-02, 9.46438004e-03,
  2.21931216e-02, 8.72936225e-01,-2.02130995e-02, 2.24618304e-02,
  1.33565891e+00,-1.00171656e-02, 9.96041465e-01, 6.14418272e-02,
 -6.23599805e-01, 3.30326393e-02, 6.83571152e-02, 6.59938935e-01,
 -3.22523691e-01,-6.30663059e-01,-2.50445955e-01]

qacc:
[ 2.74987939e-01, 1.59843871e-01, 3.02016711e+00,-1.53544974e+01,
  5.82687952e-03,-2.09441221e+00, 8.89343118e+00,-1.57644877e+01,
  1.91377183e-01, 3.92529258e+00,-2.01985388e+01, 4.34438935e+01,
 -2.51059617e-02,-1.90678628e-01, 3.25925515e+00,-1.08019945e+01,
 -4.07020157e-01, 6.56449106e-01,-9.12778791e+00,-1.29219866e+01,
  8.52891117e+01, 2.22962306e+00]

qfrc_actuator:
[ 2.43156808e-03, 2.75983061e-02, 8.71382060e-03, 1.55991919e-03,
 -4.91328293e-05, 2.73959899e-02, 8.61672848e-03, 1.61087435e-03,
 -2.40103094e-03, 2.74634623e-02, 8.81573932e-03, 1.72258740e-03,
  3.81841863e-03,-1.71967004e-03, 0.00000000e+00,-2.29246916e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.10766949e-05, 8.32668924e-06,-2.83886254e-05,-3.89270047e-05,
  1.00743780e-06, 6.93204975e-06, 2.77936027e-05,-1.68205970e-05,
  3.55157304e-05,-7.19850581e-05,-5.43454091e-05, 5.91366233e-05,
 -3.56422113e-05,-2.48110871e-05, 1.41130523e-05,-4.82359293e-05,
 -4.27068007e-02, 6.77079376e-01,-5.93356448e+00,-2.59043818e-02,
 -6.78606476e-02, 1.07477686e-03]


--- Step 1492 ---
qpos:
[-5.57400894e-04, 8.77202986e-01,-2.02557154e-02,-2.75561409e-02,
  7.63538475e-03, 8.64621505e-01,-2.79666972e-02, 9.46337192e-03,
  2.21932793e-02, 8.72935515e-01,-2.02132828e-02, 2.24630685e-02,
  1.33581446e+00,-1.00179317e-02, 9.96273449e-01, 6.14468149e-02,
 -6.30643976e-01, 3.36225411e-02, 6.84826852e-02, 6.62551813e-01,
 -3.38140098e-01,-6.23504771e-01,-2.40682717e-01]

qacc:
[ 1.50277926e-02,-1.39218363e-01, 9.80202533e-01,-2.85966111e+00,
  2.06987289e-01,-1.70694646e+00, 6.55694092e+00,-1.01186319e+01,
  1.92405626e-01, 4.21539584e+00,-1.74295011e+01, 2.71614758e+01,
  3.77595919e-01,-9.73183022e-01,-5.51640827e+00, 1.86842341e+01,
 -3.95650498e-01, 6.67782597e-01,-9.13245203e+00,-1.05978189e+01,
  8.57246128e+01, 1.82888839e+00]

qfrc_actuator:
[ 2.40978312e-03, 2.76006989e-02, 8.71501330e-03, 1.55555565e-03,
 -1.20724457e-05, 2.73814076e-02, 8.63476214e-03, 1.60167925e-03,
 -2.38231239e-03, 2.74337134e-02, 8.74054877e-03, 1.74126908e-03,
  3.80865414e-03,-1.74695519e-03, 0.00000000e+00,-2.20116858e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.79156959e-06,-4.66477532e-07,-1.92564487e-06,-5.74570884e-06,
  3.75406203e-05,-5.66534201e-06, 2.23226403e-05,-8.25965222e-06,
  3.57980409e-05,-7.86903812e-05,-9.47151411e-05, 1.48643110e-05,
 -3.63048937e-05,-4.08200546e-05,-4.38789430e-06, 8.91321191e-05,
 -2.28307146e-02, 6.95783101e-01,-5.93885806e+00,-2.93703708e-02,
 -6.68870697e-02, 1.33019115e-03]


--- Step 1493 ---
qpos:
[-5.57187293e-04, 8.77202906e-01,-2.02560875e-02,-2.75571326e-02,
  7.63502024e-03, 8.64621155e-01,-2.79681126e-02, 9.46297632e-03,
  2.21937293e-02, 8.72934488e-01,-2.02141432e-02, 2.24641298e-02,
  1.33596976e+00,-1.00187648e-02, 9.96505648e-01, 6.14504926e-02,
 -6.37689683e-01, 3.42151585e-02, 6.85717074e-02, 6.65003892e-01,
 -3.53593448e-01,-6.15979775e-01,-2.30890480e-01]

qacc:
[ 1.28433127e-01,-3.67806646e-01,-7.60941014e-02, 4.68198248e+00,
  1.22736403e-01, 2.78947763e+00,-1.22256379e+01, 2.34670782e+01,
  1.51583299e-01, 1.10814105e+00,-3.81280040e+00, 2.06704755e+00,
 -2.02623635e-01, 1.76998094e-01, 4.28109416e+00,-1.44980689e+01,
 -3.84181561e-01, 6.78916027e-01,-9.13696614e+00,-8.25999114e+00,
  8.60769681e+01, 1.42204544e+00]

qfrc_actuator:
[ 2.43221327e-03, 2.76021276e-02, 8.73376983e-03, 1.57126992e-03,
 -7.58542647e-06, 2.73906965e-02, 8.61020205e-03, 1.63217424e-03,
 -2.37136730e-03, 2.74340900e-02, 8.71406809e-03, 1.73397549e-03,
  3.80252803e-03,-1.74498820e-03, 0.00000000e+00,-2.27366684e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.37739081e-05, 5.31840209e-07, 1.82313380e-05, 1.55187298e-05,
  2.23534560e-05, 1.04030605e-05,-2.32530713e-05, 3.08672751e-05,
  2.81592909e-05,-6.25320897e-05,-5.38828531e-05,-1.36550103e-05,
 -3.67389366e-05,-1.52785941e-05, 4.13228924e-06,-6.89938446e-05,
 -2.80120260e-03, 7.14182817e-01,-5.94449555e+00,-3.27923555e-02,
 -6.57600691e-02, 1.58333674e-03]


--- Step 1494 ---
qpos:
[-5.56717714e-04, 8.77202652e-01,-2.02561695e-02,-2.75579157e-02,
  7.63460948e-03, 8.64620701e-01,-2.79694138e-02, 9.46259754e-03,
  2.21943842e-02, 8.72933561e-01,-2.02153698e-02, 2.24660548e-02,
  1.33612462e+00,-1.00190213e-02, 9.96738293e-01, 6.14495953e-02,
 -6.44736881e-01, 3.48105354e-02, 6.86241643e-02, 6.67294380e-01,
 -3.68875532e-01,-6.08091739e-01,-2.21073494e-01]

qacc:
[ 1.33257929e-01,-6.10372853e-01, 9.64271125e-01, 2.30561168e+00,
 -2.41841979e-02,-4.21556011e-01, 1.23275618e+00,-1.04822225e+00,
  1.06273116e-01, 2.93038080e+00,-1.39057177e+01, 2.93676658e+01,
 -1.05010404e+00, 1.88737989e+00, 1.45390826e+01,-4.97619691e+01,
 -3.72591189e-01, 6.89875039e-01,-9.14132998e+00,-5.91106884e+00,
  8.63455987e+01, 1.01064946e+00]

qfrc_actuator:
[ 2.44543789e-03, 2.75853144e-02, 8.74498852e-03, 1.58092042e-03,
 -2.26406021e-05, 2.73785604e-02, 8.61406804e-03, 1.63250933e-03,
 -2.36515565e-03, 2.74881749e-02, 8.71668276e-03, 1.78253887e-03,
  3.78794848e-03,-1.70792936e-03, 0.00000000e+00,-2.51312973e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.46628585e-05,-1.20780179e-05, 1.41159492e-05, 1.06082835e-05,
 -4.41503717e-06,-9.77602336e-06, 4.23206490e-06, 5.79721231e-07,
  1.97512106e-05, 7.43631838e-06,-1.73985805e-05, 4.37541777e-05,
 -3.96402586e-05, 2.54438613e-05,-1.09253813e-05,-2.43985667e-04,
  1.73814328e-02, 7.32280505e-01,-5.95047526e+00,-3.61637995e-02,
 -6.44817583e-02, 1.83391543e-03]


--- Step 1495 ---
qpos:
[-5.56230407e-04, 8.77202324e-01,-2.02564035e-02,-2.75585588e-02,
  7.63427011e-03, 8.64620096e-01,-2.79703084e-02, 9.46152087e-03,
  2.21948038e-02, 8.72933197e-01,-2.02170409e-02, 2.24671091e-02,
  1.33627913e+00,-1.00188374e-02, 9.96970411e-01, 6.14495120e-02,
 -6.51785523e-01, 3.54087151e-02, 6.86400389e-02, 6.69422559e-01,
 -3.83978236e-01,-5.99844563e-01,-2.11236013e-01]

qacc:
[ 9.15055249e-03, 6.14970814e-01,-2.92501094e+00, 5.64396195e+00,
  3.77659477e-02,-2.76824854e+00, 1.25307519e+01,-2.51527756e+01,
 -1.22774660e-01, 1.96011691e-01, 4.05920890e+00,-1.88329260e+01,
 -5.61239171e-01, 1.05658664e+00,-3.19997177e+00, 1.01451470e+01,
 -3.60856015e-01, 7.00683741e-01,-9.14554657e+00,-3.55364332e+00,
  8.65300472e+01, 5.96276398e-01]

qfrc_actuator:
[ 2.43527861e-03, 2.75754323e-02, 8.73382585e-03, 1.58689881e-03,
 -1.37290216e-05, 2.73715228e-02, 8.63459224e-03, 1.59734655e-03,
 -2.39731886e-03, 2.75386896e-02, 8.70120920e-03, 1.73937813e-03,
  3.77364993e-03,-1.68593732e-03, 0.00000000e+00,-2.45842463e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.70539885e-06,-1.32569261e-05,-1.15477267e-05, 6.15789218e-06,
  6.80900285e-06,-1.15840573e-05, 1.90611907e-05,-3.54205717e-05,
 -2.26620398e-05, 5.29865817e-05,-1.45528121e-05,-4.25924499e-05,
 -3.19107547e-05, 1.89046278e-05,-3.76304505e-05, 3.84479518e-05,
  3.77173831e-02, 7.50077695e-01,-5.95679639e+00,-3.94782715e-02,
 -6.30545340e-02, 2.08163579e-03]


--- Step 1496 ---
qpos:
[-5.55984178e-04, 8.77201844e-01,-2.02564362e-02,-2.75594848e-02,
  7.63383557e-03, 8.64619691e-01,-2.79711189e-02, 9.46035364e-03,
  2.21947255e-02, 8.72933163e-01,-2.02190488e-02, 2.24662796e-02,
  1.33643359e+00,-1.00191909e-02, 9.97201864e-01, 6.14533622e-02,
 -6.58772617e-01, 3.58307750e-02, 6.86187452e-02, 6.71399482e-01,
 -3.92089566e-01,-5.91889759e-01,-2.12497105e-01]

qacc:
[-1.25107022e-01,-1.34634164e+00, 5.69994628e+00,-1.08009758e+01,
 -5.00092790e-02,-1.57201493e-01, 1.32591112e+00,-3.17482742e+00,
 -2.59131601e-01,-2.49832204e+00, 1.74973503e+01,-4.98106221e+01,
  6.21133558e-01,-1.37758444e+00,-1.28997426e+01, 4.36113877e+01,
  1.53869340e+01,-4.40299447e+01,-9.29207935e+00,-9.86687347e+02,
  2.72605990e+03,-5.88434801e+03]

qfrc_actuator:
[ 2.41122485e-03, 2.75696789e-02, 8.74506570e-03, 1.57290636e-03,
 -2.60417895e-05, 2.74031377e-02, 8.64702063e-03, 1.59485091e-03,
 -2.43439608e-03, 2.75333003e-02, 8.67510767e-03, 1.64257179e-03,
  3.75952773e-03,-1.72633781e-03, 0.00000000e+00,-2.24853032e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.90597191, -4.28808715, -5.41338679, -4.28808715,  2.76524915,
        3.27997623, -5.41338679,  3.27997623,  4.3078158 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006571508738740933
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.68719359,  0.10433312,  0.04967142])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32338642e-05,-1.52776837e-05, 7.29779282e-06,-1.48377363e-05,
 -9.07320185e-06, 2.75804069e-05, 1.11719718e-05,-3.01783955e-06,
 -4.79755538e-05, 1.94273932e-05,-1.84090217e-05,-9.58663349e-05,
 -2.86251128e-05,-4.32275362e-05,-1.55316087e-05, 2.06623195e-04,
  5.82072512e-02, 7.67575367e-01,-5.96345892e+00,-4.27294574e-02,
 -6.14810702e-02, 2.32621334e-03]


--- Step 1497 ---
qpos:
[-5.55818998e-04, 8.77201260e-01,-2.02563504e-02,-2.75605717e-02,
  7.63346674e-03, 8.64619689e-01,-2.79719088e-02, 9.45948831e-03,
  2.21945487e-02, 8.72933234e-01,-2.02211345e-02, 2.24663799e-02,
  1.33658780e+00,-1.00199224e-02, 9.97433424e-01, 6.14576431e-02,
 -6.65678844e-01, 3.60834807e-02, 6.86600205e-02, 6.71589284e-01,
 -3.93443118e-01,-5.86222676e-01,-2.24751685e-01]

qacc:
[-4.20137601e-02,-8.00362980e-01, 3.33152354e+00,-6.22647316e+00,
  3.44026868e-02, 1.09500274e+00,-4.40704597e+00, 9.30404323e+00,
 -5.12317830e-02, 2.26806306e+00,-1.18137552e+01, 2.79565050e+01,
  1.28051311e-01,-5.70416521e-01,-1.15733431e+00, 4.24622631e+00,
  2.02165206e+01,-4.23385284e+01, 1.56422358e+01,-1.09223345e+03,
  1.57641354e+03,-6.32897902e+03]

qfrc_actuator:
[ 2.41459138e-03, 2.75665102e-02, 8.75170189e-03, 1.56505106e-03,
 -1.54459064e-05, 2.74399015e-02, 8.65475142e-03, 1.61162738e-03,
 -2.42080707e-03, 2.75476352e-02, 8.67820459e-03, 1.69246597e-03,
  3.73484464e-03,-1.75011436e-03, 0.00000000e+00,-2.23300970e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.32801279, -3.21102198, -4.25171238, -3.21102198,  2.06388058,
        2.46517152, -4.25171238,  2.46517152,  3.46624059,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00046253334284931946
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.68123627,  0.08994767,  0.04976873])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.81229675e-06,-1.08298502e-05, 3.87224711e-06,-8.54309118e-06,
  6.28083667e-06, 5.43808502e-05, 1.47104717e-05, 1.82897978e-05,
 -9.49172912e-06, 1.72995248e-05, 1.54208415e-06, 4.82288665e-05,
 -5.13551662e-05,-3.98200364e-05, 1.33576999e-05, 2.44364291e-05,
 -1.09860260e+00, 8.33101931e-01,-6.78138557e+00,-1.23889094e-02,
 -1.07008002e-01,-9.42010909e-04]


--- Step 1498 ---
qpos:
[-5.55119372e-04, 8.77200808e-01,-2.02566087e-02,-2.75610520e-02,
  7.63319687e-03, 8.64620434e-01,-2.79731077e-02, 9.45985169e-03,
  2.21942262e-02, 8.72933190e-01,-2.02222615e-02, 2.24673776e-02,
  1.33674154e+00,-1.00203831e-02, 9.97665015e-01, 6.14620906e-02,
 -6.72425291e-01, 3.63860841e-02, 6.89302460e-02, 6.67154854e-01,
 -3.91030787e-01,-5.87028919e-01,-2.39575402e-01]

qacc:
[ 2.77481724e-01, 2.38579232e+00,-1.08067229e+01, 2.17447621e+01,
  5.15334630e-02, 4.65303590e+00,-2.03510707e+01, 4.17282297e+01,
 -7.50193063e-02,-9.82456036e-01,-5.05232888e-01, 1.45890431e+01,
 -5.64214902e-01, 8.96190214e-01,-4.21573646e-01, 1.62019864e+00,
  3.99452236e+01, 1.24743888e+01, 5.72375475e+01, 3.29245508e+02,
 -2.60058703e+03,-3.75980066e+03]

qfrc_actuator:
[ 2.46985175e-03, 2.75826579e-02, 8.73782550e-03, 1.59637448e-03,
 -8.98026858e-06, 2.74972240e-02, 8.64194080e-03, 1.67511615e-03,
 -2.43027645e-03, 2.75561448e-02, 8.73420159e-03, 1.73955703e-03,
  3.71982278e-03,-1.72835550e-03, 0.00000000e+00,-2.22566807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.13459028, -0.64332479, -4.08423433, -0.64332479,  0.16238488,
        0.62567865, -4.08423433,  0.62567865,  4.03603703,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -9.756224639551753e-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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.61566252,  0.00162451,  0.04995122])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.15017932e-05, 1.05393373e-05,-1.59259598e-05, 3.08300612e-05,
  9.46117999e-06, 9.15611237e-05, 8.73542973e-07, 6.66862058e-05,
 -1.40361510e-05, 2.05816132e-05, 6.14445102e-05, 4.88273061e-05,
 -5.39942775e-05, 1.16563718e-06, 3.70716182e-06, 9.21051281e-06,
 -1.08770854e+00, 2.33679011e+00,-8.71272668e+00,-7.91096617e-02,
 -1.97159671e-01,-2.65363927e-03]


--- Step 1499 ---
qpos:
[-5.54008931e-04, 8.77200228e-01,-2.02566948e-02,-2.75604652e-02,
  7.63282930e-03, 8.64621661e-01,-2.79749475e-02, 9.46171381e-03,
  2.21937768e-02, 8.72933093e-01,-2.02226060e-02, 2.24678999e-02,
  1.33689497e+00,-1.00208933e-02, 9.97896829e-01, 6.14645799e-02,
 -6.79174316e-01, 3.66941112e-02, 6.91607978e-02, 6.62413265e-01,
 -3.88587325e-01,-5.87819383e-01,-2.54316594e-01]

qacc:
[ 2.13665234e-01, 1.54911159e+00,-1.02610055e+01, 2.85244716e+01,
 -5.18063294e-02, 5.50666573e+00,-2.50423059e+01, 5.16595965e+01,
 -6.54171054e-02,-3.23415676e+00, 1.34366358e+01,-2.28760904e+01,
 -3.00088253e-01, 3.16172651e-01, 6.25485484e+00,-2.13747424e+01,
 -6.44662257e-01, 1.35596005e+00,-9.91842995e+00,-2.73392501e+01,
 -9.73015562e+01,-1.53189801e+01]

qfrc_actuator:
[ 2.48465482e-03, 2.75746953e-02, 8.74756209e-03, 1.65050196e-03,
 -2.28049456e-05, 2.74953665e-02, 8.59947413e-03, 1.74783210e-03,
 -2.43574167e-03, 2.75435839e-02, 8.76767539e-03, 1.71361626e-03,
  3.70530007e-03,-1.73303112e-03, 0.00000000e+00,-2.32965789e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.95837270e-05,-4.02056337e-06, 1.10232497e-05, 5.46288804e-05,
 -9.31145594e-06, 5.23712503e-05,-2.11381364e-05, 7.79669874e-05,
 -1.22183585e-05, 1.37378691e-05, 4.69913302e-05,-2.19818748e-05,
 -4.55522339e-05,-1.67514292e-05,-2.21211274e-06,-1.04148327e-04,
 -5.48470086e-01, 1.18999808e+00,-9.57475194e+00,-7.11449944e-02,
 -2.49263160e-01,-1.50914017e-04]


--- Step 1500 ---
qpos:
[-5.52431609e-04, 8.77199641e-01,-2.02569627e-02,-2.75592253e-02,
  7.63233052e-03, 8.64622894e-01,-2.79764181e-02, 9.46304348e-03,
  2.21934193e-02, 8.72933192e-01,-2.02234277e-02, 2.24681636e-02,
  1.33704799e+00,-1.00211535e-02, 9.98128645e-01, 6.14654664e-02,
 -6.85925849e-01, 3.70075523e-02, 6.93517217e-02, 6.57365541e-01,
 -3.86114747e-01,-5.88593242e-01,-2.68968295e-01]

qacc:
[ 2.42522922e-01, 1.84385369e+00,-9.33737494e+00, 2.09215764e+01,
 -6.87165008e-02,-2.11599576e+00, 9.80822459e+00,-1.96225096e+01,
  4.73365407e-02, 1.06061895e+00,-2.31239839e+00,-1.54635027e+00,
 -6.05759896e-01, 9.61889796e-01, 4.87891666e+00,-1.69846178e+01,
 -6.26914785e-01, 1.35348689e+00,-9.90695054e+00,-2.56476905e+01,
 -9.81660512e+01,-1.46201411e+01]

qfrc_actuator:
[ 2.51059863e-03, 2.75702265e-02, 8.73558261e-03, 1.68210345e-03,
 -3.08940985e-05, 2.74757193e-02, 8.61061992e-03, 1.71880705e-03,
 -2.42101235e-03, 2.75361188e-02, 8.73417007e-03, 1.69812810e-03,
  3.68575343e-03,-1.71784998e-03, 0.00000000e+00,-2.40962522e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.49880200e-05,-2.08681013e-06,-9.55835944e-06, 3.28743203e-05,
 -1.25153257e-05, 8.59373176e-06, 2.20580885e-05,-2.59970868e-05,
  8.85156369e-06, 8.98286597e-06,-2.56371305e-05,-1.37011651e-05,
 -5.01145443e-05, 1.21762232e-06,-1.76578193e-05,-8.72349117e-05,
 -5.24638650e-01, 1.19897102e+00,-9.57179822e+00,-6.52418529e-02,
 -2.51007517e-01,-3.44009510e-04]


--- Step 1501 ---
qpos:
[-5.50477608e-04, 8.77199262e-01,-2.02577412e-02,-2.75576209e-02,
  7.63153522e-03, 8.64624406e-01,-2.79777955e-02, 9.46330909e-03,
  2.21931987e-02, 8.72933198e-01,-2.02245070e-02, 2.24679175e-02,
  1.33720070e+00,-1.00215063e-02, 9.98360334e-01, 6.14653588e-02,
 -6.92679823e-01, 3.73263966e-02, 6.95030618e-02, 6.52012911e-01,
 -3.83615110e-01,-5.89349654e-01,-2.83523538e-01]

qacc:
[ 1.95363717e-01, 2.45226212e+00,-9.87875947e+00, 1.68426132e+01,
 -1.55861136e-01,-2.08009940e+00, 1.24451488e+01,-3.12185679e+01,
  7.09670392e-02,-4.52508287e-01, 3.58761021e+00,-1.19316987e+01,
 -1.96480120e-01, 1.26048660e-01, 2.82251432e+00,-1.01294231e+01,
 -6.10153070e-01, 1.35079467e+00,-9.89596764e+00,-2.39303814e+01,
 -9.89846195e+01,-1.38963101e+01]

qfrc_actuator:
[ 2.52525386e-03, 2.75855369e-02, 8.71085850e-03, 1.70017654e-03,
 -5.32219940e-05, 2.74989386e-02, 8.61767403e-03, 1.66567437e-03,
 -2.41208685e-03, 2.75137293e-02, 8.71468188e-03, 1.67113228e-03,
  3.66854008e-03,-1.72653996e-03, 0.00000000e+00,-2.45699854e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.63003937e-05, 1.35927756e-05,-2.51917387e-05, 1.82918480e-05,
 -2.82833120e-05, 3.14451233e-05, 1.06470108e-05,-5.25085160e-05,
  1.31856795e-05,-2.32448837e-05,-2.12602534e-05,-2.77641567e-05,
 -4.63167834e-05,-1.96826159e-05,-2.20961807e-05,-5.54898647e-05,
 -5.01119997e-01, 1.20759666e+00,-9.56883889e+00,-5.92820382e-02,
 -2.52605443e-01,-5.35354698e-04]


--- Step 1502 ---
qpos:
[-5.48814219e-04, 8.77198826e-01,-2.02584243e-02,-2.75561657e-02,
  7.63083572e-03, 8.64626097e-01,-2.79787791e-02, 9.46292757e-03,
  2.21932838e-02, 8.72933028e-01,-2.02252341e-02, 2.24673182e-02,
  1.33735311e+00,-1.00219473e-02, 9.98591996e-01, 6.14636421e-02,
 -6.99436174e-01, 3.76506327e-02, 6.96148598e-02, 6.46356824e-01,
 -3.81090511e-01,-5.90087759e-01,-2.97975359e-01]

qacc:
[-1.50938414e-01,-6.48475233e-01, 2.83204653e+00,-5.52215030e+00,
  5.04689235e-02,-2.19298439e+00, 1.08967485e+01,-2.28613694e+01,
  1.59098762e-01,-1.94224139e+00, 8.07967477e+00,-1.46256842e+01,
 -2.42566157e-01, 1.97715246e-01, 4.82831142e+00,-1.69280761e+01,
 -5.94361678e-01, 1.34796053e+00,-9.88551100e+00,-2.21885561e+01,
 -9.97558288e+01,-1.31485628e+01]

qfrc_actuator:
[ 2.47978150e-03, 2.75769973e-02, 8.71439439e-03, 1.69240727e-03,
 -3.06174274e-05, 2.75120984e-02, 8.64015419e-03, 1.63432695e-03,
 -2.38897279e-03, 2.75181018e-02, 8.73908049e-03, 1.65533915e-03,
  3.65273038e-03,-1.73155722e-03, 0.00000000e+00,-2.53804088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.80048382e-05,-5.34559076e-06, 3.87743772e-06,-7.70450543e-06,
  9.14783972e-06, 3.06633215e-05, 2.84678172e-05,-3.06538938e-05,
  2.94554060e-05,-1.41972955e-05, 1.60259678e-05,-1.80635785e-05,
 -4.75952879e-05,-1.97631849e-05,-2.00723842e-05,-8.78414548e-05,
 -4.77912702e-01, 1.21590874e+00,-9.56588157e+00,-5.32701388e-02,
 -2.54054592e-01,-7.24862476e-04]


--- Step 1503 ---
qpos:
[-5.47578919e-04, 8.77198511e-01,-2.02590963e-02,-2.75555225e-02,
  7.63051246e-03, 8.64627535e-01,-2.79786832e-02, 9.46149057e-03,
  2.21938419e-02, 8.72932304e-01,-2.02255058e-02, 2.24669209e-02,
  1.33750516e+00,-1.00221939e-02, 9.98823314e-01, 6.14626100e-02,
 -7.06194843e-01, 3.79802491e-02, 6.96871554e-02, 6.40398939e-01,
 -3.78543083e-01,-5.90806686e-01,-3.12316814e-01]

qacc:
[  -0.22251541,  -1.54533349,   9.15869649, -23.29975589,   0.19833316,
   -5.51774454,  23.64821832, -43.46279965,   0.24628097,  -1.58813618,
    3.74734091,  -0.57036988,  -0.37842482,   0.59209746,  -2.55042531,
    8.2379336 ,  -0.57951956,   1.34506131,  -9.87560844, -20.42352121,
 -100.47830361, -12.37803997]

qfrc_actuator:
[ 2.45200709e-03, 2.75898342e-02, 8.71673192e-03, 1.65174789e-03,
  9.20263344e-07, 2.74837052e-02, 8.68930474e-03, 1.58055411e-03,
 -2.35756917e-03, 2.74676410e-02, 8.75379918e-03, 1.66406752e-03,
  3.64310023e-03,-1.71658559e-03, 0.00000000e+00,-2.49625103e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.12474499e-05, 1.03252749e-05, 1.45029158e-06,-4.09043816e-05,
  3.58954045e-05,-6.71184577e-06, 5.79248483e-05,-5.20710779e-05,
  4.55733181e-05,-5.58496072e-05, 1.31428773e-05, 8.32473996e-06,
 -4.21968109e-05,-7.69265924e-08,-2.30172699e-05, 3.33894605e-05,
 -4.55012746e-01, 1.22394088e+00,-9.56293324e+00,-4.72108819e-02,
 -2.55352800e-01,-9.12450117e-04]


--- Step 1504 ---
qpos:
[-5.46909197e-04, 8.77198239e-01,-2.02594449e-02,-2.75553835e-02,
  7.63056563e-03, 8.64628678e-01,-2.79781825e-02, 9.45947305e-03,
  2.21946338e-02, 8.72930817e-01,-2.02257348e-02, 2.24670333e-02,
  1.33765703e+00,-1.00225808e-02, 9.99054214e-01, 6.14640492e-02,
 -7.12955775e-01, 3.83152342e-02, 6.97199859e-02, 6.34141134e-01,
 -3.75974993e-01,-5.91505551e-01,-3.26540978e-01]

qacc:
[-2.93727431e-01,-1.88448109e+00, 8.92565348e+00,-1.81906653e+01,
  1.98055563e-01,-2.71117466e+00, 1.15563861e+01,-2.20382283e+01,
  1.21753592e-01,-7.95160784e-02,-3.33328341e+00, 1.26491957e+01,
  1.18685259e-01,-3.56018869e-01,-8.08874880e+00, 2.73813074e+01,
 -5.65600103e-01, 1.34217312e+00,-9.86628573e+00,-1.86366539e+01,
 -1.01150731e+02,-1.15859452e+01]

qfrc_actuator:
[ 2.41735255e-03, 2.75975904e-02, 8.73614920e-03, 1.62758218e-03,
  1.97464387e-05, 2.74484941e-02, 8.70035635e-03, 1.54949850e-03,
 -2.35698671e-03, 2.74024811e-02, 8.74471316e-03, 1.68709486e-03,
  3.63719325e-03,-1.72537324e-03, 0.00000000e+00,-2.36465922e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.44966004e-05, 1.20827399e-05, 2.03189941e-05,-2.44693735e-05,
  3.59095606e-05,-2.92605512e-05, 1.49898206e-05,-3.03525223e-05,
  2.25010019e-05,-9.32929003e-05,-1.87065451e-05, 2.12522049e-05,
 -3.06196571e-05,-1.82861318e-05,-1.01508193e-05, 1.29740870e-04,
 -4.32413540e-01, 1.23172633e+00,-9.56000022e+00,-4.11091252e-02,
 -2.56498091e-01,-1.09803944e-03]


--- Step 1505 ---
qpos:
[-5.46726619e-04, 8.77198043e-01,-2.02595685e-02,-2.75555329e-02,
  7.63091372e-03, 8.64629841e-01,-2.79780109e-02, 9.45849141e-03,
  2.21955369e-02, 8.72928634e-01,-2.02254835e-02, 2.24670369e-02,
  1.33780885e+00,-1.00231457e-02, 9.99285248e-01, 6.14650120e-02,
 -7.19718917e-01, 3.86555767e-02, 6.97133861e-02, 6.27585502e-01,
 -3.73388440e-01,-5.92183457e-01,-3.40640961e-01]

qacc:
[-2.53032756e-01,-1.12277371e+00, 5.36218934e+00,-1.07612441e+01,
  1.54754415e-01, 3.07480049e+00,-1.53010488e+01, 3.37457083e+01,
  5.83395975e-02,-2.48374764e+00, 7.98241867e+00,-1.01221257e+01,
  7.22868306e-02,-2.61110421e-01, 1.62996889e+00,-5.42956862e+00,
 -5.52571165e-01, 1.33937094e+00,-9.85756641e+00,-1.68293987e+01,
 -1.01771865e+02,-1.07735423e+01]

qfrc_actuator:
[ 2.39663128e-03, 2.76023265e-02, 8.74774503e-03, 1.61332975e-03,
  3.07950103e-05, 2.74625918e-02, 8.68879157e-03, 1.60303098e-03,
 -2.35709421e-03, 2.73821908e-02, 8.77483282e-03, 1.68280785e-03,
  3.64416850e-03,-1.73040696e-03, 0.00000000e+00,-2.39427839e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.69382179e-05, 1.46421651e-05, 1.57520226e-05,-1.35073218e-05,
  2.81361770e-05,-4.92514508e-07,-1.68218914e-05, 5.22069192e-05,
  1.07042356e-05,-7.53712744e-05, 9.29438838e-06,-8.51658316e-06,
 -1.50783536e-05,-1.59991881e-05, 6.48362426e-06,-2.44649180e-05,
 -4.10105948e-01, 1.23929782e+00,-9.55708816e+00,-3.49698472e-02,
 -2.57488689e-01,-1.28155697e-03]


--- Step 1506 ---
qpos:
[-5.46352508e-04, 8.77198158e-01,-2.02599288e-02,-2.75558502e-02,
  7.63128226e-03, 8.64631018e-01,-2.79780512e-02, 9.45918713e-03,
  2.21964883e-02, 8.72925927e-01,-2.02241031e-02, 2.24669210e-02,
  1.33796043e+00,-1.00234687e-02, 9.99516445e-01, 6.14642785e-02,
 -7.26484220e-01, 3.90012662e-02, 6.96673884e-02, 6.20734355e-01,
 -3.70785650e-01,-5.92839500e-01,-3.54609912e-01]

qacc:
[ 9.92667447e-02, 7.25594673e-01,-1.28578566e+00,-1.46380769e+00,
  1.07052742e-02, 4.05722794e+00,-2.15267061e+01, 5.08927959e+01,
  2.59603849e-02,-4.09153654e+00, 1.40890007e+01,-1.75762426e+01,
 -4.71985446e-01, 8.16265353e-01, 5.38952337e+00,-1.84447858e+01,
 -5.40395220e-01, 1.33672819e+00,-9.84947165e+00,-1.50032647e+01,
 -1.02340535e+02,-9.94215308e+00]

qfrc_actuator:
[ 2.43767567e-03, 2.76229537e-02, 8.73686426e-03, 1.60501105e-03,
  1.93553406e-05, 2.74705728e-02, 8.68198153e-03, 1.68817949e-03,
 -2.35758671e-03, 2.73890599e-02, 8.84577387e-03, 1.68029952e-03,
  3.63223942e-03,-1.71534171e-03, 0.00000000e+00,-2.48315975e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.84638642e-05, 3.14893129e-05,-6.38090731e-06,-7.40864529e-06,
  1.95097023e-06, 6.44398794e-06,-7.18691162e-06, 8.55603829e-05,
  4.64439753e-06,-3.36708458e-05, 5.62388096e-05,-5.57963936e-06,
 -2.45966042e-05, 8.28436459e-06,-4.57162865e-06,-9.05486475e-05,
 -3.88078337e-01, 1.24668737e+00,-9.55420192e+00,-2.87981371e-02,
 -2.58323023e-01,-1.46293410e-03]


--- Step 1507 ---
qpos:
[-5.45449170e-04, 8.77198423e-01,-2.02601296e-02,-2.75555811e-02,
  7.63140085e-03, 8.64632168e-01,-2.79778670e-02, 9.46087214e-03,
  2.21972710e-02, 8.72923865e-01,-2.02232326e-02, 2.24670829e-02,
  1.33811171e+00,-1.00228630e-02, 9.99747748e-01, 6.14611378e-02,
 -7.33251640e-01, 3.93522929e-02, 6.95820226e-02, 6.13590222e-01,
 -3.68168875e-01,-5.93472767e-01,-3.68441032e-01]

qacc:
[ 2.75072675e-01, 9.61181246e-01,-5.60730290e+00, 1.53768273e+01,
 -1.31086873e-01, 1.37279356e+00,-9.12334880e+00, 2.59082028e+01,
 -8.81322140e-02, 2.84778829e+00,-1.00908141e+01, 1.52404442e+01,
 -1.09903126e+00, 2.26475724e+00, 7.50167743e+00,-2.58483888e+01,
 -5.29029482e-01, 1.33431635e+00,-9.84202017e+00,-1.31598212e+01,
 -1.02855644e+02,-9.09315394e+00]

qfrc_actuator:
[ 2.47979037e-03, 2.76350982e-02, 8.74837467e-03, 1.63575268e-03,
 -5.42078387e-06, 2.74748828e-02, 8.69579138e-03, 1.73798390e-03,
 -2.37604438e-03, 2.74655894e-02, 8.83385094e-03, 1.69666521e-03,
  3.64094159e-03,-1.65306066e-03, 0.00000000e+00,-2.60618783e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.10019722e-05, 2.81195590e-05, 1.69726948e-05, 3.17247237e-05,
 -2.38479601e-05, 1.00662117e-05, 1.72064675e-05, 5.14942811e-05,
 -1.62324209e-05, 6.91336500e-05,-1.21317241e-05, 1.67624055e-05,
 -3.95817778e-06, 5.87657304e-05,-1.69565135e-05,-1.29770884e-04,
 -3.66316641e-01, 1.25392608e+00,-9.55134557e+00,-2.25991843e-02,
 -2.58999735e-01,-1.64210715e-03]


--- Step 1508 ---
qpos:
[-5.43851890e-04, 8.77199177e-01,-2.02603147e-02,-2.75553252e-02,
  7.63124575e-03, 8.64633227e-01,-2.79774156e-02, 9.46245566e-03,
  2.21980398e-02, 8.72922506e-01,-2.02231434e-02, 2.24671052e-02,
  1.33826307e+00,-1.00218974e-02, 9.99979006e-01, 6.14558512e-02,
 -7.40021133e-01, 3.97086485e-02, 6.94573159e-02, 6.06155849e-01,
 -3.65540387e-01,-5.94082340e-01,-3.82127577e-01]

qacc:
[ 3.60430880e-01, 5.74312167e-01,-1.05494022e+00, 4.42251604e-01,
 -1.43562462e-01,-1.07486808e+00, 4.08709569e+00,-6.20549203e+00,
 -8.03773969e-03, 2.82334992e+00,-8.12923499e+00, 6.44300539e+00,
 -3.28148995e-01, 8.04747166e-01, 6.43679697e+00,-2.25633106e+01,
 -5.18426087e-01, 1.33220452e+00,-9.83522804e+00,-1.13006944e+01,
 -1.03316183e+02,-8.22797288e+00]

qfrc_actuator:
[ 2.52213295e-03, 2.76776938e-02, 8.75526551e-03, 1.63598558e-03,
 -2.01839185e-05, 2.74592719e-02, 8.70386891e-03, 1.73109369e-03,
 -2.36957829e-03, 2.74941921e-02, 8.79114969e-03, 1.68850050e-03,
  3.65671067e-03,-1.63424417e-03, 0.00000000e+00,-2.71280937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 6.68826908e-05, 6.31811680e-05, 1.58842124e-05, 2.64024976e-06,
 -2.61132163e-05,-4.25668320e-06, 1.40460003e-05,-4.86533326e-06,
 -1.33948158e-06, 6.55156000e-05,-2.93264690e-05,-5.29379130e-06,
  2.65937592e-05, 3.14213453e-05,-2.66221183e-05,-1.17040234e-04,
 -3.44804433e-01, 1.26104396e+00,-9.54852237e+00,-1.63782668e-02,
 -2.59517687e-01,-1.81901753e-03]


--- Step 1509 ---
qpos:
[-5.42036539e-04, 8.77200513e-01,-2.02607135e-02,-2.75557556e-02,
  7.63105604e-03, 8.64634117e-01,-2.79770569e-02, 9.46363477e-03,
  2.21988389e-02, 8.72921273e-01,-2.02225002e-02, 2.24666661e-02,
  1.33841426e+00,-1.00207542e-02, 1.00021005e+00, 6.14496217e-02,
 -7.46792661e-01, 4.00703258e-02, 6.92932928e-02, 5.98434197e-01,
 -3.62902479e-01,-5.94667296e-01,-3.95662873e-01]

qacc:
[ 1.12955430e-01,-4.72357115e-02, 4.17358558e+00,-1.61189122e+01,
 -1.82049512e-02,-7.95518905e-01, 4.22075871e+00,-1.09486322e+01,
  1.61020612e-02,-2.33027726e+00, 1.04985663e+01,-1.94624590e+01,
 -3.08154437e-01, 5.43764803e-01, 2.55345433e+00,-9.34576610e+00,
 -5.08532301e-01, 1.33045905e+00,-9.82910865e+00,-9.42756249e+00,
 -1.03721226e+02,-7.34808583e+00]

qfrc_actuator:
[ 2.51097796e-03, 2.77026562e-02, 8.74171191e-03, 1.60052569e-03,
 -1.10629202e-05, 2.74317840e-02, 8.69062187e-03, 1.70863443e-03,
 -2.36599769e-03, 2.74937227e-02, 8.81921991e-03, 1.66592393e-03,
  3.61811206e-03,-1.64130909e-03, 0.00000000e+00,-2.75562753e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.10291537e-05, 6.36727435e-05, 1.53513787e-06,-3.21572137e-05,
 -3.30811058e-06,-2.72102357e-05,-1.25779230e-05,-2.22544847e-05,
  2.94166140e-06, 2.99149343e-05, 3.78168757e-05,-2.08848460e-05,
 -1.66648225e-05, 6.63692938e-06,-2.86811444e-05,-5.35626711e-05,
 -3.23523022e-01, 1.26806975e+00,-9.54573471e+00,-1.01407394e-02,
 -2.59875966e-01,-1.99361177e-03]


--- Step 1510 ---
qpos:
[-5.40562930e-04, 8.77201718e-01,-2.02607046e-02,-2.75562127e-02,
  7.63090816e-03, 8.64635029e-01,-2.79766439e-02, 9.46415583e-03,
  2.21987503e-02, 8.72920766e-01,-2.02223279e-02, 2.24659533e-02,
  1.33856504e+00,-1.00194670e-02, 1.00044046e+00, 6.14465624e-02,
 -7.53566185e-01, 4.04373198e-02, 6.90899750e-02, 5.90428440e-01,
 -3.60257457e-01,-5.95226711e-01,-4.09040321e-01]

qacc:
[-1.77283862e-01,-1.36803359e+00, 4.73809803e+00,-5.75671240e+00,
  2.19602211e-02,-1.47660998e+00, 8.08508663e+00,-1.95789334e+01,
 -4.61864911e-01, 1.71259427e+00,-3.55703992e+00,-9.62301841e-01,
 -2.51285097e-01, 3.29421211e-01,-1.05023010e+01, 3.54031001e+01,
 -4.99290765e-01, 1.32914312e+00,-9.82367260e+00,-7.54215148e+00,
 -1.04069940e+02,-6.45501295e+00]

qfrc_actuator:
[ 2.46792272e-03, 2.76634916e-02, 8.75162019e-03, 1.59758623e-03,
 -5.49366728e-06, 2.74505417e-02, 8.70033846e-03, 1.67717724e-03,
 -2.45295043e-03, 2.75471170e-02, 8.79996704e-03, 1.65283046e-03,
  3.57354148e-03,-1.64611189e-03, 0.00000000e+00,-2.58298194e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.29322013e-05,-4.64866744e-06, 2.21253652e-05,-7.88952747e-07,
  3.99192228e-06,-3.50313920e-08, 1.76531484e-06,-3.34951038e-05,
 -8.55362002e-05, 7.70653332e-05,-9.13233522e-06,-1.09077805e-05,
 -5.32047511e-05,-6.77371490e-06,-2.23706769e-05, 1.65238500e-04,
 -3.02451559e-01, 1.27503075e+00,-9.54298408e+00,-3.89202162e-03,
 -2.60073889e-01,-2.16584159e-03]


--- Step 1511 ---
qpos:
[-5.39157237e-04, 8.77202209e-01,-2.02597292e-02,-2.75559740e-02,
  7.63118777e-03, 8.64635710e-01,-2.79760293e-02, 9.46431758e-03,
  2.21978831e-02, 8.72921387e-01,-2.02229662e-02, 2.24660965e-02,
  1.33871539e+00,-1.00179408e-02, 1.00067056e+00, 6.14465455e-02,
 -7.60341672e-01, 4.08096270e-02, 6.88473815e-02, 5.82141966e-01,
 -3.57607638e-01,-5.95759658e-01,-4.22253405e-01]

qacc:
[-3.44239532e-02,-2.20893176e+00, 3.57726674e+00, 7.42990853e+00,
  2.24731891e-01,-1.60492514e+00, 6.79994928e+00,-1.31740398e+01,
 -4.05383255e-01, 5.51434642e+00,-2.11143402e+01, 3.63947329e+01,
 -3.46505167e-01, 5.46152698e-01,-9.61200571e+00, 3.30276035e+01,
 -4.90639773e-01, 1.32831639e+00,-9.81892760e+00,-5.64622996e+00,
 -1.04361587e+02,-5.55031450e+00]

qfrc_actuator:
[ 2.47721044e-03, 2.76040847e-02, 8.79282222e-03, 1.63152677e-03,
  3.33872026e-05, 2.74259139e-02, 8.70597066e-03, 1.65848933e-03,
 -2.48680130e-03, 2.76321782e-02, 8.77087637e-03, 1.69868157e-03,
  3.55737147e-03,-1.63184220e-03, 0.00000000e+00,-2.42681503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.55975547e-06,-5.75056645e-05, 4.29309194e-05, 3.44910043e-05,
  4.07812842e-05,-2.57431397e-05, 4.67186223e-06,-1.92831066e-05,
 -7.49971295e-05, 1.25803081e-04,-1.46706544e-05, 4.86281483e-05,
 -4.85521513e-05, 5.69365503e-07, 5.42020287e-06, 1.61899110e-04,
 -2.81567158e-01, 1.28195262e+00,-9.54027107e+00, 2.36241529e-03,
 -2.60111010e-01,-2.33566393e-03]


--- Step 1512 ---
qpos:
[-5.37916103e-04, 8.77202259e-01,-2.02582825e-02,-2.75553309e-02,
  7.63191145e-03, 8.64636354e-01,-2.79757371e-02, 9.46495656e-03,
  2.21969917e-02, 8.72923064e-01,-2.02237348e-02, 2.24670942e-02,
  1.33886543e+00,-1.00162894e-02, 1.00090092e+00, 6.14460460e-02,
 -7.67119090e-01, 4.11872464e-02, 6.85655284e-02, 5.73578370e-01,
 -3.54955349e-01,-5.96265212e-01,-4.35295705e-01]

qacc:
[-8.50511828e-02,-1.06542547e+00, 1.25134329e+00, 5.30824692e+00,
  2.33098751e-01, 1.83095981e+00,-8.61715226e+00, 1.74228574e+01,
 -1.30004735e-02, 3.51518478e+00,-1.41193651e+01, 2.83418521e+01,
 -3.67965438e-01, 5.44970205e-01, 1.85489647e+00,-5.89443076e+00,
 -4.82513581e-01, 1.32803465e+00,-9.81487844e+00,-3.74160411e+00,
 -1.04595527e+02,-4.63558663e+00]

qfrc_actuator:
[ 2.46450891e-03, 2.75864250e-02, 8.81657338e-03, 1.65137806e-03,
  5.63473887e-05, 2.74287553e-02, 8.69123054e-03, 1.68293274e-03,
 -2.45303991e-03, 2.77000420e-02, 8.77191631e-03, 1.74337404e-03,
  3.54760537e-03,-1.62403420e-03, 0.00000000e+00,-2.45920200e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.58671353e-05,-3.94964938e-05, 1.83451821e-05, 1.95449377e-05,
  4.23670157e-05,-1.14313114e-05,-2.01595799e-05, 2.31240401e-05,
 -2.30704211e-06, 1.37245217e-04, 2.69002871e-05, 5.05231671e-05,
 -3.75235911e-05,-3.29966640e-06, 1.63469435e-05,-2.36210485e-05,
 -2.60845035e-01, 1.28885927e+00,-9.53759536e+00, 8.61706146e-03,
 -2.59987119e-01,-2.50304096e-03]


--- Step 1513 ---
qpos:
[-5.37205871e-04, 8.77202110e-01,-2.02568843e-02,-2.75547950e-02,
  7.63279895e-03, 8.64637109e-01,-2.79757310e-02, 9.46620676e-03,
  2.21963028e-02, 8.72925355e-01,-2.02248252e-02, 2.24683449e-02,
  1.33901521e+00,-1.00147914e-02, 1.00113156e+00, 6.14431732e-02,
 -7.73898406e-01, 4.15701791e-02, 6.82444293e-02, 5.64741453e-01,
 -3.52302920e-01,-5.96742451e-01,-4.48160899e-01]

qacc:
[-2.75835022e-01,-3.48921405e-01, 1.31321205e+00,-2.94288678e+00,
  8.58590588e-02, 2.20213889e+00,-1.02212521e+01, 2.11790142e+01,
  1.04859348e-01, 2.22861292e+00,-7.83951010e+00, 1.22808648e+01,
 -2.11649202e-01, 1.18224292e-01, 7.60213898e+00,-2.59570541e+01,
 -4.74842735e-01, 1.32834946e+00,-9.81152696e+00,-1.83011228e+00,
 -1.04771222e+02,-3.71245691e+00]

qfrc_actuator:
[ 2.42098501e-03, 2.75760735e-02, 8.81220998e-03, 1.64503632e-03,
  5.18149464e-05, 2.74479776e-02, 8.68246292e-03, 1.71480948e-03,
 -2.43241195e-03, 2.76861982e-02, 8.73742055e-03, 1.75152507e-03,
  3.52570904e-03,-1.63783783e-03, 0.00000000e+00,-2.58466066e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.11642481e-05,-2.78297077e-05,-9.59676938e-06,-7.01978317e-06,
  1.56305832e-05, 9.64395267e-06,-1.28209578e-05, 3.11363094e-05,
  1.95365235e-05, 7.05872751e-05,-1.09478680e-06, 1.59437953e-05,
 -4.43982949e-05,-2.31051364e-05,-6.87629082e-07,-1.25963070e-04,
 -2.40258652e-01, 1.29577265e+00,-9.53495570e+00, 1.48663818e-02,
 -2.59702250e-01,-2.66794004e-03]


--- Step 1514 ---
qpos:
[-5.37574471e-04, 8.77202043e-01,-2.02559371e-02,-2.75546927e-02,
  7.63373125e-03, 8.64637558e-01,-2.79756195e-02, 9.46716507e-03,
  2.21963944e-02, 8.72927212e-01,-2.02255426e-02, 2.24701176e-02,
  1.33916464e+00,-1.00134091e-02, 1.00136197e+00, 6.14404935e-02,
 -7.80679593e-01, 4.19584291e-02, 6.78840947e-02, 5.55635220e-01,
 -3.49652681e-01,-5.97190456e-01,-4.60842777e-01]

qacc:
[-5.60909626e-01, 4.75137868e-01, 2.89873263e-01,-7.12531699e+00,
  2.36964202e-02,-1.29823465e+00, 5.27538952e+00,-1.02722959e+01,
  4.05942580e-01,-5.40252598e-01,-1.10918648e+00, 9.86763823e+00,
 -1.58721504e-01, 2.68146118e-02,-9.34313529e-01, 2.76208478e+00,
 -4.67554443e-01, 1.32930787e+00,-9.80887200e+00, 8.63806088e-02,
 -1.04888239e+02,-2.78257965e+00]

qfrc_actuator:
[ 2.34164723e-03, 2.75877947e-02, 8.79130914e-03, 1.62332861e-03,
  4.86421998e-05, 2.74058842e-02, 8.67737164e-03, 1.69756345e-03,
 -2.36662327e-03, 2.76055975e-02, 8.73510497e-03, 1.77351629e-03,
  3.50186780e-03,-1.64662710e-03, 0.00000000e+00,-2.56859959e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.03957630e-04,-6.13836440e-06,-2.80833455e-05,-2.33696904e-05,
  4.26748956e-06,-3.80326034e-05,-3.60967894e-06,-1.66738368e-05,
  7.52008780e-05,-4.07179418e-05, 1.26692088e-05, 2.52846291e-05,
 -5.52120802e-05,-2.39532183e-05,-1.94969906e-05, 7.76238084e-06,
 -2.19779882e-01, 1.30271265e+00,-9.53234991e+00, 2.11048297e-02,
 -2.59256678e-01,-2.83033371e-03]


--- Step 1515 ---
qpos:
[-5.38579377e-04, 8.77201878e-01,-2.02552121e-02,-2.75548441e-02,
  7.63447465e-03, 8.64637847e-01,-2.79755488e-02, 9.46686537e-03,
  2.21970819e-02, 8.72928005e-01,-2.02259078e-02, 2.24725700e-02,
  1.33931389e+00,-1.00127022e-02, 1.00159201e+00, 6.14396609e-02,
 -7.87462622e-01, 4.23520029e-02, 6.74845324e-02, 5.46263872e-01,
 -3.47006960e-01,-5.97608315e-01,-4.73335245e-01]

qacc:
[-3.30753056e-01,-3.03416441e-02, 9.90181113e-01,-4.94942711e+00,
 -9.92726592e-02,-2.68446066e+00, 1.45780600e+01,-3.61721593e+01,
  3.10245718e-01,-9.90832698e-01,-1.37716589e+00, 1.33623936e+01,
  5.19682106e-01,-1.35836273e+00,-6.14898061e+00, 2.06511541e+01,
 -4.60572952e-01, 1.33095211e+00,-9.80690940e+00, 2.00598879e+00,
 -1.04946248e+02,-1.84763112e+00]

qfrc_actuator:
[ 2.33034456e-03, 2.75770523e-02, 8.77866033e-03, 1.61052325e-03,
  2.85861078e-05, 2.73983849e-02, 8.67420910e-03, 1.63374975e-03,
 -2.34540763e-03, 2.75034962e-02, 8.73377887e-03, 1.80344138e-03,
  3.48752878e-03,-1.68788940e-03, 0.00000000e+00,-2.46924368e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.13191408e-05,-2.09919365e-05,-1.81899860e-05,-1.44950615e-05,
 -1.80293329e-05,-3.02387008e-05,-1.20451127e-05,-6.58949982e-05,
  5.73957598e-05,-1.21201638e-04,-7.31304440e-06, 2.91053064e-05,
 -5.20813213e-05,-5.91609144e-05,-1.16768533e-05, 9.64665466e-05,
 -1.99379176e-01, 1.30969696e+00,-9.52977488e+00, 2.73268611e-02,
 -2.58650923e-01,-2.99019964e-03]


--- Step 1516 ---
qpos:
[-5.39583979e-04, 8.77200714e-01,-2.02539824e-02,-2.75547362e-02,
  7.63499999e-03, 8.64638282e-01,-2.79757075e-02, 9.46612212e-03,
  2.21978132e-02, 8.72928086e-01,-2.02263349e-02, 2.24750013e-02,
  1.33946288e+00,-1.00124954e-02, 1.00182186e+00, 6.14406625e-02,
 -7.93973062e-01, 4.27943937e-02, 6.73545897e-02, 5.36498246e-01,
 -3.44138823e-01,-6.02545682e-01,-4.80288251e-01]

qacc:
[ 8.20109201e-04,-2.19652667e+00, 4.82323114e+00,-4.14830305e-01,
 -1.14754941e-01,-7.91436477e-02, 2.43490339e+00,-9.85285901e+00,
  2.29296813e-02,-8.11366279e-01, 1.61603817e+00,-1.35777799e+00,
  2.99148190e-01,-9.26661060e-01,-5.85480846e+00, 2.00032838e+01,
  6.81471698e+01, 1.22042437e+01, 6.74048989e+01, 2.71731285e+03,
 -2.26077615e+03, 5.69179624e+02]

qfrc_actuator:
[ 2.35985197e-03, 2.74819680e-02, 8.78866706e-03, 1.62080546e-03,
  1.63684435e-05, 2.74293712e-02, 8.67230771e-03, 1.61408885e-03,
 -2.36881605e-03, 2.74780614e-02, 8.73291789e-03, 1.80225501e-03,
  3.47356122e-03,-1.71252438e-03, 0.00000000e+00,-2.37490021e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.7022939 ,  0.1777299 , -6.69993698,  0.1777299 ,  0.11122381,
       -0.17484198, -6.69993698, -0.17484198,  6.69765585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006324127554978992
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.78692838, -0.0192993 ,  0.04968379])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.42317333e-09,-1.11205862e-04, 2.92676382e-06, 8.47239806e-06,
 -2.08012722e-05, 8.75750420e-06,-1.19134672e-05,-2.26557394e-05,
  4.19372058e-06,-9.34844854e-05,-2.57960180e-05,-6.07194231e-06,
 -5.79353097e-05,-4.97409535e-05, 2.02325051e-06, 9.74405779e-05,
 -1.79025749e-01, 1.31674094e+00,-9.52722660e+00, 3.35269479e-02,
 -2.57885750e-01,-3.14752050e-03]


--- Step 1517 ---
qpos:
[-5.40953278e-04, 8.77198927e-01,-2.02530645e-02,-2.75534609e-02,
  7.63515781e-03, 8.64638965e-01,-2.79762877e-02, 9.46549364e-03,
  2.21984161e-02, 8.72928576e-01,-2.02267512e-02, 2.24772485e-02,
  1.33961146e+00,-1.00125655e-02, 1.00205125e+00, 6.14461245e-02,
 -8.00266101e-01, 4.32738880e-02, 6.74321705e-02, 5.26478054e-01,
 -3.40870862e-01,-6.11109403e-01,-4.82880121e-01]

qacc:
[-1.89431617e-01, 2.45375607e+00,-1.48566326e+01, 3.59888885e+01,
 -1.93395542e-01, 1.74016753e+00,-6.21430554e+00, 8.69402662e+00,
 -6.68324695e-02, 1.30653519e-01, 1.09490210e+00,-4.59886644e+00,
  1.47356519e-01,-5.91180657e-01,-1.41506831e+01, 4.85057202e+01,
  5.43503700e+01, 9.27589790e+00, 5.18808575e+01, 2.24825601e+03,
 -1.70392283e+03, 3.64294639e+02]

qfrc_actuator:
[ 2.32470017e-03, 2.74614883e-02, 8.77612373e-03, 1.68003395e-03,
 -8.79409516e-06, 2.74477017e-02, 8.65361537e-03, 1.62060837e-03,
 -2.38317985e-03, 2.75874638e-02, 8.76811461e-03, 1.80058332e-03,
  3.44917968e-03,-1.72708799e-03, 0.00000000e+00,-2.14226885e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.63220224,  0.1978172 , -7.62963822,  0.1978172 ,  0.09272125,
       -0.19547966, -7.62963822, -0.19547966,  7.62713395,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007508276682394316
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.79360888, -0.01886153,  0.04962459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51621114e-05,-8.16760117e-05,-3.48544777e-05, 5.47353156e-05,
 -3.50613364e-05, 1.97857520e-05,-1.91364886e-05, 6.04244091e-06,
 -1.23566409e-05, 5.15379463e-05, 1.24992205e-05,-6.69170784e-06,
 -6.93883300e-05,-3.89989900e-05, 7.61703342e-06, 2.37355516e-04,
 -9.50164303e-01, 2.87734158e-01,-8.55624956e+00, 8.02852004e-02,
 -1.91177637e-01,-2.71744124e-03]


--- Step 1518 ---
qpos:
[-5.42524976e-04, 8.77197552e-01,-2.02530515e-02,-2.75519242e-02,
  7.63498434e-03, 8.64639099e-01,-2.79770684e-02, 9.46572676e-03,
  2.21990502e-02, 8.72929747e-01,-2.02270076e-02, 2.24801006e-02,
  1.33975969e+00,-1.00128813e-02, 1.00228115e+00, 6.14499660e-02,
 -8.06390520e-01, 4.37868018e-02, 6.76656603e-02, 5.16214929e-01,
 -3.37041627e-01,-6.22517549e-01,-4.82075709e-01]

qacc:
[-1.05854769e-01, 3.61168656e+00,-1.31868577e+01, 1.88500879e+01,
 -1.73893808e-01, 1.60643733e+00,-1.04197720e+01, 2.60590430e+01,
  1.61324828e-02, 1.69664073e+00,-7.29875205e+00, 1.70106383e+01,
 -1.65835684e-01,-4.85298493e-02, 5.64631899e+00,-1.86562214e+01,
  4.21551454e+01, 8.35483807e+00, 3.89772665e+01, 1.83093318e+03,
 -1.26641931e+03, 1.79041736e+02]

qfrc_actuator:
[ 2.32212827e-03, 2.75390523e-02, 8.75066499e-03, 1.69660785e-03,
 -2.37342268e-05, 2.73695145e-02, 8.62513230e-03, 1.66020787e-03,
 -2.37420965e-03, 2.76526643e-02, 8.78939259e-03, 1.83429711e-03,
  3.43987618e-03,-1.73563198e-03, 0.00000000e+00,-2.23833537e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.17572186,  0.03921126, -4.17553776,  0.03921126,  0.07013655,
       -0.03855436, -4.17553776, -0.03855436,  4.17535981,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0001353404430705779
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.79959369, -0.01853487,  0.04993233])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.94963615e-05, 2.70694990e-05,-4.47186352e-05, 1.29383517e-05,
 -3.16249892e-05,-7.08318147e-05,-2.65448903e-05, 3.99037932e-05,
  3.03201264e-06, 9.63033259e-05, 3.32280200e-05, 3.62215484e-05,
 -5.81198235e-05,-3.33950852e-05, 2.60214946e-05,-8.27676529e-05,
 -1.79075539e+00, 5.79800756e-01,-7.83818552e+00, 1.10841022e-01,
 -1.44788041e-01,-4.66329174e-03]


--- Step 1519 ---
qpos:
[-5.43833954e-04, 8.77197072e-01,-2.02536115e-02,-2.75516689e-02,
  7.63474822e-03, 8.64638241e-01,-2.79773892e-02, 9.46679046e-03,
  2.21997527e-02, 8.72930774e-01,-2.02268888e-02, 2.24830800e-02,
  1.33990757e+00,-1.00131065e-02, 1.00251186e+00, 6.14469750e-02,
 -8.12440979e-01, 4.41287567e-02, 6.78326721e-02, 5.09818809e-01,
 -3.35554549e-01,-6.26176405e-01,-4.85171141e-01]

qacc:
[ 1.35801590e-01, 1.41907087e-01, 6.60452069e+00,-2.84956125e+01,
 -3.22237838e-02,-8.85623835e-01,-2.25089197e+00, 1.66200728e+01,
  3.57854382e-02,-9.74302195e-01, 2.66229065e+00,-9.51467045e-01,
 -7.18818036e-01, 1.05097857e+00, 2.18607734e+01,-7.46637032e+01,
  1.84897297e+01,-4.27396959e+01,-1.66195114e+01,-3.03469304e+03,
  3.29664612e+03, 1.96063624e+03]

qfrc_actuator:
[ 2.35684051e-03, 2.76213985e-02, 8.73592754e-03, 1.63477005e-03,
 -1.46775173e-05, 2.73051253e-02, 8.64398033e-03, 1.70111000e-03,
 -2.36909993e-03, 2.75843922e-02, 8.78441343e-03, 1.83526905e-03,
  3.43430190e-03,-1.72273193e-03, 0.00000000e+00,-2.59833431e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.37549402, -1.9958821 , -3.89376457, -1.9958821 ,  1.11245373,
        1.67258281, -3.89376457,  1.67258281,  3.51815454,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00024273399708889254
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.84760441,  0.1098032 ,  0.04987863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53384104e-05, 8.88323233e-05,-1.41987353e-05,-6.19745989e-05,
 -6.00414588e-06,-1.07770589e-04, 2.33493529e-06, 3.77264486e-05,
  6.58166657e-06,-6.03237974e-06, 2.02481085e-05, 6.94821161e-06,
 -4.69219284e-05,-7.90475725e-06,-3.67719614e-06,-3.62766740e-04,
 -2.64171608e+00, 1.48927060e+00,-7.33903610e+00, 1.32836415e-01,
 -1.10702004e-01,-7.65285597e-03]


--- Step 1520 ---
qpos:
[-5.44980682e-04, 8.77196947e-01,-2.02542042e-02,-2.75521254e-02,
  7.63491243e-03, 8.64637545e-01,-2.79778973e-02, 9.46719576e-03,
  2.22003324e-02, 8.72931329e-01,-2.02265373e-02, 2.24854119e-02,
  1.34005494e+00,-1.00128761e-02, 1.00274222e+00, 6.14423853e-02,
 -8.18424324e-01, 4.43189253e-02, 6.79408514e-02, 5.06496843e-01,
 -3.36086986e-01,-6.23622518e-01,-4.91529695e-01]

qacc:
[ 8.41358630e-02,-9.05511183e-01, 6.90632097e+00,-1.94159817e+01,
  2.10068682e-01,-6.16971716e-01, 5.29047807e+00,-1.65059738e+01,
 -6.35030689e-02,-2.60667877e+00, 1.11229521e+01,-2.23563129e+01,
 -8.22878708e-01, 1.40741402e+00, 4.35966909e+00,-1.58933318e+01,
  1.67785103e+01,-3.79465901e+01,-1.47081207e+01,-2.52781051e+03,
  2.60376858e+03, 1.58860873e+03]

qfrc_actuator:
[ 2.36028118e-03, 2.76172035e-02, 8.72765286e-03, 1.59833421e-03,
  2.63938123e-05, 2.73739461e-02, 8.65514146e-03, 1.67146956e-03,
 -2.38410872e-03, 2.75253510e-02, 8.78115332e-03, 1.79907872e-03,
  3.40967524e-03,-1.69720361e-03, 0.00000000e+00,-2.66701672e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.30274333, -3.9179781 , -7.32017721, -3.9179781 ,  2.01673985,
        3.36445734, -7.32017721,  3.36445734,  6.50198498,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008619849626270437
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.85304209,  0.11030669,  0.04956901])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.56445319e-05, 3.99136869e-05, 6.18436895e-06,-3.43314766e-05,
  3.81998375e-05, 1.06771661e-05,-9.49524764e-06,-3.34423684e-05,
 -1.18406351e-05,-5.79617248e-05,-1.78415729e-06,-3.56190022e-05,
 -5.42571426e-05, 1.33757038e-05,-4.83745829e-05,-9.08267256e-05,
 -4.94564198e-01, 1.56576829e-01,-8.08148460e+00, 6.54717016e-02,
 -1.62474517e-01,-3.27060827e-03]


--- Step 1521 ---
qpos:
[-5.46208299e-04, 8.77196827e-01,-2.02547477e-02,-2.75526295e-02,
  7.63570824e-03, 8.64637370e-01,-2.79790767e-02, 9.46722869e-03,
  2.22007579e-02, 8.72931936e-01,-2.02264852e-02, 2.24882978e-02,
  1.34020196e+00,-1.00123806e-02, 1.00297232e+00, 6.14365949e-02,
 -8.24357774e-01, 4.43937374e-02, 6.79940038e-02, 5.05379547e-01,
 -3.38084240e-01,-6.16225200e-01,-5.00556753e-01]

qacc:
[-4.20049471e-02,-2.29926645e-01, 1.02815569e+00,-1.93285428e+00,
  3.31130477e-01, 1.79627257e+00,-3.83336497e+00,-1.91995023e+00,
 -8.03280595e-02, 2.04515995e+00,-9.53159543e+00, 1.95610655e+01,
 -5.25826918e-01, 8.74041044e-01, 3.28806148e+00,-1.19694456e+01,
  1.24740090e+01,-2.88391047e+01,-1.37567243e+01,-2.02299007e+03,
  2.00251118e+03, 1.13669061e+03]

qfrc_actuator:
[ 2.34495429e-03, 2.75967702e-02, 8.72294470e-03, 1.59483493e-03,
  6.84833563e-05, 2.74154199e-02, 8.62664862e-03, 1.65391821e-03,
 -2.39327224e-03, 2.75609988e-02, 8.77891695e-03, 1.83007824e-03,
  3.40027340e-03,-1.68225219e-03, 0.00000000e+00,-2.72318366e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.29044423, -2.53960547, -4.64103482, -2.53960547,  1.35078828,
        2.15580623, -4.64103482,  2.15580623,  4.11077255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000456942822702755
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.85812327,  0.11112443,  0.04977153])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.79409164e-06, 1.70543992e-06, 3.11489611e-06,-2.24399958e-06,
  6.02727064e-05, 4.40750609e-05,-2.86067008e-05,-1.80728155e-05,
 -1.48652843e-05, 1.32160044e-06,-1.56705454e-05, 2.77561844e-05,
 -3.82524742e-05, 5.82070973e-06,-3.50762156e-05,-6.80511036e-05,
 -5.07984748e-02, 7.22877899e-01,-8.19759734e+00, 4.02255989e-02,
 -1.75296351e-01,-3.86408367e-03]


--- Step 1522 ---
qpos:
[-5.47564679e-04, 8.77196852e-01,-2.02556650e-02,-2.75531599e-02,
  7.63613181e-03, 8.64637314e-01,-2.79804761e-02, 9.46707165e-03,
  2.22010512e-02, 8.72932751e-01,-2.02259860e-02, 2.24907685e-02,
  1.34034918e+00,-1.00126652e-02, 1.00320199e+00, 6.14317922e-02,
 -8.30293898e-01, 4.44794446e-02, 6.80081684e-02, 5.04143506e-01,
 -3.40016661e-01,-6.08767927e-01,-5.09538622e-01]

qacc:
[ -0.06718818,  1.18179282, -3.82425861,  3.86013998, -0.19571822,
   0.37910711, -0.32398617, -2.69858792, -0.0684812 , -1.82773526,
   8.66950882,-16.72320134,  0.84110511, -1.78888659, -3.68622276,
  11.82792623, -0.66867071,  2.72374833, -9.74693617, -4.77268404,
 -12.84959401,-28.14227908]

qfrc_actuator:
[ 2.33629774e-03, 2.76023085e-02, 8.70255509e-03, 1.59296558e-03,
  4.27664016e-06, 2.74045552e-02, 8.61042736e-03, 1.64359764e-03,
 -2.39884798e-03, 2.75998657e-02, 8.81323924e-03, 1.81168591e-03,
  3.41598712e-03,-1.72689645e-03, 0.00000000e+00,-2.66508408e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.24055388e-05, 7.04853085e-06,-1.97245075e-05,-1.73020886e-06,
 -3.55138830e-05, 7.11957933e-06,-1.12588693e-05,-9.77298504e-06,
 -1.27264595e-05, 3.75388073e-05, 3.36164660e-05,-1.83426807e-05,
 -5.56564188e-06,-5.17989972e-05,-2.68286900e-05, 4.90948164e-05,
 -4.37037677e-01, 2.22367849e+00,-7.98630294e+00, 3.71294342e-02,
 -1.68428875e-01,-6.91216197e-03]


--- Step 1523 ---
qpos:
[-5.48846186e-04, 8.77196800e-01,-2.02567428e-02,-2.75536945e-02,
  7.63597499e-03, 8.64637280e-01,-2.79814505e-02, 9.46641435e-03,
  2.22014302e-02, 8.72933178e-01,-2.02247085e-02, 2.24913264e-02,
  1.34049630e+00,-1.00131658e-02, 1.00343069e+00, 6.14340318e-02,
 -8.35963477e-01, 4.46186134e-02, 6.82774397e-02, 5.02581384e-01,
 -3.40887916e-01,-6.05896683e-01,-5.13903289e-01]

qacc:
[ 3.88332368e-02, 3.38489935e-01,-1.33535947e+00, 1.57451305e+00,
 -3.04626201e-01,-2.18543630e+00, 9.94913274e+00,-1.93068739e+01,
  4.50548324e-02,-6.61845591e+00, 3.09362340e+01,-6.50042511e+01,
  4.91155504e-01,-9.60640578e-01,-2.27305922e+01, 7.73698432e+01,
  6.66360945e+01, 1.33654269e+01, 6.37766502e+01, 2.78594777e+03,
 -1.76992843e+03,-2.18607343e+01]

qfrc_actuator:
[ 2.34947625e-03, 2.75877818e-02, 8.69091255e-03, 1.59207191e-03,
 -3.41934692e-05, 2.74157410e-02, 8.63689170e-03, 1.61982947e-03,
 -2.38447883e-03, 2.75339720e-02, 8.83336466e-03, 1.71114816e-03,
  3.40945318e-03,-1.73534842e-03, 0.00000000e+00,-2.29159596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.21958372,  0.64671357, -8.19410264,  0.64671357,  0.16932925,
       -0.63536046, -8.19410264, -0.63536046,  8.16943836,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008450022295492382
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.83191704, -0.01693159,  0.0495775 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.21176115e-06,-1.47240007e-05,-1.26677637e-05,-1.30574487e-06,
 -5.53717702e-05, 1.24311210e-05, 2.62214395e-05,-2.40400735e-05,
  8.25256017e-06,-3.87724086e-05, 3.13720621e-05,-9.81280962e-05,
 -2.22765577e-05,-2.09364229e-05,-9.28283299e-06, 3.72202874e-04,
 -3.91147465e-01, 2.23343879e+00,-7.95907129e+00, 3.73208471e-02,
 -1.68657454e-01,-6.91931296e-03]


--- Step 1524 ---
qpos:
[-5.49636324e-04, 8.77196737e-01,-2.02576708e-02,-2.75549561e-02,
  7.63586248e-03, 8.64637455e-01,-2.79822204e-02, 9.46615863e-03,
  2.22024907e-02, 8.72932719e-01,-2.02237234e-02, 2.24908164e-02,
  1.34064317e+00,-1.00134891e-02, 1.00365987e+00, 6.14356577e-02,
 -8.41417977e-01, 4.47935209e-02, 6.87416378e-02, 5.00826607e-01,
 -3.40926770e-01,-6.06716868e-01,-5.14622473e-01]

qacc:
[ 2.55390505e-01,-1.93205836e+00, 9.92617570e+00,-2.27223057e+01,
  2.33489097e-02, 5.31768949e-01,-3.19037039e+00, 9.66071680e+00,
  3.54171753e-01,-2.55182094e+00, 1.19077497e+01,-2.92710057e+01,
 -3.80854295e-01, 6.23048415e-01, 2.59628575e+00,-7.98458795e+00,
  5.37700860e+01, 8.93464873e+00, 4.87317206e+01, 2.22926226e+03,
 -1.39345441e+03,-1.47803843e+01]

qfrc_actuator:
[ 2.39335629e-03, 2.75968849e-02, 8.70220701e-03, 1.55624684e-03,
 -3.60668234e-06, 2.74402055e-02, 8.65290498e-03, 1.64163691e-03,
 -2.32280248e-03, 2.74234865e-02, 8.79120410e-03, 1.65175007e-03,
  3.40024203e-03,-1.72233721e-03, 0.00000000e+00,-2.33891370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.61313487,  0.85734888, -8.57035852,  0.85734888,  0.18126203,
       -0.84349526, -8.57035852, -0.84349526,  8.52875453,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009642109656576164
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.83811838, -0.01665542,  0.04951789])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.73490730e-05,-1.78813092e-06, 6.65854691e-06,-3.69164131e-05,
  4.23416744e-06, 3.58039621e-05, 2.09890782e-05, 2.27830174e-05,
  6.56451652e-05,-1.29911024e-04,-4.97137493e-05,-6.18871813e-05,
 -2.67019929e-05, 3.18362889e-06, 3.51693285e-05,-2.82403914e-05,
 -4.58541200e-02, 4.59338945e-01,-7.93552086e+00, 4.27366396e-02,
 -1.59845807e-01,-3.86811616e-03]


--- Step 1525 ---
qpos:
[-5.49916567e-04, 8.77196416e-01,-2.02577843e-02,-2.75569974e-02,
  7.63596363e-03, 8.64637696e-01,-2.79827563e-02, 9.46687299e-03,
  2.22040704e-02, 8.72931038e-01,-2.02225489e-02, 2.24903007e-02,
  1.34078989e+00,-1.00141595e-02, 1.00388962e+00, 6.14334066e-02,
 -8.46702270e-01, 4.49953903e-02, 6.93513882e-02, 4.98903517e-01,
 -3.40261101e-01,-6.10466156e-01,-5.12492670e-01]

qacc:
[ 2.65507066e-01,-4.22263839e+00, 1.78423483e+01,-3.24293193e+01,
  1.12414019e-01, 1.42781752e+00,-9.06209617e+00, 2.54314136e+01,
  2.70263034e-01,-2.15480794e+00, 5.36382341e+00,-4.86506555e+00,
 -5.48903863e-02,-2.17452491e-01, 1.25229716e+01,-4.26285487e+01,
  4.25514986e+01, 6.74049370e+00, 3.63880734e+01, 1.76569193e+03,
 -1.08891771e+03,-4.29146322e+01]

qfrc_actuator:
[ 2.41970556e-03, 2.75846265e-02, 8.74477035e-03, 1.51794003e-03,
  1.47638138e-05, 2.74369359e-02, 8.66269829e-03, 1.69008798e-03,
 -2.30438240e-03, 2.73579113e-02, 8.80119433e-03, 1.65246121e-03,
  3.37878982e-03,-1.75001278e-03, 0.00000000e+00,-2.54511279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.14263393,  0.53089425, -5.11515738,  0.53089425,  0.13089684,
       -0.52016042, -5.11515738, -0.52016042,  5.08864729,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00043347739309913813
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.843631  , -0.0164993 ,  0.04978326])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91308695e-05,-1.34452803e-05, 4.17463040e-05,-3.88690612e-05,
  2.03895283e-05, 2.20648847e-05, 2.05675014e-05, 5.11561681e-05,
  4.99904005e-05,-1.51127202e-04,-2.51119447e-05,-7.78163078e-06,
 -3.60498014e-05,-3.30545787e-05, 6.50617442e-06,-2.04770814e-04,
 -3.44386045e-02, 2.36923342e-02,-7.86737031e+00, 4.67328662e-02,
 -1.53461895e-01,-3.31995868e-03]


--- Step 1526 ---
qpos:
[-5.50157843e-04, 8.77195678e-01,-2.02570333e-02,-2.75587743e-02,
  7.63665238e-03, 8.64637996e-01,-2.79831226e-02, 9.46816789e-03,
  2.22056360e-02, 8.72928720e-01,-2.02212858e-02, 2.24904187e-02,
  1.34093619e+00,-1.00147777e-02, 1.00411933e+00, 6.14290539e-02,
 -8.51987094e-01, 4.51988588e-02, 6.99220275e-02, 4.96971868e-01,
 -3.39573908e-01,-6.14204646e-01,-5.10353971e-01]

qacc:
[ 2.09321623e-02,-2.42100814e+00, 6.71948409e+00,-3.22613207e+00,
  3.08761052e-01, 7.98697346e-01,-5.18629820e+00, 1.49213260e+01,
 -6.95769040e-03, 2.16062229e-01,-4.66569826e+00, 1.59598989e+01,
 -4.67774966e-01, 6.02480658e-01, 6.32919224e+00,-2.21487277e+01,
 -1.32789120e-01, 3.99763001e-01,-9.77778694e+00, 3.86127184e+00,
  4.08285007e+00,-4.70680666e+00]

qfrc_actuator:
[ 2.39981601e-03, 2.75598020e-02, 8.78761767e-03, 1.53174548e-03,
  6.11227113e-05, 2.74348384e-02, 8.66864814e-03, 1.71829083e-03,
 -2.32977894e-03, 2.73732298e-02, 8.82435770e-03, 1.68860284e-03,
  3.34999291e-03,-1.74838906e-03, 0.00000000e+00,-2.64785307e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.74756562e-06,-2.53673108e-05, 4.38742010e-05, 1.39207631e-05,
  5.60649481e-05, 1.66800376e-05, 1.48125714e-05, 3.08548220e-05,
 -1.36435614e-06,-7.46707164e-05,-1.14095335e-05, 2.86457727e-05,
 -5.77320389e-05,-1.37722835e-05,-2.56155519e-05,-1.14668450e-04,
 -1.85432757e-01, 2.93032478e-01,-7.77830734e+00, 4.99191284e-02,
 -1.48702850e-01,-4.06341162e-03]


--- Step 1527 ---
qpos:
[-5.50503427e-04, 8.77194577e-01,-2.02560011e-02,-2.75603382e-02,
  7.63809170e-03, 8.64638780e-01,-2.79837987e-02, 9.46873349e-03,
  2.22066617e-02, 8.72926750e-01,-2.02213128e-02, 2.24902458e-02,
  1.34108203e+00,-1.00148729e-02, 1.00434842e+00, 6.14271467e-02,
 -8.57272457e-01, 4.54039246e-02, 7.04535416e-02, 4.95031789e-01,
 -3.38865145e-01,-6.17932216e-01,-5.08206373e-01]

qacc:
[-5.38957224e-02,-8.26113710e-01, 1.35229651e+00, 2.14736053e+00,
  3.93846116e-01, 3.29822511e-03, 3.99481973e+00,-1.64780918e+01,
 -2.81489629e-01, 3.46218579e+00,-1.04529983e+01, 7.22645780e+00,
 -6.24158639e-01, 1.16062584e+00,-8.25843685e+00, 2.76549775e+01,
 -1.34448748e-01, 3.99345828e-01,-9.78130089e+00, 3.87494102e+00,
  4.11806355e+00,-4.70992362e+00]

qfrc_actuator:
[ 0.00238796, 0.0275277 , 0.00879475, 0.00154058, 0.00010606, 0.02746893,
  0.00865451, 0.00168109,-0.00238114, 0.02741923, 0.00876669, 0.00167436,
  0.00334345,-0.00171169, 0.        ,-0.00251122, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-1.00601356e-05,-3.66154542e-05, 7.78718233e-06, 9.54190798e-06,
  7.16253420e-05, 4.78000073e-05,-7.80216043e-06,-3.53773006e-05,
 -5.20306527e-05, 3.16784188e-06,-7.34992793e-05,-1.72833476e-05,
 -4.35515779e-05, 2.06093887e-05,-2.84765956e-05, 1.26062108e-04,
 -1.87256358e-01, 2.92586841e-01,-7.78087015e+00, 5.04401947e-02,
 -1.48618660e-01,-4.09378321e-03]


--- Step 1528 ---
qpos:
[-5.50602533e-04, 8.77193386e-01,-2.02552489e-02,-2.75617794e-02,
  7.64034619e-03, 8.64639923e-01,-2.79843098e-02, 9.46814128e-03,
  2.22067384e-02, 8.72925224e-01,-2.02224030e-02, 2.24884937e-02,
  1.34122740e+00,-1.00142692e-02, 1.00457693e+00, 6.14298440e-02,
 -8.62558363e-01, 4.56105861e-02, 7.09459164e-02, 4.93083410e-01,
 -3.38134766e-01,-6.21648741e-01,-5.06049872e-01]

qacc:
[  0.12794143,  0.91528235, -3.95207054,  6.58377764,  0.42808973,
  -2.36666711, 14.01785429,-34.58825086, -0.49398848,  0.30895826,
   6.42163962,-32.38664812, -0.65521987,  1.33333474,-14.70691136,
  50.32197675, -0.13609466,  0.39889411, -9.78481511,  3.88843557,
   4.15346452, -4.71293828]

qfrc_actuator:
[ 0.00241655, 0.02752685, 0.0087807 , 0.00154638, 0.00014975, 0.02748878,
  0.00866424, 0.00162347,-0.00244755, 0.02744742, 0.00871512, 0.00159504,
  0.00332897,-0.0016722 , 0.        ,-0.00227016, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.37467779e-05,-1.92883912e-05,-2.03208418e-05, 4.68993333e-06,
  7.77869446e-05, 4.34470361e-05, 1.74098224e-05,-5.65281660e-05,
 -9.14449543e-05, 1.40753639e-05,-6.05513039e-05,-8.20554165e-05,
 -3.49827194e-05, 3.42371884e-05,-1.66470626e-06, 2.43833527e-04,
 -1.89070243e-01, 2.92113766e-01,-7.78343383e+00, 5.09559089e-02,
 -1.48522783e-01,-4.12378054e-03]


--- Step 1529 ---
qpos:
[-5.50406269e-04, 8.77192636e-01,-2.02552544e-02,-2.75624849e-02,
  7.64306289e-03, 8.64640939e-01,-2.79842519e-02, 9.46758866e-03,
  2.22065032e-02, 8.72923886e-01,-2.02238510e-02, 2.24861339e-02,
  1.34137234e+00,-1.00131409e-02, 1.00480566e+00, 6.14330384e-02,
 -8.67844821e-01, 4.58188411e-02, 7.13991379e-02, 4.91126862e-01,
 -3.37382726e-01,-6.25354098e-01,-5.03884465e-01]

qacc:
[ 1.52899380e-01, 4.21667839e+00,-1.72847688e+01, 3.08903996e+01,
  2.43188208e-01,-1.67537981e+00, 5.56213176e+00,-5.69399440e+00,
 -1.62344324e-01,-2.07840320e-03, 2.93383950e+00,-1.30168105e+01,
 -7.23552678e-01, 1.33375851e+00,-1.13800842e+00, 4.54621503e+00,
 -1.37726695e-01, 3.98407931e-01,-9.78832929e+00, 3.90175303e+00,
  4.18905278e+00,-4.71584839e+00]

qfrc_actuator:
[ 0.00243359, 0.02758013, 0.00875439, 0.00158587, 0.00015682, 0.02746451,
  0.00868793, 0.00162534,-0.0024336 , 0.02746467, 0.008703  , 0.00156685,
  0.00330442,-0.00164916, 0.        ,-0.00225364, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.84705598e-05, 3.85244709e-05,-3.26356440e-05, 3.80528044e-05,
  4.40992518e-05, 1.18786837e-06, 3.28503377e-05, 3.23014284e-06,
 -3.00468059e-05, 9.13705488e-06,-1.94829291e-05,-3.12695174e-05,
 -3.65442284e-05, 2.26093766e-05, 2.29619933e-05, 2.91129173e-05,
 -1.90874288e-01, 2.91613304e-01,-7.78599815e+00, 5.14661861e-02,
 -1.48415253e-01,-4.15339854e-03]


--- Step 1530 ---
qpos:
[-5.50148614e-04, 8.77192251e-01,-2.02558918e-02,-2.75627111e-02,
  7.64547166e-03, 8.64641572e-01,-2.79840103e-02, 9.46712273e-03,
  2.22063920e-02, 8.72922569e-01,-2.02251978e-02, 2.24844795e-02,
  1.34151693e+00,-1.00119225e-02, 1.00503483e+00, 6.14334200e-02,
 -8.73131836e-01, 4.60286877e-02, 7.18131920e-02, 4.89162275e-01,
 -3.36608982e-01,-6.29048163e-01,-5.01710146e-01]

qacc:
[  0.03141015,  3.23424127,-12.85002532, 21.87579903, -0.16149523,
  -0.83852559,  1.89261464, -0.4063823 ,  0.06449439,  1.19629292,
  -7.20346501, 19.23435078, -0.50307227,  0.70961984,  9.18082235,
 -31.09849753, -0.13934472,  0.39788737, -9.79184307,  3.91489091,
   4.22482811, -4.71865169]

qfrc_actuator:
[ 0.00242581, 0.02759438, 0.0087213 , 0.0016094 , 0.00010644, 0.02741412,
  0.00868403, 0.00162666,-0.00240719, 0.02747545, 0.00871428, 0.0016045 ,
  0.00327385,-0.00165386, 0.        ,-0.00240508, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 5.92273717e-06, 3.07015105e-05,-2.78272216e-05, 2.47955682e-05,
 -2.93907999e-05,-4.28263868e-05, 4.95650320e-07, 2.56715609e-06,
  1.19458317e-05, 1.05617149e-05, 9.70751292e-06, 3.67701827e-05,
 -4.62871772e-05,-8.04929278e-06, 8.03634720e-06,-1.48198721e-04,
 -1.92668367e-01, 2.91085511e-01,-7.78856287e+00, 5.19709413e-02,
 -1.48296104e-01,-4.18263211e-03]


--- Step 1531 ---
qpos:
[-5.50095572e-04, 8.77192289e-01,-2.02569456e-02,-2.75633666e-02,
  7.64703671e-03, 8.64642052e-01,-2.79840900e-02, 9.46564697e-03,
  2.22063203e-02, 8.72921136e-01,-2.02258349e-02, 2.24842998e-02,
  1.34166128e+00,-1.00110043e-02, 1.00526385e+00, 6.14333387e-02,
 -8.78419415e-01, 4.62401237e-02, 7.21880647e-02, 4.87189782e-01,
 -3.35813491e-01,-6.32730810e-01,-4.99526914e-01]

qacc:
[-1.06741085e-01, 8.37441060e-01,-3.67091367e-01,-6.69858424e+00,
 -4.43379140e-01,-1.38173462e+00, 8.89781917e+00,-2.57516543e+01,
  2.10609346e-02, 8.96684330e-01,-9.64990899e+00, 3.41284677e+01,
  3.76789452e-02,-3.65439001e-01, 1.16359896e+00,-4.41810327e+00,
 -1.40948577e-01, 3.97332523e-01,-9.79535614e+00, 3.92784670e+00,
  4.26079026e+00,-4.72134591e+00]

qfrc_actuator:
[ 2.40324859e-03, 2.76206144e-02, 8.70208182e-03, 1.58781834e-03,
  3.99328081e-05, 2.74016086e-02, 8.66372926e-03, 1.57432556e-03,
 -2.40913130e-03, 2.74824242e-02, 8.75702772e-03, 1.68059341e-03,
  3.25564446e-03,-1.67497347e-03, 0.00000000e+00,-2.42339804e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.97066953e-05, 3.87339688e-05,-1.54390764e-05,-2.07466748e-05,
 -8.05054311e-05,-3.62639742e-05,-2.90008471e-05,-5.41007452e-05,
  3.80479804e-06, 1.65103354e-05, 4.74221217e-05, 7.75987971e-05,
 -4.70586709e-05,-3.34065885e-05,-1.86131763e-05,-2.68892752e-05,
 -1.94452356e-01, 2.90530443e-01,-7.79112772e+00, 5.24700894e-02,
 -1.48165372e-01,-4.21147615e-03]


--- Step 1532 ---
qpos:
[-5.50648868e-04, 8.77192661e-01,-2.02576745e-02,-2.75643160e-02,
  7.64778061e-03, 8.64642539e-01,-2.79843054e-02, 9.46455810e-03,
  2.22062555e-02, 8.72919673e-01,-2.02256505e-02, 2.24850138e-02,
  1.34180538e+00,-1.00103495e-02, 1.00549223e+00, 6.14370207e-02,
 -8.83707563e-01, 4.64531466e-02, 7.25237420e-02, 4.85209516e-01,
 -3.34996212e-01,-6.36401914e-01,-4.97334764e-01]

qacc:
[-3.14997969e-01,-1.07162315e+00, 5.69845955e+00,-1.15424294e+01,
 -4.31383224e-01, 1.18348464e+00,-5.84079088e+00, 1.27500479e+01,
  4.14555076e-03,-4.95877663e-01,-2.06231576e+00, 1.62372629e+01,
  2.34846262e-01,-6.50919102e-01,-1.23184864e+01, 4.16956274e+01,
 -1.42538128e-01, 3.96743475e-01,-9.79886816e+00, 3.94061789e+00,
  4.29693894e+00,-4.72392876e+00]

qfrc_actuator:
[ 2.35430820e-03, 2.76538405e-02, 8.72672798e-03, 1.57538872e-03,
 -9.39854644e-08, 2.74295086e-02, 8.66952652e-03, 1.59737996e-03,
 -2.41029007e-03, 2.74872547e-02, 8.80025914e-03, 1.72543350e-03,
  3.24486363e-03,-1.68782806e-03, 0.00000000e+00,-2.22104620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.84157273e-05, 5.08145543e-05, 3.00343205e-05,-1.17074313e-05,
 -7.83465477e-05,-7.03975215e-07,-7.13792860e-06, 1.94467615e-05,
  6.68720046e-07, 2.72226889e-05, 5.51848517e-05, 4.87020370e-05,
 -4.60540486e-05,-3.09730966e-05,-1.52290119e-05, 1.97605727e-04,
 -1.96226132e-01, 2.89948161e-01,-7.79369247e+00, 5.29635449e-02,
 -1.48023098e-01,-4.23992556e-03]


--- Step 1533 ---
qpos:
[-5.51423965e-04, 8.77192996e-01,-2.02582109e-02,-2.75653501e-02,
  7.64825609e-03, 8.64643263e-01,-2.79846348e-02, 9.46441203e-03,
  2.22061868e-02, 8.72918884e-01,-2.02259714e-02, 2.24852252e-02,
  1.34194929e+00,-1.00101486e-02, 1.00572064e+00, 6.14417138e-02,
 -8.88996289e-01, 4.66677540e-02, 7.28202097e-02, 4.83221610e-01,
 -3.34157105e-01,-6.40061350e-01,-4.95133691e-01]

qacc:
[-1.15126109e-01,-7.62163244e-01, 3.00124525e+00,-4.74460301e+00,
 -1.41097532e-01, 2.56917836e+00,-1.26888335e+01, 2.90177343e+01,
 -2.55773829e-03, 1.26793561e+00,-1.10647998e+00,-7.28006842e+00,
  2.67505548e-01,-8.11904732e-01,-3.04471333e+00, 1.06464656e+01,
 -1.44113230e-01, 3.96120325e-01,-9.80237879e+00, 3.95320192e+00,
  4.33327381e+00,-4.72639794e+00]

qfrc_actuator:
[ 2.36103435e-03, 2.76201689e-02, 8.72385966e-03, 1.56848705e-03,
  1.15903259e-05, 2.74638023e-02, 8.67317250e-03, 1.64692128e-03,
 -2.41096355e-03, 2.75262614e-02, 8.77237337e-03, 1.69825795e-03,
  3.23322116e-03,-1.71339740e-03, 0.00000000e+00,-2.17437650e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.13727736e-05, 4.36203988e-07, 1.09252397e-05,-3.91266845e-06,
 -2.56050143e-05, 3.32411602e-05, 3.29466250e-06, 4.96450116e-05,
 -3.52663690e-07, 6.77468181e-05,-1.37707416e-05,-2.31507127e-05,
 -4.54079872e-05,-4.30922993e-05, 1.22705275e-05, 5.50843525e-05,
 -1.97989572e-01, 2.89338727e-01,-7.79625687e+00, 5.34512224e-02,
 -1.47869320e-01,-4.26797525e-03]


--- Step 1534 ---
qpos:
[-5.51890695e-04, 8.77192832e-01,-2.02585542e-02,-2.75657077e-02,
  7.64867694e-03, 8.64644441e-01,-2.79855684e-02, 9.46452104e-03,
  2.22059281e-02, 8.72919276e-01,-2.02277945e-02, 2.24861496e-02,
  1.34209291e+00,-1.00100168e-02, 1.00594910e+00, 6.14466044e-02,
 -8.94285597e-01, 4.68839432e-02, 7.30774538e-02, 4.81226199e-01,
 -3.33296132e-01,-6.43708992e-01,-4.92923694e-01]

qacc:
[ 1.60554089e-01, 1.96759866e-01,-4.50413722e+00, 1.62539303e+01,
 -2.92167717e-02, 2.80986232e+00,-1.02279596e+01, 1.52786653e+01,
 -1.00054993e-01, 7.22215092e+00,-2.64984850e+01, 4.03720516e+01,
 -1.56349857e-01, 8.22986753e-02,-4.98150816e-01, 1.89059251e+00,
 -1.45673740e-01, 3.95463171e-01,-9.80588771e+00, 3.96559626e+00,
  4.36979451e+00,-4.72875113e+00]

qfrc_actuator:
[ 2.40101842e-03, 2.75643497e-02, 8.72223774e-03, 1.60031574e-03,
  1.85717820e-05, 2.74839468e-02, 8.64005490e-03, 1.65838618e-03,
 -2.42909050e-03, 2.76028345e-02, 8.70281556e-03, 1.73542749e-03,
  3.22639100e-03,-1.71079434e-03, 0.00000000e+00,-2.16661118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.97011178e-05,-5.34896162e-05,-3.17467257e-07, 3.21515481e-05,
 -5.20196966e-06, 4.15220193e-05,-2.41307518e-05, 1.39694050e-05,
 -1.82897875e-05, 1.10640892e-04,-5.80540088e-05, 3.91470008e-05,
 -4.30289544e-05,-1.74969246e-05, 6.93934960e-06, 1.12729490e-05,
 -1.99742556e-01, 2.88702207e-01,-7.79882069e+00, 5.39330362e-02,
 -1.47704082e-01,-4.29562010e-03]


--- Step 1535 ---
qpos:
[-5.52144365e-04, 8.77192306e-01,-2.02583823e-02,-2.75653752e-02,
  7.64892823e-03, 8.64645947e-01,-2.79868487e-02, 9.46441997e-03,
  2.22052833e-02, 8.72920021e-01,-2.02299313e-02, 2.24882270e-02,
  1.34223609e+00,-1.00095721e-02, 1.00617786e+00, 6.14492094e-02,
 -8.99575494e-01, 4.71017116e-02, 7.32954604e-02, 4.79223417e-01,
 -3.32413256e-01,-6.47344712e-01,-4.90704766e-01]

qacc:
[  0.11118189, -0.49631487, -1.83109097, 13.20182234, -0.0894078 ,
   0.96862989, -1.9380218 , -1.38426671, -0.20087772,  3.71300421,
 -17.43338665, 37.63259331, -0.71253744,  1.15879342,  7.36650046,
 -25.06261602, -0.14721952,  0.39477212, -9.80939459,  3.97779831,
   4.40650063, -4.73098601]

qfrc_actuator:
[ 2.40725791e-03, 2.75667276e-02, 8.75679131e-03, 1.63690271e-03,
  4.87245959e-06, 2.74952902e-02, 8.62092040e-03, 1.64731585e-03,
 -2.45750177e-03, 2.75946544e-02, 8.68046406e-03, 1.79243686e-03,
  3.20648647e-03,-1.69149107e-03, 0.00000000e+00,-2.28829510e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.05228688e-05,-2.62098506e-05, 2.45854870e-05, 3.49139364e-05,
 -1.61700145e-05, 3.01548147e-05,-1.30507814e-05,-9.85511848e-06,
 -3.71979941e-05, 4.33770319e-05,-5.28586516e-06, 6.05047501e-05,
 -4.88647203e-05, 5.55291382e-06,-4.35228588e-07,-1.21309402e-04,
 -2.01484963e-01, 2.88038670e-01,-7.80138366e+00, 5.44089007e-02,
 -1.47527428e-01,-4.32285502e-03]


--- Step 1536 ---
qpos:
[-5.52257147e-04, 8.77192289e-01,-2.02586692e-02,-2.75656882e-02,
  7.64901266e-03, 8.64647772e-01,-2.79880575e-02, 9.46346842e-03,
  2.22046495e-02, 8.72920426e-01,-2.02316429e-02, 2.24899742e-02,
  1.34237907e+00,-1.00092289e-02, 1.00640687e+00, 6.14479928e-02,
 -9.04800286e-01, 4.71663478e-02, 7.34788144e-02, 4.78609369e-01,
 -3.32567904e-01,-6.46100865e-01,-4.92833982e-01]

qacc:
[ 7.27256904e-02, 6.23795420e-01, 1.46970181e+00,-1.22683947e+01,
 -8.77618700e-02,-1.52627474e+00, 9.64675641e+00,-2.47182345e+01,
  6.09470859e-03,-2.31625438e+00, 9.00154331e+00,-1.51471557e+01,
 -2.77637449e-01, 2.82338041e-01, 1.19281517e+01,-4.11569856e+01,
  1.62761814e+01,-3.82830361e+01,-8.66314127e+00,-2.62237973e+03,
  2.08683436e+03, 4.45700062e+02]

qfrc_actuator:
[ 2.41097523e-03, 2.76218403e-02, 8.74164027e-03, 1.60504992e-03,
 -3.34591560e-06, 2.75190495e-02, 8.62791240e-03, 1.60533486e-03,
 -2.43855368e-03, 2.75359790e-02, 8.68584879e-03, 1.77186181e-03,
  3.20006455e-03,-1.69802743e-03, 0.00000000e+00,-2.48524454e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.11480936, -1.86493121, -3.66792688, -1.86493121,  1.03690254,
        1.56493972, -3.66792688,  1.56493972,  3.31912694,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.232258167309824e-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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-0.937635  ,  0.11330504,  0.04996384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35881355e-05, 4.70416899e-05,-1.63246524e-05,-3.14439046e-05,
 -1.59104914e-05, 3.74759568e-05, 1.12692659e-05,-4.13325102e-05,
  1.05554941e-06,-3.29280271e-05, 1.57945372e-05,-1.77221039e-05,
 -3.35935001e-05,-1.63586798e-05,-1.90249955e-05,-2.04999804e-04,
 -2.03216673e-01, 2.87348186e-01,-7.80394556e+00, 5.48787299e-02,
 -1.47339405e-01,-4.34967491e-03]


--- Step 1537 ---
qpos:
[-5.52279378e-04, 8.77192691e-01,-2.02594428e-02,-2.75663672e-02,
  7.64915287e-03, 8.64649398e-01,-2.79884210e-02, 9.46237937e-03,
  2.22045100e-02, 8.72920602e-01,-2.02332018e-02, 2.24904312e-02,
  1.34252195e+00,-1.00090228e-02, 1.00663617e+00, 6.14410544e-02,
 -9.10025180e-01, 4.72314297e-02, 7.36229011e-02, 4.77988842e-01,
 -3.32721112e-01,-6.44854596e-01,-4.94960481e-01]

qacc:
[ 4.65951255e-02, 1.16031864e+00,-1.79141049e+00,-4.06361186e+00,
  2.98892419e-02,-2.90462420e+00, 1.05579786e+01,-1.41467268e+01,
  2.56937401e-01,-3.38192011e+00, 1.70696172e+01,-3.94777810e+01,
 -2.73404870e-01, 2.88676765e-01, 1.77164974e+01,-6.13356700e+01,
 -2.55675323e-02, 1.11424899e-01,-9.81683663e+00,-4.52744176e-01,
 -1.61080748e+00,-1.00898769e+00]

qfrc_actuator:
[ 2.41316620e-03, 2.76368567e-02, 8.71518705e-03, 1.58645082e-03,
  9.54203333e-06, 2.74968782e-02, 8.66805354e-03, 1.59878980e-03,
 -2.39143267e-03, 2.75185686e-02, 8.68950910e-03, 1.70575815e-03,
  3.20172657e-03,-1.70202567e-03, 0.00000000e+00,-2.77816095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 8.73497963e-06, 3.66087376e-05,-1.98350947e-05,-1.77624321e-05,
  5.32040177e-06,-6.93625961e-07, 4.78356819e-05,-5.35314913e-06,
  4.76248999e-05,-3.33206315e-05,-1.80139966e-06,-6.73138527e-05,
 -2.21667765e-05,-1.50061275e-05,-3.60916054e-05,-3.07840477e-04,
 -6.73162349e-03, 9.36311442e-02,-7.87638053e+00, 5.02059003e-02,
 -1.53199791e-01,-3.79283395e-03]


--- Step 1538 ---
qpos:
[-5.52060594e-04, 8.77193199e-01,-2.02598878e-02,-2.75669346e-02,
  7.64958590e-03, 8.64650404e-01,-2.79874813e-02, 9.46124284e-03,
  2.22043463e-02, 8.72921130e-01,-2.02352227e-02, 2.24893697e-02,
  1.34266458e+00,-1.00085826e-02, 1.00686510e+00, 6.14319575e-02,
 -9.15250175e-01, 4.72969576e-02, 7.37277218e-02, 4.77361835e-01,
 -3.32872897e-01,-6.43605912e-01,-4.97084241e-01]

qacc:
[ 1.25408564e-01,-5.49785509e-01, 1.69062332e+00,-3.63263306e-01,
  1.54840632e-01,-4.55184819e+00, 1.52460503e+01,-1.77010197e+01,
 -1.30050754e-02,-1.36710214e+00, 1.19637034e+01,-3.77676886e+01,
 -4.73070862e-01, 8.03689826e-01, 6.00940138e+00,-2.17408016e+01,
 -2.51518019e-02, 1.11501252e-01,-9.81649501e+00,-4.52030921e-01,
 -1.61550457e+00,-1.00601248e+00]

qfrc_actuator:
[ 2.43218798e-03, 2.76454535e-02, 8.73542186e-03, 1.59353515e-03,
  3.49378862e-05, 2.74475391e-02, 8.72728162e-03, 1.59538088e-03,
 -2.41665871e-03, 2.75614472e-02, 8.67448463e-03, 1.63118206e-03,
  3.19226007e-03,-1.68667209e-03, 0.00000000e+00,-2.87669175e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.32289755e-05, 2.42097116e-05, 2.47405727e-05, 7.62020744e-06,
  2.79274801e-05,-4.01105229e-05, 6.47850747e-05,-1.88752944e-06,
 -2.31556502e-06, 2.10017374e-05,-2.44487470e-05,-7.73757408e-05,
 -2.67313509e-05, 7.48360530e-06,-5.49031886e-05,-1.21258089e-04,
 -6.34717132e-03, 9.37251076e-02,-7.87615494e+00, 5.04929631e-02,
 -1.53107727e-01,-3.80905347e-03]


--- Step 1539 ---
qpos:
[-5.51794104e-04, 8.77194041e-01,-2.02604744e-02,-2.75670648e-02,
  7.65012823e-03, 8.64651055e-01,-2.79858825e-02, 9.46077598e-03,
  2.22034622e-02, 8.72922057e-01,-2.02372679e-02, 2.24877309e-02,
  1.34280693e+00,-1.00076976e-02, 1.00709310e+00, 6.14266877e-02,
 -9.20475269e-01, 4.73629318e-02, 7.37932779e-02, 4.76728348e-01,
 -3.33023273e-01,-6.42354819e-01,-4.99205237e-01]

qacc:
[ 2.46082733e-02, 1.73914863e+00,-7.39894887e+00, 1.49361071e+01,
  5.79924878e-02,-9.32039419e-01,-1.84940092e-01, 1.09818395e+01,
 -3.74578998e-01,-5.93564623e-01, 5.31770449e+00,-1.55636375e+01,
 -3.31559403e-01, 7.21422554e-01,-1.29171828e+01, 4.32324179e+01,
 -2.47359993e-02, 1.11575007e-01,-9.81615354e+00,-4.51299837e-01,
 -1.62019200e+00,-1.00302320e+00]

qfrc_actuator:
[ 2.42561629e-03, 2.76680984e-02, 8.72979097e-03, 1.61569838e-03,
  3.20738620e-05, 2.74356575e-02, 8.76166079e-03, 1.62932390e-03,
 -2.48497232e-03, 2.76045041e-02, 8.68430810e-03, 1.60552475e-03,
  3.18678498e-03,-1.66002390e-03, 0.00000000e+00,-2.66458697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.60589339e-06, 4.16122828e-05, 2.67988573e-06, 2.42043530e-05,
  1.04223799e-05,-2.10377240e-05, 3.39981907e-05, 3.44284232e-05,
 -6.94241524e-05, 4.64393182e-05, 8.48507978e-06,-2.71054368e-05,
 -1.99798942e-05, 2.26935561e-05,-4.09784840e-05, 1.97796112e-04,
 -5.96256630e-03, 9.38169240e-02,-7.87592917e+00, 5.07783768e-02,
 -1.53014122e-01,-3.82516585e-03]


--- Step 1540 ---
qpos:
[-5.51915359e-04, 8.77194776e-01,-2.02606651e-02,-2.75665632e-02,
  7.65051548e-03, 8.64651667e-01,-2.79839669e-02, 9.46070226e-03,
  2.22023669e-02, 8.72922849e-01,-2.02381493e-02, 2.24857822e-02,
  1.34294903e+00,-1.00064707e-02, 1.00732147e+00, 6.14185568e-02,
 -9.25700460e-01, 4.74293526e-02, 7.38195707e-02, 4.76088381e-01,
 -3.33172256e-01,-6.41101324e-01,-5.01323443e-01]

qacc:
[-2.01175201e-01, 5.28172726e-02,-3.05568981e+00, 1.34224070e+01,
 -8.12261654e-02,-1.26912640e-01,-1.28183234e+00, 7.60832900e+00,
 -1.08942895e-01,-4.06336147e+00, 1.55422369e+01,-2.26682581e+01,
 -6.19298583e-01, 1.10937526e+00, 9.23707790e+00,-3.14169068e+01,
 -2.43201348e-02, 1.11646167e-01,-9.81581223e+00,-4.50550923e-01,
 -1.62486968e+00,-1.00001983e+00]

qfrc_actuator:
[ 2.38603280e-03, 2.76456421e-02, 8.74448468e-03, 1.64653872e-03,
  1.23202972e-05, 2.74462341e-02, 8.78125319e-03, 1.64947466e-03,
 -2.47191659e-03, 2.75942238e-02, 8.74429272e-03, 1.59113223e-03,
  3.17306444e-03,-1.64465583e-03, 0.00000000e+00,-2.82155451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.73642679e-05, 2.38628877e-06, 2.44526898e-05, 3.31851257e-05,
 -1.47965383e-05, 7.28315559e-06, 2.06109109e-05, 2.10933908e-05,
 -2.03405544e-05, 1.62656242e-05, 6.96953181e-05,-1.26313760e-05,
 -2.02060158e-05, 1.60931636e-05, 1.81367397e-06,-1.51506257e-04,
 -5.57781728e-03, 9.39065944e-02,-7.87570322e+00, 5.10621337e-02,
 -1.52918982e-01,-3.84117066e-03]


--- Step 1541 ---
qpos:
[-5.51913930e-04, 8.77194926e-01,-2.02598422e-02,-2.75656772e-02,
  7.65051795e-03, 8.64652354e-01,-2.79818388e-02, 9.46051763e-03,
  2.22014413e-02, 8.72924041e-01,-2.02390503e-02, 2.24840348e-02,
  1.34309100e+00,-1.00053009e-02, 1.00754987e+00, 6.14082809e-02,
 -9.30925747e-01, 4.74962202e-02, 7.38066017e-02, 4.75441936e-01,
 -3.33319859e-01,-6.39845432e-01,-5.03438835e-01]

qacc:
[  0.06458713, -2.81006024,  7.28123491, -1.82780665, -0.20200727,
  -0.72212081,  3.18735652, -5.50292566,  0.0880476 ,  0.99627781,
  -3.63659619,  6.85783346, -0.16497002,  0.16515937,  6.51372842,
 -22.73014843, -0.02390422,  0.11171474, -9.81547109, -0.44978418,
  -1.62953751, -0.99700238]

qfrc_actuator:
[ 2.41582174e-03, 2.75964343e-02, 8.78864485e-03, 1.66446321e-03,
 -1.73463200e-05, 2.74523586e-02, 8.79205234e-03, 1.64360608e-03,
 -2.44576574e-03, 2.76233240e-02, 8.74443257e-03, 1.60121475e-03,
  3.15972950e-03,-1.65388357e-03, 0.00000000e+00,-2.92851873e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.18105322e-05,-4.14242699e-05, 4.88091185e-05, 1.95181344e-05,
 -3.67087580e-05, 1.53260466e-05, 1.55532238e-05,-4.43610703e-06,
  1.63663562e-05, 5.20364518e-05, 1.16511360e-05, 1.29486026e-05,
 -2.16367541e-05,-9.97418786e-06,-2.13798972e-05,-1.16393042e-04,
 -5.19293311e-03, 9.39941194e-02,-7.87547709e+00, 5.13442259e-02,
 -1.52822317e-01,-3.85706745e-03]


--- Step 1542 ---
qpos:
[-5.51484554e-04, 8.77194678e-01,-2.02587512e-02,-2.75645546e-02,
  7.65033929e-03, 8.64652861e-01,-2.79797774e-02, 9.46100739e-03,
  2.22005789e-02, 8.72925488e-01,-2.02401925e-02, 2.24831469e-02,
  1.34323275e+00,-1.00041721e-02, 1.00777766e+00, 6.14004518e-02,
 -9.36151128e-01, 4.75635350e-02, 7.37543721e-02, 4.74789012e-01,
 -3.33466099e-01,-6.38587150e-01,-5.05551389e-01]

qacc:
[ 2.22683896e-01,-7.89263563e-01, 1.05204128e+00, 2.90218515e+00,
 -9.50790378e-02, 1.33563347e+00,-7.95531247e+00, 1.98681911e+01,
  3.26017062e-02, 2.77679336e+00,-1.30440690e+01, 2.81195707e+01,
  7.67978506e-03,-1.30209574e-01,-8.28214392e+00, 2.76747373e+01,
 -2.34882610e-02, 1.11780720e-01,-9.81513012e+00,-4.48999600e-01,
 -1.63419537e+00,-9.93970828e-01]

qfrc_actuator:
[ 2.45137356e-03, 2.75671994e-02, 8.79645107e-03, 1.67463283e-03,
 -1.71637814e-05, 2.74202084e-02, 8.77980047e-03, 1.67573059e-03,
 -2.44755947e-03, 2.76223150e-02, 8.72713602e-03, 1.64334773e-03,
  3.14129876e-03,-1.65985383e-03, 0.00000000e+00,-2.79202089e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.12271857e-05,-4.14931027e-05, 5.93066588e-06, 1.04629870e-05,
 -1.72873644e-05,-2.05955157e-05,-7.34531786e-06, 3.32296720e-05,
  6.08832203e-06, 3.10324391e-05,-4.66562479e-06, 4.50199006e-05,
 -3.37972914e-05,-1.28246163e-05,-2.66186125e-05, 1.26396429e-04,
 -4.80792259e-03, 9.40795000e-02,-7.87525079e+00, 5.16246454e-02,
 -1.52724132e-01,-3.87285579e-03]


--- Step 1543 ---
qpos:
[-5.51000895e-04, 8.77194401e-01,-2.02582586e-02,-2.75633058e-02,
  7.65044968e-03, 8.64652994e-01,-2.79782652e-02, 9.46124740e-03,
  2.21997389e-02, 8.72926709e-01,-2.02404459e-02, 2.24824090e-02,
  1.34337431e+00,-1.00033579e-02, 1.00800487e+00, 6.13972725e-02,
 -9.41376601e-01, 4.76312971e-02, 7.36628834e-02, 4.74129611e-01,
 -3.33610990e-01,-6.37326484e-01,-5.07661080e-01]

qacc:
[ 2.78550202e-02, 1.89480161e+00,-7.33938171e+00, 1.04950186e+01,
  1.51594148e-01, 5.23775230e-01,-1.53287708e+00,-1.63484057e+00,
  1.23171684e-02,-2.47110783e+00, 7.74616139e+00,-6.40421647e+00,
  3.67076205e-01,-8.66148479e-01,-1.49163295e+01, 5.08931072e+01,
 -2.30722720e-02, 1.11844122e-01,-9.81478933e+00,-4.48197191e-01,
 -1.63884316e+00,-9.90925182e-01]

qfrc_actuator:
[ 2.43677087e-03, 2.75677503e-02, 8.76503224e-03, 1.68014359e-03,
  1.86311454e-05, 2.73653180e-02, 8.73615958e-03, 1.65889951e-03,
 -2.44832861e-03, 2.76032259e-02, 8.77061757e-03, 1.65071434e-03,
  3.12514978e-03,-1.68161549e-03, 0.00000000e+00,-2.54868489e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.22673961e-06,-2.09786373e-05,-3.89039029e-05, 4.14030765e-06,
  2.75640171e-05,-6.65315371e-05,-4.76701693e-05,-1.73253031e-05,
  2.16545769e-06,-7.95303344e-07, 5.08726762e-05, 9.41184623e-06,
 -3.88288827e-05,-3.22679212e-05,-5.83377720e-07, 2.46424026e-04,
 -4.42279454e-03, 9.41627372e-02,-7.87502432e+00, 5.19033846e-02,
 -1.52624436e-01,-3.88853526e-03]


--- Step 1544 ---
qpos:
[-5.50952951e-04, 8.77194471e-01,-2.02586185e-02,-2.75623768e-02,
  7.65110659e-03, 8.64652523e-01,-2.79774788e-02, 9.46167250e-03,
  2.21989085e-02, 8.72927237e-01,-2.02396042e-02, 2.24818117e-02,
  1.34351571e+00,-1.00028373e-02, 1.00823205e+00, 6.13966722e-02,
 -9.46602165e-01, 4.76995069e-02, 7.35321368e-02, 4.73463733e-01,
 -3.33754547e-01,-6.36063442e-01,-5.09767883e-01]

qacc:
[-2.27063764e-01, 2.18081317e+00,-5.76417930e+00, 1.34667370e+00,
  2.86837283e-01, 1.60947849e+00,-7.67904994e+00, 1.24898085e+01,
  5.87023366e-03,-3.68422367e+00, 1.12153348e+01,-1.00243520e+01,
  2.44908314e-01,-6.50128720e-01,-7.86022087e+00, 2.73797000e+01,
 -2.26562618e-02, 1.11904948e-01,-9.81444873e+00,-4.47376951e-01,
 -1.64348077e+00,-9.87865433e-01]

qfrc_actuator:
[ 2.39227796e-03, 2.76037133e-02, 8.72859037e-03, 1.66512228e-03,
  5.76431550e-05, 2.73148032e-02, 8.69194699e-03, 1.66660733e-03,
 -2.44846760e-03, 2.75381612e-02, 8.81402713e-03, 1.65533941e-03,
  3.12102604e-03,-1.69480949e-03, 0.00000000e+00,-2.42195413e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.19802455e-05, 1.63760705e-05,-4.54271791e-05,-1.71872048e-05,
  5.21239424e-05,-9.83173427e-05,-6.44400854e-05, 2.86696138e-06,
  9.04290902e-07,-5.46254970e-05, 4.98309048e-05, 6.53407436e-06,
 -3.38264225e-05,-2.94567068e-05, 2.40299971e-05, 1.39673459e-04,
 -4.03755773e-03, 9.42438321e-02,-7.87479770e+00, 5.21804356e-02,
 -1.52523236e-01,-3.90410542e-03]


--- Step 1545 ---
qpos:
[-5.51204895e-04, 8.77194688e-01,-2.02593908e-02,-2.75619854e-02,
  7.65207663e-03, 8.64651640e-01,-2.79770909e-02, 9.46248460e-03,
  2.21984538e-02, 8.72926881e-01,-2.02389068e-02, 2.24820774e-02,
  1.34365692e+00,-1.00027322e-02, 1.00845983e+00, 6.13932623e-02,
 -9.51827818e-01, 4.77681645e-02, 7.33621339e-02, 4.72791379e-01,
 -3.33896786e-01,-6.34798028e-01,-5.11871773e-01]

qacc:
[-1.56156965e-01, 2.38081201e-01, 1.69606270e+00,-1.04383325e+01,
  1.64387050e-01, 1.36393510e+00,-7.28825768e+00, 1.49285909e+01,
  1.95467836e-01, 1.01017376e+00,-8.94269612e+00, 2.47637827e+01,
  1.72174265e-02,-3.93672481e-01, 9.36129647e+00,-3.14827144e+01,
 -2.22402405e-02, 1.11963202e-01,-9.81410833e+00,-4.46538882e-01,
 -1.64810811e+00,-9.84791578e-01]

qfrc_actuator:
[ 2.38357709e-03, 2.76073023e-02, 8.70738059e-03, 1.63817701e-03,
  6.27070449e-05, 2.73205498e-02, 8.68329304e-03, 1.68870355e-03,
 -2.41271928e-03, 2.74460691e-02, 8.78582132e-03, 1.69377439e-03,
  3.10281850e-03,-1.72051056e-03, 0.00000000e+00,-2.57800720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.88954227e-05, 2.62396456e-06,-2.40173493e-05,-2.81516091e-05,
  2.98613257e-05,-6.24051680e-05,-3.68035534e-05, 1.57075076e-05,
  3.61777089e-05,-1.12085465e-04,-3.31342700e-05, 3.79443029e-05,
 -4.43320080e-05,-4.01889170e-05, 2.16475063e-05,-1.46328921e-04,
 -3.65222092e-03, 9.43227856e-02,-7.87457092e+00, 5.24557908e-02,
 -1.52420540e-01,-3.91956585e-03]


--- Step 1546 ---
qpos:
[-5.51099576e-04, 8.77194558e-01,-2.02599671e-02,-2.75615533e-02,
  7.65284914e-03, 8.64651091e-01,-2.79768963e-02, 9.46275247e-03,
  2.21984018e-02, 8.72926396e-01,-2.02393738e-02, 2.24824312e-02,
  1.34379785e+00,-1.00029236e-02, 1.00868781e+00, 6.13870408e-02,
 -9.57053558e-01, 4.78372702e-02, 7.31528759e-02, 4.72112550e-01,
 -3.34037721e-01,-6.33530249e-01,-5.13972727e-01]

qacc:
[ 1.85883362e-01,-9.21827992e-01, 2.45059161e+00,-1.80570102e+00,
 -1.04021816e-01,-1.39360594e-01, 3.43428737e+00,-1.27903522e+01,
  2.08585425e-01, 3.26237958e+00,-1.22529217e+01, 1.57345421e+01,
 -1.22275402e-01,-1.23994819e-01, 8.79346312e+00,-3.03224421e+01,
 -2.18242181e-02, 1.12018888e-01,-9.81376814e+00,-4.45682986e-01,
 -1.65272506e+00,-9.81703612e-01]

qfrc_actuator:
[ 2.43189518e-03, 2.75737759e-02, 8.71296383e-03, 1.63992855e-03,
  2.96642280e-05, 2.73956085e-02, 8.69593723e-03, 1.66589899e-03,
 -2.39131381e-03, 2.74624970e-02, 8.73320018e-03, 1.69845858e-03,
  3.08682079e-03,-1.73572394e-03, 0.00000000e+00,-2.72184713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.44171240e-05,-3.82264442e-05, 2.19658317e-06, 4.85079546e-07,
 -1.88375163e-05, 3.32555609e-05,-4.23287823e-06,-2.64472402e-05,
  3.87981051e-05,-5.14614420e-05,-7.85448879e-05,-5.28724057e-07,
 -5.10892581e-05,-3.43418935e-05,-1.26494216e-05,-1.50672677e-04,
 -3.26679286e-03, 9.43995989e-02,-7.87434399e+00, 5.27294425e-02,
 -1.52316356e-01,-3.93491612e-03]


--- Step 1547 ---
qpos:
[-5.50524162e-04, 8.77194014e-01,-2.02601359e-02,-2.75611094e-02,
  7.65331773e-03, 8.64651376e-01,-2.79773899e-02, 9.46202251e-03,
  2.21986744e-02, 8.72926004e-01,-2.02406384e-02, 2.24820934e-02,
  1.34393849e+00,-1.00030829e-02, 1.00891565e+00, 6.13794606e-02,
 -9.62279383e-01, 4.79068242e-02, 7.29043641e-02, 4.71427249e-01,
 -3.34177368e-01,-6.32260113e-01,-5.16070718e-01]

qacc:
[  0.2446663 , -1.6624364 ,  5.08161799, -5.22420405, -0.16042281,
   0.97028162,  2.3524356 ,-19.13557735,  0.16813339,  0.92595818,
  -0.20421334,-10.56166937, -0.32077758,  0.40248077,  3.91206966,
 -13.95083073, -0.0214082 ,  0.11207201, -9.81342816, -0.44480927,
  -1.65733151, -0.97860153]

qfrc_actuator:
[ 2.46062955e-03, 2.75539199e-02, 8.73417927e-03, 1.64078220e-03,
  9.64804803e-06, 2.74584160e-02, 8.66805662e-03, 1.61693037e-03,
 -2.37869136e-03, 2.74903776e-02, 8.70251296e-03, 1.66556942e-03,
  3.08281455e-03,-1.72684491e-03, 0.00000000e+00,-2.78622297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.52889580e-05,-4.07459498e-05, 1.36130516e-05,-6.96977205e-07,
 -2.89774958e-05, 7.94047790e-05,-2.24466975e-05,-4.82046829e-05,
  3.12832834e-05,-1.71233954e-05,-5.10043739e-05,-3.78224282e-05,
 -4.18998882e-05,-1.03542047e-05,-2.72010545e-05,-7.54512687e-05,
 -2.88128227e-03, 9.44742732e-02,-7.87411691e+00, 5.30013831e-02,
 -1.52210691e-01,-3.95015583e-03]


--- Step 1548 ---
qpos:
[-5.49549033e-04, 8.77193398e-01,-2.02604572e-02,-2.75606643e-02,
  7.65351596e-03, 8.64651681e-01,-2.79781667e-02, 9.46009781e-03,
  2.21993629e-02, 8.72925576e-01,-2.02426426e-02, 2.24824118e-02,
  1.34407891e+00,-1.00032059e-02, 1.00914327e+00, 6.13714567e-02,
 -9.67505293e-01, 4.79768267e-02, 7.26166000e-02, 4.70735476e-01,
 -3.34315741e-01,-6.30987624e-01,-5.18165723e-01]

qacc:
[ 2.07632573e-01, 3.35296701e-01,-1.33567202e+00, 1.65179955e+00,
 -1.42261567e-01,-1.63915634e+00, 1.09297462e+01,-3.11730011e+01,
  2.15680689e-01, 3.36911149e+00,-1.48525880e+01, 2.74205518e+01,
 -2.05619577e-01, 2.60815931e-01, 9.57599346e-01,-3.80922913e+00,
 -2.09922095e-02, 1.12122578e-01,-9.81308841e+00,-4.43917726e-01,
 -1.66192737e+00,-9.75485339e-01]

qfrc_actuator:
[ 2.47735795e-03, 2.75602258e-02, 8.72897891e-03, 1.64110975e-03,
 -2.36673964e-06, 2.74067228e-02, 8.63418602e-03, 1.55293463e-03,
 -2.35366911e-03, 2.74894551e-02, 8.66733232e-03, 1.69964402e-03,
  3.08069013e-03,-1.72147304e-03, 0.00000000e+00,-2.80324851e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.85137417e-05,-1.36789525e-05,-1.19580370e-05,-9.59075309e-07,
 -2.57960655e-05,-1.39982731e-05,-2.19023117e-05,-6.23070428e-05,
  4.00712890e-05,-2.26297499e-05,-4.62963388e-05, 3.08422612e-05,
 -2.91596095e-05,-6.30454265e-06,-2.44004749e-05,-2.55121563e-05,
 -2.49569784e-03, 9.45468098e-02,-7.87388970e+00, 5.32716050e-02,
 -1.52103553e-01,-3.96528454e-03]


--- Step 1549 ---
qpos:
[-5.48284059e-04, 8.77193015e-01,-2.02607025e-02,-2.75606194e-02,
  7.65351107e-03, 8.64650934e-01,-2.79777685e-02, 9.45815034e-03,
  2.22002177e-02, 8.72924607e-01,-2.02443136e-02, 2.24831265e-02,
  1.34421918e+00,-1.00033061e-02, 1.00937022e+00, 6.13672844e-02,
 -9.72731285e-01, 4.80472778e-02, 7.22895849e-02, 4.70037233e-01,
 -3.34452855e-01,-6.29712789e-01,-5.20257716e-01]

qacc:
[ 1.50561266e-01,-7.30605387e-01, 4.73426455e+00,-1.19431593e+01,
 -1.05584730e-01,-4.71506314e+00, 1.48938316e+01,-1.63981095e+01,
  8.68155418e-02,-8.31402404e-01, 2.51742500e-01, 6.47443419e+00,
  9.03222357e-02,-1.82939479e-01,-1.25626036e+01, 4.25039341e+01,
 -2.05762431e-02, 1.12170591e-01,-9.81274888e+00,-4.43008370e-01,
 -1.66651252e+00,-9.72355027e-01]

qfrc_actuator:
[ 2.48676510e-03, 2.75998030e-02, 8.74383137e-03, 1.62337490e-03,
 -9.49269114e-06, 2.73223146e-02, 8.68535477e-03, 1.55152917e-03,
 -2.35693333e-03, 2.74535881e-02, 8.68297472e-03, 1.71956764e-03,
  3.07969778e-03,-1.71822244e-03, 0.00000000e+00,-2.59697652e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.79366548e-05, 2.94367481e-05, 1.05268537e-05,-1.87527073e-05,
 -1.94042290e-05,-9.94300490e-05, 4.34295562e-05,-3.97199045e-06,
  1.60108387e-05,-5.67308069e-05, 6.35060697e-06, 1.79546635e-05,
 -1.96896143e-05,-4.58144235e-06,-1.73524599e-05, 2.00972124e-04,
 -2.11004827e-03, 9.46172098e-02,-7.87366236e+00, 5.35401006e-02,
 -1.51994951e-01,-3.98030185e-03]


--- Step 1550 ---
qpos:
[-5.46828001e-04, 8.77192341e-01,-2.02599832e-02,-2.75611278e-02,
  7.65355188e-03, 8.64649859e-01,-2.79770451e-02, 9.45720260e-03,
  2.22007593e-02, 8.72922518e-01,-2.02451614e-02, 2.24834247e-02,
  1.34435938e+00,-1.00036438e-02, 1.00959655e+00, 6.13692488e-02,
 -9.77957358e-01, 4.81181778e-02, 7.19233202e-02, 4.69332521e-01,
 -3.34588727e-01,-6.28435615e-01,-5.22346673e-01]

qacc:
[ 9.99584901e-02,-4.21945619e+00, 1.68139320e+01,-2.77032999e+01,
  2.43824602e-02, 7.15502458e-01,-7.40153825e+00, 2.44272386e+01,
 -1.61886101e-01,-4.63391945e+00, 1.61360098e+01,-2.38372641e+01,
  4.75986892e-01,-9.32427549e-01,-1.94704968e+01, 6.67295058e+01,
 -2.01603151e-02, 1.12216056e-01,-9.81240960e+00,-4.42081205e-01,
 -1.67108686e+00,-9.69210597e-01]

qfrc_actuator:
[ 2.49172950e-03, 2.75703055e-02, 8.78830062e-03, 1.59520354e-03,
  4.10819737e-06, 2.73436106e-02, 8.71519171e-03, 1.60473643e-03,
 -2.39483882e-03, 2.73617702e-02, 8.71058120e-03, 1.69549286e-03,
  3.07406078e-03,-1.73399830e-03, 0.00000000e+00,-2.27856435e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.84097078e-05,-1.16544666e-05, 5.11995531e-05,-2.69121650e-05,
  4.35265230e-06,-2.54885282e-05, 1.45214155e-05, 5.03768896e-05,
 -3.02122721e-05,-1.21421969e-04, 1.73121160e-05,-2.59340558e-05,
 -1.81143390e-05,-2.12074051e-05, 1.19470457e-05, 3.26825384e-04,
 -1.72434221e-03, 9.46854747e-02,-7.87343490e+00, 5.38068625e-02,
 -1.51884893e-01,-3.99520736e-03]


--- Step 1551 ---
qpos:
[-5.45440470e-04, 8.77191194e-01,-2.02588537e-02,-2.75619074e-02,
  7.65407151e-03, 8.64649033e-01,-2.79767827e-02, 9.45687910e-03,
  2.22007296e-02, 8.72919453e-01,-2.02450728e-02, 2.24830613e-02,
  1.34449925e+00,-1.00035750e-02, 1.00982332e+00, 6.13713184e-02,
 -9.83183509e-01, 4.81895269e-02, 7.15178072e-02, 4.68621343e-01,
 -3.34723370e-01,-6.27156107e-01,-5.24432569e-01]

qacc:
[-3.52084259e-02,-2.32764672e+00, 8.53671918e+00,-1.35347318e+01,
  2.51164675e-01, 2.89797114e+00,-1.24940963e+01, 2.38563589e+01,
 -2.95992934e-01,-5.26516970e+00, 1.96974164e+01,-3.19290643e+01,
 -5.90092064e-01, 1.07095658e+00, 3.72036268e-01,-2.68772559e-01,
 -1.97444351e-02, 1.12258979e-01,-9.81207056e+00,-4.41136235e-01,
 -1.67565027e+00,-9.66052048e-01]

qfrc_actuator:
[ 2.47625844e-03, 2.75175463e-02, 8.79636304e-03, 1.57883600e-03,
  4.77302488e-05, 2.73747676e-02, 8.69710426e-03, 1.63644005e-03,
 -2.43536345e-03, 2.73259395e-02, 8.76249561e-03, 1.66342597e-03,
  3.06030915e-03,-1.70768108e-03, 0.00000000e+00,-2.28726382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.61460117e-06,-4.98444946e-05, 1.10305438e-05,-1.56184338e-05,
  4.56896603e-05, 2.20837075e-05,-1.98145701e-05, 3.20966330e-05,
 -5.50801292e-05,-1.01212087e-04, 2.80930208e-05,-3.71716085e-05,
 -2.87757641e-05, 1.72828107e-05, 3.86054331e-05, 1.02811476e-05,
 -1.33858830e-03, 9.47516059e-02,-7.87320731e+00, 5.40718831e-02,
 -1.51773387e-01,-4.01000064e-03]


--- Step 1552 ---
qpos:
[-5.44187594e-04, 8.77189879e-01,-2.02582699e-02,-2.75628486e-02,
  7.65490195e-03, 8.64648972e-01,-2.79769778e-02, 9.45617999e-03,
  2.22005444e-02, 8.72916334e-01,-2.02447689e-02, 2.24825919e-02,
  1.34463880e+00,-1.00029375e-02, 1.01005028e+00, 6.13729859e-02,
 -9.88409738e-01, 4.82613251e-02, 7.10730472e-02, 4.67903701e-01,
 -3.34856801e-01,-6.25874273e-01,-5.26515379e-01]

qacc:
[-0.07025428, 0.96785376,-3.09390512, 1.29645001, 0.16267587, 1.51446307,
 -2.3478492 ,-3.9828695 ,-0.08059454,-0.88958532, 3.51735433,-5.6562484 ,
 -0.72295383, 1.39723683, 1.55696751,-4.9106133 ,-0.01932861, 0.11229936,
 -9.81173177,-0.44017347,-1.68020266,-0.96287938]

qfrc_actuator:
[ 2.46646190e-03, 2.75043848e-02, 8.76499739e-03, 1.56949007e-03,
  5.56557036e-05, 2.74469008e-02, 8.68642336e-03, 1.61971182e-03,
 -2.42381825e-03, 2.73772634e-02, 8.79304693e-03, 1.66248085e-03,
  3.05236679e-03,-1.67440947e-03, 0.00000000e+00,-2.31112707e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.29830711e-05,-3.94079135e-05,-4.08401634e-05,-1.14005030e-05,
  2.96741662e-05, 8.17885166e-05,-7.44614354e-06,-1.58424943e-05,
 -1.49741654e-05,-9.98339340e-07, 1.18447044e-05,-5.02808747e-06,
 -2.02936723e-05, 3.05174938e-05, 1.23356051e-05,-1.98497618e-05,
 -9.52795159e-04, 9.48156048e-02,-7.87297961e+00, 5.43351552e-02,
 -1.51660441e-01,-4.02468130e-03]


--- Step 1553 ---
qpos:
[-5.43064964e-04, 8.77188896e-01,-2.02586320e-02,-2.75635857e-02,
  7.65555272e-03, 8.64649213e-01,-2.79774765e-02, 9.45602530e-03,
  2.22003580e-02, 8.72913425e-01,-2.02448175e-02, 2.24821192e-02,
  1.34477803e+00,-1.00018487e-02, 1.01027760e+00, 6.13716878e-02,
 -9.93636042e-01, 4.83335727e-02, 7.05890417e-02, 4.67179597e-01,
 -3.34989033e-01,-6.24590117e-01,-5.28595078e-01]

qacc:
[-6.83640540e-02, 3.50132666e+00,-1.27067425e+01, 1.75028051e+01,
 -9.46347622e-02, 2.36539947e+00,-1.01557730e+01, 1.98449969e+01,
 -9.40170709e-04, 1.25400222e+00,-4.05682218e+00, 4.40973857e+00,
 -7.62290148e-01, 1.37810412e+00, 9.52141087e+00,-3.24503671e+01,
 -1.89128580e-02, 1.12337217e-01,-9.81139325e+00,-4.39192913e-01,
 -1.68474391e+00,-9.59692590e-01]

qfrc_actuator:
[ 2.46016362e-03, 2.75503732e-02, 8.72851914e-03, 1.58210856e-03,
  2.43870550e-05, 2.74364879e-02, 8.66261465e-03, 1.64568515e-03,
 -2.41672384e-03, 2.73915847e-02, 8.77562169e-03, 1.66216511e-03,
  3.03194322e-03,-1.65504270e-03, 0.00000000e+00,-2.46789188e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.25461810e-05, 1.50545733e-05,-5.00352509e-05, 9.29914590e-06,
 -1.71347647e-05, 3.31125019e-05,-8.38019639e-06, 2.89123920e-05,
 -1.16655713e-07, 1.60635297e-05,-1.63237918e-05,-4.15095975e-08,
 -2.50995118e-05, 2.17190149e-05,-1.86235755e-06,-1.57521693e-04,
 -5.66971386e-04, 9.48774730e-02,-7.87275180e+00, 5.45966714e-02,
 -1.51546064e-01,-4.03924894e-03]


--- Step 1554 ---
qpos:
[-5.42600800e-04, 8.77188452e-01,-2.02599235e-02,-2.75638493e-02,
  7.65592002e-03, 8.64648714e-01,-2.79774810e-02, 9.45626304e-03,
  2.22002158e-02, 8.72911215e-01,-2.02456291e-02, 2.24819569e-02,
  1.34491694e+00,-1.00006773e-02, 1.01050493e+00, 6.13681873e-02,
 -9.98862421e-01, 4.84062698e-02, 7.00657920e-02, 4.66449034e-01,
 -3.35120083e-01,-6.23303648e-01,-5.30671642e-01]

qacc:
[-3.42890269e-01, 4.28448107e+00,-1.62336998e+01, 2.55047205e+01,
 -1.48303837e-01,-1.54893863e+00, 2.44879588e+00, 4.09541108e+00,
  2.22539953e-02, 3.69225220e+00,-1.31359766e+01, 1.92128663e+01,
 -4.27652830e-01, 5.93916193e-01, 6.68092255e+00,-2.33109587e+01,
 -1.84971801e-02, 1.12372543e-01,-9.81105499e+00,-4.38194576e-01,
 -1.68927391e+00,-9.56491684e-01]

qfrc_actuator:
[ 2.40275585e-03, 2.75959135e-02, 8.68959205e-03, 1.60760466e-03,
  5.47335405e-06, 2.73411995e-02, 8.66646381e-03, 1.66100437e-03,
 -2.41239188e-03, 2.74544737e-02, 8.74764493e-03, 1.67991934e-03,
  2.99871601e-03,-1.66188163e-03, 0.00000000e+00,-2.57740475e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.34392447e-05, 4.40467981e-05,-4.16489741e-05, 2.45932232e-05,
 -2.70653380e-05,-7.72683546e-05, 1.06584380e-05, 1.70114680e-05,
  4.27191715e-06, 6.85672918e-05,-2.66477586e-05, 1.78819437e-05,
 -4.30374979e-05,-7.43171612e-06,-2.36611985e-05,-1.19748709e-04,
 -1.81125555e-04, 9.49372118e-02,-7.87252389e+00, 5.48564243e-02,
 -1.51430265e-01,-4.05370317e-03]


--- Step 1555 ---
qpos:
[-5.42624336e-04, 8.77187987e-01,-2.02614950e-02,-2.75637786e-02,
  7.65603360e-03, 8.64647922e-01,-2.79774842e-02, 9.45562459e-03,
  2.22001220e-02, 8.72909787e-01,-2.02469106e-02, 2.24823220e-02,
  1.34505554e+00,-9.99953848e-03, 1.01073218e+00, 6.13626955e-02,
 -1.00408887e+00, 4.84794165e-02, 6.95032994e-02, 4.65712013e-01,
 -3.35249966e-01,-6.22014870e-01,-5.32745045e-01]

qacc:
[-2.53573000e-01, 1.44411997e+00,-6.59602024e+00, 1.28385403e+01,
 -1.33218606e-01,-2.19286004e+00, 1.09568115e+01,-2.59109090e+01,
  2.46395405e-02, 3.43033543e+00,-1.29594413e+01, 2.22640940e+01,
 -3.15277539e-01, 3.42498167e-01, 5.91983852e+00,-2.08341987e+01,
 -1.80815886e-02, 1.12405347e-01,-9.81071701e+00,-4.37178466e-01,
 -1.69379256e+00,-9.53276661e-01]

qfrc_actuator:
[ 2.38627324e-03, 2.75698337e-02, 8.66730999e-03, 1.62272376e-03,
 -5.85170374e-06, 2.73379277e-02, 8.66847853e-03, 1.61660745e-03,
 -2.40976231e-03, 2.75104243e-02, 8.73164125e-03, 1.70820323e-03,
  2.97912230e-03,-1.66650300e-03, 0.00000000e+00,-2.67589608e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.69968375e-05,-8.98617919e-06,-1.74511146e-05, 1.60458177e-05,
 -2.42167640e-05,-4.35401374e-05,-1.20373379e-05,-4.70065794e-05,
  4.68816103e-06, 8.96139967e-05,-4.48161025e-06, 3.06527572e-05,
 -4.66154985e-05,-1.59208830e-05,-2.81476404e-05,-1.09106908e-04,
  2.04733784e-04, 9.49948231e-02,-7.87229587e+00, 5.51144067e-02,
 -1.51313051e-01,-4.06804358e-03]


--- Step 1556 ---
qpos:
[-5.42245025e-04, 8.77187317e-01,-2.02629327e-02,-2.75638770e-02,
  7.65577023e-03, 8.64646917e-01,-2.79775453e-02, 9.45479804e-03,
  2.22000682e-02, 8.72908029e-01,-2.02476237e-02, 2.24830946e-02,
  1.34519381e+00,-9.99844614e-03, 1.01095921e+00, 6.13563574e-02,
 -1.00931539e+00, 4.85530130e-02, 6.89015653e-02, 4.64968538e-01,
 -3.35378696e-01,-6.20723790e-01,-5.34815263e-01]

qacc:
[ 0.20947585,-0.99343791, 3.86031209,-6.84628911,-0.19796777,-0.50537141,
  2.18938427,-5.19682889, 0.02126911,-1.18532169, 1.87281953, 4.51493778,
 -0.24383877, 0.21953246, 2.2405734 ,-8.2876972 ,-0.01766609, 0.11243563,
 -9.81037932,-0.43614459,-1.69829975,-0.95004752]

qfrc_actuator:
[ 2.44769623e-03, 2.75543843e-02, 8.67249001e-03, 1.61381364e-03,
 -3.02925665e-05, 2.73364579e-02, 8.66968785e-03, 1.60850304e-03,
 -2.40817612e-03, 2.74375807e-02, 8.74058631e-03, 1.72471108e-03,
  2.96239381e-03,-1.66971190e-03, 0.00000000e+00,-2.71384676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.88131341e-05,-2.33738875e-05, 1.74619645e-06,-9.58239176e-06,
 -3.59714166e-05,-3.02994682e-05,-1.08854343e-05,-1.12988687e-05,
  3.84845474e-06,-2.23006988e-05, 2.79836772e-05, 2.07929951e-05,
 -4.78033374e-05,-1.72502207e-05,-2.87168524e-05,-4.84722530e-05,
  5.90598100e-04, 9.50503084e-02,-7.87206777e+00, 5.53706113e-02,
 -1.51194433e-01,-4.08226979e-03]


--- Step 1557 ---
qpos:
[-5.41477771e-04, 8.77186489e-01,-2.02637370e-02,-2.75644677e-02,
  7.65499105e-03, 8.64646172e-01,-2.79780912e-02, 9.45350357e-03,
  2.22002277e-02, 8.72905940e-01,-2.02481552e-02, 2.24847781e-02,
  1.34533180e+00,-9.99742063e-03, 1.01118551e+00, 6.13539175e-02,
 -1.01450901e+00, 4.85085726e-02, 6.82464298e-02, 4.64971548e-01,
 -3.36066746e-01,-6.14972282e-01,-5.40989551e-01]

qacc:
[ 2.02006992e-01,-2.99268688e+00, 1.24393925e+01,-2.18443965e+01,
 -2.71361882e-01, 7.34888829e-01,-1.45607418e-01,-7.36906488e+00,
  1.11104309e-01, 9.29126152e-01,-7.79438987e+00, 2.35144722e+01,
  6.88236451e-02,-2.62687355e-01,-1.28504033e+01, 4.33846449e+01,
  8.22526617e+00,-2.95092089e+01,-1.33503282e+01,-2.47139665e+03,
  1.80732781e+03, 1.67039051e+02]

qfrc_actuator:
[ 2.46640396e-03, 2.75632584e-02, 8.71159809e-03, 1.59085575e-03,
 -6.23782011e-05, 2.73716108e-02, 8.65272001e-03, 1.58633123e-03,
 -2.38947426e-03, 2.74125284e-02, 8.74589751e-03, 1.76956750e-03,
  2.95272214e-03,-1.67204626e-03, 0.00000000e+00,-2.50278994e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.52647186, -2.25957495, -3.92215101, -2.25957495,  1.2992558 ,
        1.85921872, -3.92215101,  1.85921872,  3.45536469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000295710229902206
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.0416383 ,  0.11900977,  0.04985214])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.73809075e-05,-4.21446330e-06, 3.41804381e-05,-2.40816684e-05,
 -4.92097935e-05, 1.54991358e-05,-2.49476576e-05,-2.40632293e-05,
  2.05461413e-05,-3.08055356e-05, 4.88966721e-06, 4.52761705e-05,
 -4.16484346e-05,-1.69993509e-05,-2.18879540e-05, 2.03924729e-04,
  9.76458886e-04, 9.51036695e-02,-7.87183958e+00, 5.56250310e-02,
 -1.51074418e-01,-4.09638141e-03]


--- Step 1558 ---
qpos:
[-5.40413033e-04, 8.77185731e-01,-2.02638788e-02,-2.75653610e-02,
  7.65395718e-03, 8.64645623e-01,-2.79791336e-02, 9.45161705e-03,
  2.22002357e-02, 8.72903824e-01,-2.02484385e-02, 2.24869423e-02,
  1.34546953e+00,-9.99644527e-03, 1.01141163e+00, 6.13539687e-02,
 -1.01944749e+00, 4.85154228e-02, 6.78252526e-02, 4.64644648e-01,
 -3.35173746e-01,-6.13692692e-01,-5.43272667e-01]

qacc:
[ 1.54951149e-01,-2.38149045e+00, 9.89918427e+00,-1.62405644e+01,
 -1.34189915e-01, 4.25925366e-01, 1.35549679e+00,-1.09523407e+01,
 -7.85413673e-02, 2.59859805e-01,-3.00871369e+00, 1.09521400e+01,
 -2.85630471e-02,-9.49794007e-02,-7.79034458e+00, 2.68653331e+01,
  6.37850482e+01, 1.28226296e+01, 5.84895614e+01, 2.71828962e+03,
 -1.36730572e+03,-4.22176722e+02]

qfrc_actuator:
[ 2.47708893e-03, 2.75867614e-02, 8.75275718e-03, 1.57761266e-03,
 -6.32557862e-05, 2.73750914e-02, 8.62529597e-03, 1.55607406e-03,
 -2.41395019e-03, 2.74340362e-02, 8.76694042e-03, 1.79526138e-03,
  2.94196653e-03,-1.67381698e-03, 0.00000000e+00,-2.37751883e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.81062142, -8.44443171,  1.81062142,  0.54466258,
       -1.73499032, -8.44443171, -1.73499032,  8.26435392,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013985463649881236
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.0184409 , -0.01254883,  0.04930073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86711038e-05, 2.72037061e-05, 4.36784565e-05,-1.27068842e-05,
 -2.42965998e-05, 5.98205785e-06,-2.81169454e-05,-3.09203126e-05,
 -1.45994163e-05, 7.28527705e-06, 1.68667595e-05, 2.54251823e-05,
 -3.87178005e-05,-1.51619370e-05, 1.03179733e-05, 1.33298212e-04,
 -1.68022335e-01, 1.14805770e+00,-7.84602692e+00, 5.38524235e-02,
 -1.53398770e-01,-6.06648304e-03]


--- Step 1559 ---
qpos:
[-5.39329094e-04, 8.77184967e-01,-2.02635256e-02,-2.75653491e-02,
  7.65280254e-03, 8.64645081e-01,-2.79801790e-02, 9.44937276e-03,
  2.22002034e-02, 8.72902098e-01,-2.02488740e-02, 2.24883351e-02,
  1.34560694e+00,-9.99547990e-03, 1.01163741e+00, 6.13581994e-02,
 -1.02382885e+00, 4.84997312e-02, 6.79292384e-02, 4.61257138e-01,
 -3.30970874e-01,-6.14747956e-01,-5.47526332e-01]

qacc:
[ 1.03230993e-02, 4.74004559e-01,-5.51373891e+00, 2.03744434e+01,
 -6.34617482e-02,-7.17585136e-01, 4.08355983e+00,-1.02773720e+01,
 -2.12067064e-02,-6.47047397e-01, 6.31245591e+00,-1.97088752e+01,
  7.20482966e-04,-1.28336944e-01,-1.31116613e+01, 4.51577919e+01,
  1.39280409e+02,-5.63542664e+00, 1.31290741e+02, 2.85610530e+02,
 -2.52253266e+02,-2.69611455e+03]

qfrc_actuator:
[ 2.46514290e-03, 2.75833714e-02, 8.77711192e-03, 1.62346366e-03,
 -6.32159807e-05, 2.73772821e-02, 8.62730892e-03, 1.53902958e-03,
 -2.41079542e-03, 2.74655562e-02, 8.76177803e-03, 1.75626572e-03,
  2.92524366e-03,-1.67523947e-03, 0.00000000e+00,-2.16185022e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.48070516, -8.62297509, -0.48070516,  0.63845559,
        0.44585953, -8.62297509,  0.44585953,  8.6115083 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002119575735372123
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.02348204, -0.01243799,  0.04894021])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.12782838, -0.19236168, -4.1233438 , -0.19236168,  0.92246888,
        0.149536  , -4.1233438 ,  0.149536  ,  4.12085225,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -8.975970107331227e-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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.0508773 ,  0.11971008,  0.04995512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.85258050e-06, 2.03191484e-05, 3.49205408e-05, 4.82814957e-05,
 -1.15226949e-05,-1.57467056e-06,-1.27036132e-06,-1.83575394e-05,
 -3.87341389e-06, 4.02143037e-05,-6.84451904e-07,-3.76044334e-05,
 -4.24014557e-05,-1.38079644e-05, 1.52225716e-05, 2.23416257e-04,
  2.83943522e-02, 1.02089143e-01,-7.86518960e+00, 5.48467698e-02,
 -1.51050977e-01,-4.16603446e-03]


--- Step 1560 ---
qpos:
[-5.39051759e-04, 8.77184047e-01,-2.02633450e-02,-2.75640311e-02,
  7.65178230e-03, 8.64644668e-01,-2.79813048e-02, 9.44762169e-03,
  2.22005400e-02, 8.72901253e-01,-2.02490216e-02, 2.24881191e-02,
  1.34574393e+00,-9.99423443e-03, 1.01186346e+00, 6.13629729e-02,
 -1.02804524e+00, 4.85118448e-02, 6.81693157e-02, 4.57663836e-01,
 -3.25734849e-01,-6.18656040e-01,-5.49277094e-01]

qacc:
[-4.19131288e-01, 2.96780237e+00,-1.63781794e+01, 3.93429877e+01,
  7.05290444e-02, 1.40852633e+00,-6.85906910e+00, 1.54316091e+01,
  1.91474282e-01,-2.94831738e+00, 1.89973921e+01,-4.79520251e+01,
 -5.33004826e-01, 8.54310012e-01,-1.21836676e+00, 4.89981366e+00,
  4.12430810e+01, 6.95129801e+00, 3.40228780e+01, 1.75455988e+03,
 -8.52558220e+02,-2.68770497e+02]

qfrc_actuator:
[ 2.38651965e-03, 2.75461417e-02, 8.75578119e-03, 1.68593161e-03,
 -4.49051478e-05, 2.73965617e-02, 8.62893669e-03, 1.56542054e-03,
 -2.37336019e-03, 2.75559354e-02, 8.79445130e-03, 1.67951618e-03,
  2.90495375e-03,-1.65872048e-03, 0.00000000e+00,-2.14316485e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.72467812, -8.46240287,  1.72467812,  0.46408637,
       -1.66554913, -8.46240287, -1.66554913,  8.29691677,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002412991987491238
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.0277181 , -0.01233167,  0.0487935 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.77293665e-05,-1.65770631e-05,-1.11597664e-05, 6.54868508e-05,
  1.28266650e-05, 1.73733793e-05, 5.26753445e-07, 2.59281919e-05,
  3.55733455e-05, 1.11155400e-04, 3.96086426e-05,-7.57805397e-05,
 -4.75780652e-05, 3.48208608e-06, 2.76590400e-05, 3.21116795e-05,
  1.36358541e-01, 6.71048624e-02,-7.88426683e+00, 5.26716374e-02,
 -1.54500234e-01,-4.11388116e-03]


--- Step 1561 ---
qpos:
[-5.39648250e-04, 8.77183394e-01,-2.02640636e-02,-2.75630137e-02,
  7.65131669e-03, 8.64644555e-01,-2.79825159e-02, 9.44652342e-03,
  2.22010993e-02, 8.72900888e-01,-2.02478995e-02, 2.24883482e-02,
  1.34588064e+00,-9.99307740e-03, 1.01209002e+00, 6.13646188e-02,
 -1.03185224e+00, 4.84929326e-02, 6.87854297e-02, 4.51048638e-01,
 -3.17392114e-01,-6.24046778e-01,-5.53518736e-01]

qacc:
[-4.54723616e-01, 2.24621048e+00,-6.22941004e+00, 2.27372071e+00,
  2.91204924e-01, 1.97653608e+00,-9.22926321e+00, 2.04457583e+01,
  1.16353056e-01,-1.99550466e+00, 6.15762081e+00,-8.36739798e-01,
 -3.26219948e-01, 3.33257451e-01, 1.02129079e+01,-3.46004020e+01,
  1.02347355e+02,-7.75646498e+00, 9.40091697e+01,-1.44544134e+02,
 -1.51357131e+01,-2.60252177e+03]

qfrc_actuator:
[ 2.33971874e-03, 2.75597706e-02, 8.70750879e-03, 1.66884360e-03,
  1.91406977e-06, 2.74259701e-02, 8.63041198e-03, 1.59941225e-03,
 -2.36900765e-03, 2.75922197e-02, 8.86719948e-03, 1.70552866e-03,
  2.88787150e-03,-1.66722797e-03, 0.00000000e+00,-2.31171497e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.68486158, -8.60916613, -0.68486158,  0.58951286,
        0.64012923, -8.60916613,  0.64012923,  8.58544118,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002246840652315618
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.03141912, -0.01232556,  0.04887658])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.22863211, -0.31078938, -4.21719569, -0.31078938,  0.90991736,
        0.24457516, -4.21719569,  0.24457516,  4.21060797,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00017148769486287352
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.05910165,  0.11976193,  0.04991426])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.41985357e-05, 4.86591241e-06,-5.07996532e-05,-1.69079634e-05,
  5.29258509e-05, 4.03658355e-05, 6.04031554e-06, 3.52637296e-05,
  2.14799134e-05, 1.03401650e-04, 9.79720609e-05, 3.06730338e-05,
 -4.34543303e-05,-1.87710705e-05, 1.03234253e-05,-1.64592273e-04,
 -2.04599153e-01, 5.93930147e-02,-7.57391687e+00, 6.44127435e-02,
 -1.31798402e-01,-4.33234049e-03]


--- Step 1562 ---
qpos:
[-5.40948695e-04, 8.77183146e-01,-2.02651915e-02,-2.75626057e-02,
  7.65103581e-03, 8.64644694e-01,-2.79833906e-02, 9.44547230e-03,
  2.22016050e-02, 8.72900664e-01,-2.02459657e-02, 2.24893076e-02,
  1.34601722e+00,-9.99256757e-03, 1.01231673e+00, 6.13632476e-02,
 -1.03534046e+00, 4.84423382e-02, 6.96885885e-02, 4.41546382e-01,
 -3.06079600e-01,-6.30703070e-01,-5.59969381e-01]

qacc:
[-3.66213452e-01, 4.21504350e-01, 1.83823908e+00,-1.20153873e+01,
  9.71567164e-02,-5.09676196e-01, 2.10092857e+00,-2.00827744e+00,
 -2.73463037e-02,-5.78278292e-01,-7.51816739e-01, 1.19922342e+01,
  2.61537441e-01,-9.04803919e-01, 9.30328731e+00,-3.22886247e+01,
  7.96918981e+01,-7.92053011e+00, 7.17612192e+01,-1.27396058e+02,
 -1.37764556e+01,-2.42495603e+03]

qfrc_actuator:
[ 2.31240108e-03, 2.76035539e-02, 8.69712498e-03, 1.64061156e-03,
 -5.64619603e-06, 2.74434798e-02, 8.64958533e-03, 1.60210227e-03,
 -2.38450608e-03, 2.75605898e-02, 8.89188511e-03, 1.73853009e-03,
  2.87271597e-03,-1.70824747e-03, 0.00000000e+00,-2.46488482e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.82243963, -8.59711405, -0.82243963,  0.54304478,
        0.77424426, -8.59711405,  0.77424426,  8.56229586,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018681036302653498
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.03454844, -0.01229813,  0.04906595])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.18295108, -0.41979636, -4.16183262, -0.41979636,  0.85755399,
        0.33542666, -4.16183262,  0.33542666,  4.14911721,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00014088060130247604
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.06263315,  0.11970944,  0.04992956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.78232850e-05, 3.53004623e-05,-1.62112183e-05,-3.01092482e-05,
  1.76342597e-05, 4.28600996e-05, 2.94861953e-05, 5.31776034e-06,
 -5.15319796e-06, 4.77456082e-05, 5.91675220e-05, 4.14180774e-05,
 -4.48246199e-05,-5.51098095e-05,-1.94857110e-05,-1.62393106e-04,
 -3.55800128e-01, 1.14567259e-02,-7.38953973e+00, 7.12615641e-02,
 -1.21172547e-01,-4.55191639e-03]


--- Step 1563 ---
qpos:
[-5.42379610e-04, 8.77183093e-01,-2.02664519e-02,-2.75618418e-02,
  7.65042325e-03, 8.64644899e-01,-2.79839611e-02, 9.44517848e-03,
  2.22019867e-02, 8.72900833e-01,-2.02447710e-02, 2.24893510e-02,
  1.34615354e+00,-9.99251762e-03, 1.01254388e+00, 6.13553371e-02,
 -1.03875019e+00, 4.84041217e-02, 7.06385468e-02, 4.31756963e-01,
 -2.93924552e-01,-6.38588012e-01,-5.65154522e-01]

qacc:
[-6.79288706e-02, 1.36275547e+00,-5.98175078e+00, 1.22031535e+01,
 -1.74006546e-01, 7.95618362e-01,-5.90763745e+00, 1.84807061e+01,
 -6.50744441e-02, 6.98410799e-01, 2.13097754e+00,-1.70944843e+01,
 -1.93771638e-01,-1.26507828e-01, 2.04118706e+01,-7.04439211e+01,
  1.96263429e+01, 3.09446085e+00, 1.16998613e+01, 8.85196164e+02,
 -3.19605253e+02,-2.54793739e+02]

qfrc_actuator:
[ 2.33245830e-03, 2.76119281e-02, 8.69159141e-03, 1.65938011e-03,
 -4.56861038e-05, 2.74360266e-02, 8.66123742e-03, 1.63961371e-03,
 -2.39397529e-03, 2.75416167e-02, 8.83442545e-03, 1.68649842e-03,
  2.85338609e-03,-1.73267479e-03, 0.00000000e+00,-2.80296480e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.94489368, -8.5845182 ,  0.94489368,  0.1777949 ,
       -0.93103048, -8.5845182 , -0.93103048,  8.53388557,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013384078055436247
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.03719608, -0.01225209,  0.0493308 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25671445e-05, 2.34854080e-05,-1.27085488e-06, 1.91345115e-05,
 -3.16420513e-05, 2.28380599e-05, 2.43281646e-05, 4.04742198e-05,
 -1.19432570e-05, 2.17112411e-05,-3.88900719e-05,-4.71358618e-05,
 -5.85464125e-05,-4.69039519e-05,-3.11984477e-05,-3.50608080e-04,
 -5.21859587e-01,-3.73827965e-02,-7.22745797e+00, 7.97095328e-02,
 -1.11709122e-01,-4.86461739e-03]


--- Step 1564 ---
qpos:
[-5.43557325e-04, 8.77182959e-01,-2.02679039e-02,-2.75611642e-02,
  7.64959165e-03, 8.64645587e-01,-2.79845716e-02, 9.44599728e-03,
  2.22022491e-02, 8.72900936e-01,-2.02444532e-02, 2.24905681e-02,
  1.34628929e+00,-9.99172733e-03, 1.01277113e+00, 6.13413981e-02,
 -1.04191126e+00, 4.83873358e-02, 7.18056004e-02, 4.19396368e-01,
 -2.78577701e-01,-6.48189323e-01,-5.71272048e-01]

qacc:
[ 1.31477725e-01, 2.49352467e-01,-6.81654729e-01,-4.45433739e-01,
 -1.15186566e-01, 3.03692422e+00,-1.46024449e+01, 3.35720616e+01,
 -6.24423174e-02, 4.77524497e+00,-2.21113301e+01, 4.38772677e+01,
 -1.33935865e+00, 2.36725674e+00, 1.84122538e+01,-6.40478117e+01,
  6.21631938e+01, 5.35765735e+00, 5.42738215e+01, 4.98575422e+02,
 -1.52564480e+02,-2.19966844e+03]

qfrc_actuator:
[ 2.36289591e-03, 2.75813509e-02, 8.67110232e-03, 1.65236941e-03,
 -5.15133866e-05, 2.74846907e-02, 8.66827431e-03, 1.69728897e-03,
 -2.39973508e-03, 2.75121772e-02, 8.78216257e-03, 1.74457486e-03,
  2.84754660e-03,-1.67606470e-03, 0.00000000e+00,-3.10524072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006104130146385861
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.04044882, -0.01225592,  0.04969479])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.10564377,  0.25734974, -4.09757024,  0.25734974,  1.08922529,
       -0.18944752, -4.09757024, -0.18944752,  4.09374543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -5.6843244141714655e-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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.05764607,  0.06213663,  0.04997158])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.43948696e-05,-1.68772000e-05,-1.51233990e-05,-5.67564891e-06,
 -2.08854530e-05, 6.81893770e-05, 1.61556939e-05, 6.02850113e-05,
 -1.15010700e-05,-2.73653859e-05,-5.42105151e-05, 5.67419351e-05,
 -5.13527384e-05, 3.29717937e-05,-5.80140600e-05,-3.26883557e-04,
 -1.00027721e+00, 5.97209663e-02,-6.84994687e+00, 9.42625559e-02,
 -8.06239366e-02,-5.44004985e-03]


--- Step 1565 ---
qpos:
[-5.44604622e-04, 8.77182741e-01,-2.02692616e-02,-2.75612853e-02,
  7.64881014e-03, 8.64646492e-01,-2.79849527e-02, 9.44717079e-03,
  2.22024178e-02, 8.72901285e-01,-2.02449296e-02, 2.24924258e-02,
  1.34642476e+00,-9.99063814e-03, 1.01299710e+00, 6.13315706e-02,
 -1.04507536e+00, 4.83726950e-02, 7.29360081e-02, 4.06942523e-01,
 -2.62960408e-01,-6.57413757e-01,-5.77110699e-01]

qacc:
[ 6.78207176e-02,-2.02071025e+00, 1.04053025e+01,-2.42990667e+01,
  2.64017951e-02, 3.74758564e-01,-2.41891267e+00, 8.03237428e+00,
 -4.92257181e-02, 3.85908327e+00,-1.59962259e+01, 2.81727679e+01,
 -1.81638670e-01, 3.84730646e-01,-1.42742803e+01, 4.72477058e+01,
 -7.56105585e-01, 5.36272806e-01,-9.16145631e+00, 2.64569524e+01,
  8.72198689e+01,-3.31030826e+00]

qfrc_actuator:
[ 2.36372501e-03, 2.75808597e-02, 8.67725723e-03, 1.61243853e-03,
 -3.67930557e-05, 2.74778191e-02, 8.67276471e-03, 1.71314641e-03,
 -2.40322435e-03, 2.75477696e-02, 8.75120383e-03, 1.77822964e-03,
  2.84451296e-03,-1.66061160e-03, 0.00000000e+00,-2.86910311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.25651206e-05,-1.32757339e-05, 6.22005668e-07,-4.12858920e-05,
  4.78717480e-06, 3.71623239e-05, 2.26489189e-05, 2.05104340e-05,
 -9.02557311e-06, 1.15168877e-05,-4.13303807e-05, 3.17082794e-05,
 -2.59278561e-05, 1.16510798e-05,-6.64706947e-05, 2.09730282e-04,
 -1.64900871e+00, 9.45038971e-02,-6.32671714e+00, 1.11191508e-01,
 -4.13496474e-02,-6.01546164e-03]


--- Step 1566 ---
qpos:
[-5.45212073e-04, 8.77182687e-01,-2.02704100e-02,-2.75615791e-02,
  7.64814807e-03, 8.64647468e-01,-2.79854015e-02, 9.44787489e-03,
  2.22025195e-02, 8.72902250e-01,-2.02459429e-02, 2.24932241e-02,
  1.34656037e+00,-9.99046928e-03, 1.01322277e+00, 6.13235150e-02,
 -1.04824254e+00, 4.83601936e-02, 7.40296911e-02, 3.94402886e-01,
 -2.47081651e-01,-6.66254514e-01,-5.82667953e-01]

qacc:
[ 2.28622999e-01,-7.23725152e-01, 3.62130667e+00,-7.05978296e+00,
  6.26403563e-02,-6.82120420e-01, 4.55123948e+00,-1.26206997e+01,
 -3.54276314e-02, 1.36564225e-01, 5.17133379e+00,-2.31035532e+01,
  9.38388506e-01,-2.04201184e+00,-5.86703317e+00, 1.97231618e+01,
 -7.71664573e-01, 5.34838831e-01,-9.18118522e+00, 2.37076270e+01,
  8.83234234e+01,-2.99977350e+00]

qfrc_actuator:
[ 2.40006840e-03, 2.76162082e-02, 8.69918929e-03, 1.60676031e-03,
 -2.76783107e-05, 2.74554518e-02, 8.65772108e-03, 1.68647338e-03,
 -2.40532919e-03, 2.76043441e-02, 8.73329575e-03, 1.72628459e-03,
  2.83783042e-03,-1.72296528e-03, 0.00000000e+00,-2.77921432e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.23889695e-05, 2.63060888e-05, 1.78513508e-05,-7.02644238e-06,
  1.13971838e-05, 3.94959726e-06,-3.87405887e-06,-2.39003736e-05,
 -6.44520065e-06, 5.58287049e-05,-1.95249665e-05,-5.22669726e-05,
 -1.93200336e-05,-6.53909150e-05,-7.13076825e-06, 9.30891407e-05,
 -1.67595231e+00, 8.92949510e-02,-6.35190582e+00, 1.14095783e-01,
 -3.66137933e-02,-6.24179798e-03]


--- Step 1567 ---
qpos:
[-5.45381885e-04, 8.77182977e-01,-2.02711150e-02,-2.75619793e-02,
  7.64760219e-03, 8.64648460e-01,-2.79857083e-02, 9.44824717e-03,
  2.22025760e-02, 8.72903223e-01,-2.02466915e-02, 2.24934165e-02,
  1.34669577e+00,-9.99067534e-03, 1.01344844e+00, 6.13159060e-02,
 -1.05141287e+00, 4.83498244e-02, 7.50865711e-02, 3.81784971e-01,
 -2.30950640e-01,-6.74705048e-01,-5.87941440e-01]

qacc:
[ 2.27561884e-01,-1.00338815e+00, 4.68462221e+00,-7.48482204e+00,
  6.10960517e-02,-1.05636239e+00, 5.20052356e+00,-1.11843551e+01,
 -2.33613354e-02,-1.97663360e+00, 9.61981239e+00,-2.05350870e+01,
  1.53610407e-01,-5.85046078e-01,-1.37266701e+00, 4.75549367e+00,
 -7.86711640e-01, 5.33075126e-01,-9.20076351e+00, 2.09216755e+01,
  8.93167793e+01,-2.67074377e+00]

qfrc_actuator:
[ 2.42185351e-03, 2.76550931e-02, 8.73043495e-03, 1.60357447e-03,
 -2.20162959e-05, 2.74593509e-02, 8.66666767e-03, 1.67046957e-03,
 -2.40659254e-03, 2.75842739e-02, 8.74103097e-03, 1.69543383e-03,
  2.81827974e-03,-1.74214021e-03, 0.00000000e+00,-2.75862723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.21827832e-05, 5.69971708e-05, 3.86435560e-05,-1.57732335e-06,
  1.10874015e-05, 4.26419133e-06, 8.45236233e-06,-1.64359113e-05,
 -4.35519891e-06, 4.85958690e-06, 1.50520796e-05,-3.01521040e-05,
 -4.61108963e-05,-3.82614240e-05, 3.88310555e-06, 2.41191433e-05,
 -1.70225382e+00, 8.37340742e-02,-6.37755245e+00, 1.16776911e-01,
 -3.17179098e-02,-6.45338336e-03]


--- Step 1568 ---
qpos:
[-5.45207535e-04, 8.77183746e-01,-2.02717741e-02,-2.75624050e-02,
  7.64714876e-03, 8.64649510e-01,-2.79858876e-02, 9.44772961e-03,
  2.22026030e-02, 8.72904025e-01,-2.02469802e-02, 2.24935925e-02,
  1.34683064e+00,-9.99052986e-03, 1.01367358e+00, 6.13126179e-02,
 -1.05458640e+00, 4.83415793e-02, 7.61065703e-02, 3.69096338e-01,
 -2.14576813e-01,-6.82759074e-01,-5.92928943e-01]

qacc:
[ 1.78701958e-01, 4.52630118e-01,-5.87688798e-01,-2.77159425e-01,
  4.85708174e-02,-2.10909964e+00, 1.13895225e+01,-2.70398263e+01,
 -1.49954682e-02,-1.54287170e+00, 5.24537031e+00,-6.14143897e+00,
 -4.34599143e-01, 7.14267480e-01,-1.37874447e+01, 4.71826854e+01,
 -8.01300033e-01, 5.30986942e-01,-9.22018021e+00, 1.81027587e+01,
  9.01981184e+01,-2.32481899e+00]

qfrc_actuator:
[ 2.43472992e-03, 2.76781016e-02, 8.73144571e-03, 1.60188694e-03,
 -1.84704513e-05, 2.74612834e-02, 8.67207315e-03, 1.62541220e-03,
 -2.40734601e-03, 2.75718390e-02, 8.76356532e-03, 1.69496256e-03,
  2.79636110e-03,-1.71783253e-03, 0.00000000e+00,-2.53046779e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.31771896e-05, 6.27969572e-05, 1.74902116e-05, 2.05904806e-06,
  8.82356476e-06, 5.33789322e-06, 6.75259687e-06,-4.49038059e-05,
 -2.84653456e-06,-7.91840150e-06, 2.43470394e-05,-3.29505038e-07,
 -5.74266646e-05, 5.07826457e-06,-2.25038444e-08, 2.28983903e-04,
 -1.72791453e+00, 7.78275660e-02,-6.40363962e+00, 1.19226723e-01,
 -2.66729012e-02,-6.64984019e-03]


--- Step 1569 ---
qpos:
[-5.44605965e-04, 8.77184724e-01,-2.02728568e-02,-2.75624341e-02,
  7.64676295e-03, 8.64650831e-01,-2.79869197e-02, 9.44637187e-03,
  2.22024269e-02, 8.72904527e-01,-2.02463836e-02, 2.24944390e-02,
  1.34696530e+00,-9.99046879e-03, 1.01389922e+00, 6.13073753e-02,
 -1.05776320e+00, 4.83354484e-02, 7.70896118e-02, 3.56344591e-01,
 -1.97969830e-01,-6.90410577e-01,-5.97628409e-01]

qacc:
[ 2.21684266e-01, 2.27606876e+00,-9.38510549e+00, 1.67648751e+01,
  3.48350456e-02, 1.00962400e+00, 4.65745008e-01,-1.38421006e+01,
 -1.04809406e-01,-1.48993890e+00, 1.90451224e+00, 8.50897007e+00,
 -2.18548312e-01, 1.94703524e-01, 6.64774790e+00,-2.21649404e+01,
 -8.15482217e-01, 5.28577777e-01,-9.23943063e+00, 1.52546260e+01,
  9.09657916e+01,-1.96369577e+00]

qfrc_actuator:
[ 2.45993215e-03, 2.76558059e-02, 8.69678298e-03, 1.61881260e-03,
 -1.62170475e-05, 2.74619883e-02, 8.62205382e-03, 1.58136607e-03,
 -2.42554380e-03, 2.75641592e-02, 8.81243072e-03, 1.73012461e-03,
  2.79436021e-03,-1.72126967e-03, 0.00000000e+00,-2.64338617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.11702255e-05, 1.65097858e-05,-1.94696437e-05, 2.02585809e-05,
  6.45422719e-06, 3.13864259e-06,-4.96452905e-05,-4.44583846e-05,
 -1.95671211e-05,-7.11015758e-06, 5.02135627e-05, 3.56578392e-05,
 -3.35437761e-05,-1.56602946e-05, 2.19172383e-05,-1.00953041e-04,
 -1.75293611e+00, 7.15812236e-02,-6.43015177e+00, 1.21437607e-01,
 -2.14900994e-02,-6.83083471e-03]


--- Step 1570 ---
qpos:
[-5.43462808e-04, 8.77185569e-01,-2.02736021e-02,-2.75626133e-02,
  7.64605266e-03, 8.64651970e-01,-2.79881613e-02, 9.44520174e-03,
  2.22022260e-02, 8.72905030e-01,-2.02454735e-02, 2.24943194e-02,
  1.34709981e+00,-9.99050268e-03, 1.01412502e+00, 6.13001848e-02,
 -1.06094331e+00, 4.83314209e-02, 7.80356193e-02, 3.43537361e-01,
 -1.81139564e-01,-6.97653817e-01,-6.02037949e-01]

qacc:
[ 2.81672800e-01,-1.42861860e+00, 5.46945036e+00,-8.50609241e+00,
 -1.70496094e-01, 7.30749279e-01,-3.74629521e+00, 7.46285692e+00,
 -1.27426957e-02,-2.86061008e+00, 1.42832767e+01,-3.15076489e+01,
 -1.37098790e-01, 9.16232507e-02, 6.12195997e+00,-2.10649401e+01,
 -8.29309252e-01, 5.25849314e-01,-9.25851618e+00, 1.23811074e+01,
  9.16183264e+01,-1.58915909e+00]

qfrc_actuator:
[ 2.49230917e-03, 2.76419122e-02, 8.71217787e-03, 1.61098902e-03,
 -5.02565116e-05, 2.74439677e-02, 8.61071935e-03, 1.59149087e-03,
 -2.41851760e-03, 2.75595310e-02, 8.82322756e-03, 1.67947034e-03,
  2.79364949e-03,-1.72330572e-03, 0.00000000e+00,-2.74337279e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.21849981e-05,-7.82636081e-06, 1.71069343e-05,-7.39666322e-06,
 -3.09658829e-05,-2.84439403e-05,-1.83422108e-05, 7.67718234e-06,
 -2.38855595e-06, 3.27520996e-06, 1.67382704e-05,-4.85300189e-05,
 -2.37758251e-05,-1.31975774e-05,-7.24525184e-06,-1.04193556e-04,
 -1.77732034e+00, 6.50003006e-02,-6.45707509e+00, 1.23402530e-01,
 -1.61812334e-02,-6.99607738e-03]


--- Step 1571 ---
qpos:
[-5.42418267e-04, 8.77186062e-01,-2.02737516e-02,-2.75628746e-02,
  7.64535099e-03, 8.64652816e-01,-2.79886780e-02, 9.44445630e-03,
  2.22022421e-02, 8.72906089e-01,-2.02449401e-02, 2.24932252e-02,
  1.34723397e+00,-9.99000119e-03, 1.01435029e+00, 6.12955223e-02,
 -1.06412679e+00, 4.83294846e-02, 7.89445170e-02, 3.30682306e-01,
 -1.64096093e-01,-7.04483337e-01,-6.06155849e-01]

qacc:
[-5.07630014e-02,-2.29784023e+00, 7.86373711e+00,-9.97582067e+00,
  5.11567405e-03,-1.53778639e+00, 3.12762648e+00, 3.27822295e+00,
  1.12243684e-01,-2.16645012e-01, 5.95636958e+00,-2.26339076e+01,
 -5.48173785e-01, 1.08091932e+00,-8.37422173e+00, 2.82509327e+01,
 -8.42830178e-01, 5.22801382e-01,-9.27744417e+00, 9.48610526e+00,
  9.21544337e+01,-1.20307320e+00]

qfrc_actuator:
[ 2.45769527e-03, 2.76155656e-02, 8.73926308e-03, 1.60645667e-03,
 -3.46961173e-05, 2.74505611e-02, 8.65779888e-03, 1.61567386e-03,
 -2.39645403e-03, 2.76098101e-02, 8.81140081e-03, 1.63195263e-03,
  2.78306210e-03,-1.68895157e-03, 0.00000000e+00,-2.60404090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-9.50952763e-06,-2.75165452e-05, 2.73184074e-05,-4.42014215e-06,
  8.18735620e-07,-1.27904242e-05, 3.92137934e-05, 2.24813163e-05,
  2.09169007e-05, 5.34687011e-05,-1.07784588e-05,-4.77445008e-05,
 -2.77599368e-05, 2.61814329e-05,-1.94220208e-05, 1.31565946e-04,
 -1.80106893e+00, 5.80894747e-02,-6.48439749e+00, 1.25115054e-01,
 -1.07583971e-02,-7.14532314e-03]


--- Step 1572 ---
qpos:
[-5.41640482e-04, 8.77186489e-01,-2.02739533e-02,-2.75628345e-02,
  7.64512621e-03, 8.64653653e-01,-2.79884478e-02, 9.44396691e-03,
  2.22021300e-02, 8.72908067e-01,-2.02454049e-02, 2.24926020e-02,
  1.34736788e+00,-9.98934158e-03, 1.01457523e+00, 6.12938559e-02,
 -1.06731370e+00, 4.83296261e-02, 7.98162297e-02, 3.17787098e-01,
 -1.46849690e-01,-7.10893969e-01,-6.09980568e-01]

qacc:
[-1.38611230e-01, 6.80496759e-01,-3.82019219e+00, 9.16030732e+00,
  2.50977050e-01,-1.56888471e+00, 4.49824525e+00,-1.25645958e+00,
 -6.75078774e-02, 4.96805973e+00,-1.79448972e+01, 2.70183721e+01,
 -1.42029861e-01, 2.35936738e-01,-9.52533514e+00, 3.26374018e+01,
 -8.56091419e-01, 5.19431950e-01,-9.29622756e+00, 6.57358537e+00,
  9.25730133e+01,-8.07372145e-01]

qfrc_actuator:
[ 2.43656828e-03, 2.76175240e-02, 8.73746391e-03, 1.62164362e-03,
  1.04208723e-05, 2.74721080e-02, 8.70357095e-03, 1.63022702e-03,
 -2.41885772e-03, 2.76747248e-02, 8.76881229e-03, 1.65772241e-03,
  2.76657380e-03,-1.68661353e-03, 0.00000000e+00,-2.44908302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.57065456e-05,-7.98894731e-06,-4.27217169e-06, 1.48684761e-05,
  4.55042634e-05, 2.34418626e-05, 4.87387281e-05, 1.58005866e-05,
 -1.23303360e-05, 9.05168894e-05,-3.45354881e-05, 2.67579292e-05,
 -2.64626069e-05, 2.01592262e-06, 2.83479022e-06, 1.59150399e-04,
 -1.82418329e+00, 5.08528274e-02,-6.51210851e+00, 1.26569360e-01,
 -5.23401617e-03,-7.27837139e-03]


--- Step 1573 ---
qpos:
[-5.41124259e-04, 8.77187142e-01,-2.02740150e-02,-2.75630094e-02,
  7.64503787e-03, 8.64654842e-01,-2.79881136e-02, 9.44434399e-03,
  2.22018181e-02, 8.72910458e-01,-2.02457158e-02, 2.24929672e-02,
  1.34750148e+00,-9.98833690e-03, 1.01480004e+00, 6.12947147e-02,
 -1.07050409e+00, 4.83318305e-02, 8.06506830e-02, 3.04859413e-01,
 -1.29410815e-01,-7.16880840e-01,-6.13510750e-01]

qacc:
[-1.35917010e-01,-5.35472501e-01, 3.24706105e+00,-7.35159939e+00,
  7.16578141e-02, 1.95651864e+00,-9.96058846e+00, 2.45346386e+01,
 -1.03805332e-01, 2.14962694e+00,-1.10454048e+01, 2.76022044e+01,
 -3.82384795e-01, 7.07183215e-01,-7.78790268e+00, 2.70313071e+01,
 -8.69136218e-01, 5.15737137e-01,-9.31488463e+00, 3.64756724e+00,
  9.28731598e+01,-4.04049716e-01]

qfrc_actuator:
[ 2.42374103e-03, 2.76540726e-02, 8.75424906e-03, 1.61280631e-03,
  1.78958239e-06, 2.75024590e-02, 8.71274132e-03, 1.67450630e-03,
 -2.43217818e-03, 2.76945794e-02, 8.77954918e-03, 1.70865617e-03,
  2.75187299e-03,-1.66781679e-03, 0.00000000e+00,-2.32173404e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.51967542e-05, 3.18223377e-05, 1.51216315e-05,-9.03760875e-06,
  1.30286110e-05, 5.41864224e-05, 2.05555375e-05, 4.72765075e-05,
 -1.92383258e-05, 6.44407654e-05, 2.60939607e-05, 5.41373446e-05,
 -2.93577717e-05, 1.31758989e-05, 1.52303186e-05, 1.35712642e-04,
 -1.84666431e+00, 4.32938349e-02,-6.54019917e+00, 1.27760260e-01,
  3.79185679e-04,-7.39506592e-03]


--- Step 1574 ---
qpos:
[-5.41366955e-04, 8.77187880e-01,-2.02735333e-02,-2.75636446e-02,
  7.64495973e-03, 8.64656198e-01,-2.79872520e-02, 9.44455241e-03,
  2.22016981e-02, 8.72913348e-01,-2.02453757e-02, 2.24942390e-02,
  1.34763473e+00,-9.98660020e-03, 1.01502541e+00, 6.12927467e-02,
 -1.07369800e+00, 4.83360817e-02, 8.14478024e-02, 2.91906926e-01,
 -1.11790104e-01,-7.22439374e-01,-6.16745223e-01]

qacc:
[-3.94075130e-01,-2.35542058e+00, 1.04975073e+01,-1.93849648e+01,
  5.62295643e-03,-1.59885630e+00, 6.73351523e+00,-1.06205925e+01,
  1.00002435e-01, 7.04879512e-01,-5.38653599e+00, 1.96713858e+01,
 -1.00667811e+00, 1.93385584e+00, 9.42717096e+00,-3.16341509e+01,
 -8.82004091e-01, 5.11711253e-01,-9.33343864e+00, 7.12114376e-01,
  9.30541666e+01, 4.85096972e-03]

qfrc_actuator:
[ 2.36273723e-03, 2.76578523e-02, 8.78201348e-03, 1.58995020e-03,
 -3.43571786e-06, 2.75022298e-02, 8.73580016e-03, 1.66489789e-03,
 -2.40442056e-03, 2.77407924e-02, 8.82152857e-03, 1.75622995e-03,
  2.74891205e-03,-1.62164240e-03, 0.00000000e+00,-2.47796762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-7.31237286e-05, 2.42910212e-05, 3.58816138e-05,-2.11472657e-05,
  9.81385510e-07, 3.63113813e-05, 3.84060242e-05,-5.65829208e-06,
  1.85128969e-05, 8.99003153e-05, 6.03608479e-05, 5.22885493e-05,
 -1.65801070e-05, 4.23576933e-05, 1.74636728e-05,-1.47784898e-04,
 -1.86851217e+00, 3.54153702e-02,-6.56866191e+00, 1.28683214e-01,
  6.06822211e-03,-7.49529461e-03]


--- Step 1575 ---
qpos:
[-5.41796219e-04, 8.77188880e-01,-2.02733092e-02,-2.75648612e-02,
  7.64485387e-03, 8.64657707e-01,-2.79860466e-02, 9.44431360e-03,
  2.22020269e-02, 8.72916675e-01,-2.02449554e-02, 2.24950824e-02,
  1.34776777e+00,-9.98455693e-03, 1.01525079e+00, 6.12892870e-02,
 -1.07689550e+00, 4.83423623e-02, 8.22075142e-02, 2.78937298e-01,
 -9.39983596e-02,-7.27565301e-01,-6.19683004e-01]

qacc:
[-9.72201552e-02,-1.30853482e-01, 3.41830108e+00,-1.32490776e+01,
 -1.44267483e-02,-1.67661836e+00, 8.16195124e+00,-1.65674908e+01,
  2.33088381e-01,-5.27811921e-01, 4.52892112e+00,-1.23932749e+01,
 -4.81694865e-01, 8.75573824e-01, 4.56338248e+00,-1.58550586e+01,
 -8.94730324e-01, 5.07346869e-01,-9.35191740e+00,-2.22867595e+00,
  9.31155296e+01, 4.17248262e-01]

qfrc_actuator:
[ 2.37994527e-03, 2.76597745e-02, 8.76264804e-03, 1.55901420e-03,
 -6.54576625e-06, 2.75014501e-02, 8.74897439e-03, 1.64139804e-03,
 -2.37008053e-03, 2.77315600e-02, 8.81068433e-03, 1.73046365e-03,
  2.73170515e-03,-1.61282429e-03, 0.00000000e+00,-2.55147176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.79714309e-05, 2.19814668e-05,-1.06683228e-05,-2.90663821e-05,
 -2.63891154e-06, 2.71749733e-05, 2.51919221e-05,-2.07286760e-05,
  4.32627106e-05, 5.56771500e-05, 1.69426206e-05,-1.88142400e-05,
 -1.71015999e-05, 1.48132133e-05,-1.46512705e-05,-8.09306009e-05,
 -1.88972618e+00, 2.72197162e-02,-6.59749037e+00, 1.29334341e-01,
  1.18198796e-02,-7.57898899e-03]


--- Step 1576 ---
qpos:
[-5.42020861e-04, 8.77189861e-01,-2.02732023e-02,-2.75664118e-02,
  7.64471594e-03, 8.64659270e-01,-2.79852281e-02, 9.44489538e-03,
  2.22025974e-02, 8.72919709e-01,-2.02439719e-02, 2.24949820e-02,
  1.34790060e+00,-9.98257675e-03, 1.01547619e+00, 6.12839426e-02,
 -1.08009662e+00, 4.83506535e-02, 8.29297446e-02, 2.65958169e-01,
 -7.60465384e-02,-7.32254656e-01,-6.22323304e-01]

qacc:
[ 1.06247796e-01,-3.87083121e-01, 2.74777625e+00,-8.31719145e+00,
 -1.70551005e-02, 2.83742697e+00,-1.34816691e+01, 2.82674225e+01,
  1.25956526e-01,-3.90002814e+00, 1.73323517e+01,-3.43536719e+01,
 -2.07585134e-01, 1.94832404e-01, 5.71178912e+00,-1.99459407e+01,
 -9.07345503e-01, 5.02634902e-01,-9.37035286e+00,-5.17068324e+00,
  9.30569500e+01, 8.31033059e-01]

qfrc_actuator:
[ 2.40830638e-03, 2.76426173e-02, 8.75109381e-03, 1.54128813e-03,
 -8.35281606e-06, 2.74825341e-02, 8.72068517e-03, 1.68091989e-03,
 -2.36762998e-03, 2.76711699e-02, 8.82171425e-03, 1.67941828e-03,
  2.70595136e-03,-1.62628730e-03, 0.00000000e+00,-2.64655330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.97160369e-05,-8.33743188e-06,-9.34203147e-06,-1.77203374e-05,
 -3.05973221e-06, 5.48833901e-07,-2.03113835e-05, 4.11508773e-05,
  2.32794559e-05,-2.66394274e-05, 2.39355594e-05,-4.84465535e-05,
 -3.25811523e-05,-1.37425411e-05,-1.98151205e-05,-1.02411839e-04,
 -1.91030459e+00, 1.87085907e-02,-6.62667931e+00, 1.29710428e-01,
  1.76207537e-02,-7.64612360e-03]


--- Step 1577 ---
qpos:
[-5.42339251e-04, 8.77190631e-01,-2.02729089e-02,-2.75674683e-02,
  7.64436631e-03, 8.64660151e-01,-2.79843780e-02, 9.44566761e-03,
  2.22034797e-02, 8.72922970e-01,-2.02430152e-02, 2.24939003e-02,
  1.34803339e+00,-9.98104568e-03, 1.01570144e+00, 6.12774683e-02,
 -1.08330142e+00, 4.83609349e-02, 8.36144199e-02, 2.52977150e-01,
 -5.79457412e-02,-7.36503787e-01,-6.24665530e-01]

qacc:
[-4.85056633e-02, 2.19110966e-01,-3.26472030e+00, 1.16604467e+01,
 -1.10930624e-01,-5.95535716e-01, 1.38468051e-02, 3.73239265e+00,
  1.61880308e-01,-1.64438557e+00, 1.04410373e+01,-2.75489592e+01,
  2.64039512e-01,-7.40724648e-01, 3.17886709e+00,-1.14777962e+01,
 -9.19875097e-01, 4.97564737e-01,-9.38878059e+00,-8.10977450e+00,
  9.28783360e+01, 1.24408009e+00]

qfrc_actuator:
[ 2.38978486e-03, 2.76319426e-02, 8.76194141e-03, 1.56697830e-03,
 -2.71152702e-05, 2.73995169e-02, 8.70361640e-03, 1.68615530e-03,
 -2.34878019e-03, 2.77049079e-02, 8.82760078e-03, 1.63164487e-03,
  2.70170577e-03,-1.65287196e-03, 0.00000000e+00,-2.70033359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-9.03844203e-06,-1.80429054e-05, 7.35567636e-06, 2.46653760e-05,
 -2.02190292e-05,-8.51871595e-05,-1.80534133e-05, 5.35244835e-06,
  3.00543028e-05, 2.16343047e-05, 1.62550264e-06,-4.90356087e-05,
 -2.66697258e-05,-3.69344890e-05,-2.44073063e-05,-6.29259888e-05,
 -1.93024444e+00, 9.88318221e-03,-6.65622438e+00, 1.29808942e-01,
  2.34572856e-02,-7.69671529e-03]


--- Step 1578 ---
qpos:
[-5.42816237e-04, 8.77191402e-01,-2.02725658e-02,-2.75682269e-02,
  7.64380070e-03, 8.64660471e-01,-2.79836770e-02, 9.44545906e-03,
  2.22049924e-02, 8.72926490e-01,-2.02425894e-02, 2.24919395e-02,
  1.34816611e+00,-9.98010685e-03, 1.01592545e+00, 6.12790635e-02,
 -1.08650995e+00, 4.83731849e-02, 8.42614662e-02, 2.40001811e-01,
 -3.97072010e-02,-7.40309353e-01,-6.26709287e-01]

qacc:
[-8.23682573e-02, 4.76222262e-01,-2.95018149e+00, 8.01933051e+00,
 -1.13398599e-01,-2.34167767e+00, 1.14159057e+01,-2.77429497e+01,
  3.27061478e-01, 1.75444134e-02, 4.14790582e+00,-1.87061012e+01,
  8.92422779e-01,-1.81164069e+00,-2.62599038e+01, 8.90742473e+01,
 -9.32339076e-01, 4.92124363e-01,-9.40723930e+00,-1.10418151e+01,
  9.25798039e+01, 1.65425937e+00]

qfrc_actuator:
[ 2.37885556e-03, 2.76431088e-02, 8.76822077e-03, 1.58251858e-03,
 -3.81058657e-05, 2.73675152e-02, 8.69301616e-03, 1.63561550e-03,
 -2.30250506e-03, 2.77059583e-02, 8.79526093e-03, 1.58624963e-03,
  2.69438095e-03,-1.68691835e-03, 0.00000000e+00,-2.26776570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.52820321e-05, 3.63259074e-06, 4.30673561e-06, 1.55032108e-05,
 -2.06242534e-05,-8.31670265e-05,-3.02474755e-05,-5.47137105e-05,
  6.07456564e-05, 1.13055310e-05,-2.93986631e-05,-4.53710918e-05,
 -3.17916321e-05,-4.82744979e-05,-2.15126711e-05, 4.25168315e-04,
 -1.94954142e+00, 7.44196232e-04,-6.68612194e+00, 1.29628028e-01,
  2.93157989e-02,-7.73082224e-03]


--- Step 1579 ---
qpos:
[-5.43434682e-04, 8.77192371e-01,-2.02722615e-02,-2.75684676e-02,
  7.64306686e-03, 8.64660401e-01,-2.79832703e-02, 9.44567073e-03,
  2.22067179e-02, 8.72929841e-01,-2.02421617e-02, 2.24901594e-02,
  1.34829855e+00,-9.97928111e-03, 1.01614934e+00, 6.12850874e-02,
 -1.08972226e+00, 4.83873800e-02, 8.48708094e-02, 2.27039674e-01,
 -2.13422705e-02,-7.43668328e-01,-6.28454383e-01]

qacc:
[-7.35748560e-02, 1.43733080e+00,-6.92483820e+00, 1.57922858e+01,
 -8.83849156e-02, 1.16955610e+00,-6.69504823e+00, 1.47281842e+01,
  1.10700437e-01, 1.42407114e-01,-1.59524945e+00, 4.84295093e+00,
  1.00599991e-01,-3.47129386e-01,-1.35544995e+01, 4.71517967e+01,
 -9.44751591e-01, 4.86300537e-01,-9.42577027e+00,-1.39626794e+01,
  9.21616775e+01, 2.05944766e+00]

qfrc_actuator:
[ 2.37258392e-03, 2.76672521e-02, 8.77182126e-03, 1.60972005e-03,
 -4.43443905e-05, 2.73662756e-02, 8.68646500e-03, 1.65922139e-03,
 -2.31122850e-03, 2.76872720e-02, 8.79375783e-03, 1.59582952e-03,
  2.67988510e-03,-1.68961373e-03, 0.00000000e+00,-2.04921003e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.36255253e-05, 2.77069787e-05, 5.41071265e-06, 2.78076706e-05,
 -1.60637894e-05,-5.63511960e-05,-2.93554777e-05, 1.79299427e-05,
  2.05129265e-05,-2.04537744e-05,-4.38691031e-06, 8.16048274e-06,
 -4.37836960e-05,-2.10831398e-05, 3.64738499e-05, 2.39253113e-04,
 -1.96818980e+00,-8.70808786e-03,-6.71636889e+00, 1.29166519e-01,
  3.51825365e-02,-7.74854301e-03]


--- Step 1580 ---
qpos:
[-5.43788366e-04, 8.77193713e-01,-2.02725585e-02,-2.75683640e-02,
  7.64240397e-03, 8.64659667e-01,-2.79825968e-02, 9.44650418e-03,
  2.22081147e-02, 8.72933166e-01,-2.02417954e-02, 2.24881481e-02,
  1.34843074e+00,-9.97853977e-03, 1.01637390e+00, 6.12893651e-02,
 -1.09293840e+00, 4.84034955e-02, 8.54423750e-02, 2.14098206e-01,
 -2.86241089e-03,-7.46578001e-01,-6.29900828e-01]

qacc:
[ 1.37097877e-01, 2.88101908e+00,-1.10074459e+01, 1.76458775e+01,
  3.77027774e-02,-3.41578974e-01,-2.67845285e+00, 1.35012037e+01,
 -1.70871507e-01,-3.37706120e-01, 2.13030029e+00,-6.01216080e+00,
 -2.39864462e-01, 2.14329509e-01, 6.26163609e+00,-2.04606594e+01,
 -9.57120705e-01, 4.80078964e-01,-9.44441679e+00,-1.68682622e+01,
  9.16244877e+01, 2.45753999e+00]

qfrc_actuator:
[ 2.40465846e-03, 2.76812314e-02, 8.73837783e-03, 1.62582650e-03,
 -2.99404026e-05, 2.73302894e-02, 8.70030094e-03, 1.69080076e-03,
 -2.35278579e-03, 2.76925739e-02, 8.79268372e-03, 1.58442852e-03,
  2.67176140e-03,-1.69149341e-03, 0.00000000e+00,-2.15392762e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.55198483e-05, 3.17546689e-05,-2.61018081e-05, 1.80197971e-05,
  6.75149234e-06,-7.27948421e-05,-8.01276980e-07, 2.84974436e-05,
 -3.16834506e-05,-6.76558479e-06,-5.58254975e-06,-1.22735124e-05,
 -3.76437990e-05,-1.70372804e-05, 3.81986717e-05,-8.79133631e-05,
 -1.98618226e+00,-1.84737505e-02,-6.74696244e+00, 1.28423936e-01,
  4.10436975e-02,-7.75001530e-03]


--- Step 1581 ---
qpos:
[-5.43815049e-04, 8.77194980e-01,-2.02730756e-02,-2.75680366e-02,
  7.64205371e-03, 8.64658783e-01,-2.79822643e-02, 9.44803074e-03,
  2.22089066e-02, 8.72936425e-01,-2.02416805e-02, 2.24853437e-02,
  1.34856269e+00,-9.97785151e-03, 1.01659890e+00, 6.12900697e-02,
 -1.09615841e+00, 4.84215047e-02, 8.59760876e-02, 2.01184804e-01,
  1.57208211e-02,-7.49035978e-01,-6.31048836e-01]

qacc:
[  0.16981994,  0.97789424, -4.57186473,  8.84821109,  0.16408603,
   2.17838479,-10.9837244 , 23.63891275, -0.31443121, -1.0160469 ,
   6.84731351,-20.12732189, -0.33837619,  0.39422471, 11.47754285,
 -39.14106138, -0.96944818,  0.4734445 , -9.46322359,-19.75448882,
  90.96896984,  2.84646105]

qfrc_actuator:
[ 2.42388580e-03, 2.76533538e-02, 8.71879138e-03, 1.63524238e-03,
 -3.32279114e-06, 2.73448941e-02, 8.69042031e-03, 1.72679456e-03,
 -2.39583424e-03, 2.76766880e-02, 8.77417700e-03, 1.54302576e-03,
  2.66214180e-03,-1.69286712e-03, 0.00000000e+00,-2.34168992e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.15065275e-05,-1.47659271e-05,-1.56289483e-05, 1.02205196e-05,
  2.98216710e-05,-2.50332475e-05,-2.40280500e-05, 3.34006550e-05,
 -5.82863251e-05,-2.14272763e-05,-2.10408196e-05,-4.21265510e-05,
 -3.51646058e-05,-1.39258926e-05, 8.50272950e-07,-1.89372826e-04,
 -2.00350989e+00,-2.85531567e-02,-6.77789993e+00, 1.27400483e-01,
  4.68854733e-02,-7.73541472e-03]


--- Step 1582 ---
qpos:
[-5.43935102e-04, 8.77196128e-01,-2.02735347e-02,-2.75672667e-02,
  7.64201896e-03, 8.64658302e-01,-2.79823804e-02, 9.45060272e-03,
  2.22089560e-02, 8.72938983e-01,-2.02407015e-02, 2.24824151e-02,
  1.34869438e+00,-9.97717047e-03, 1.01682427e+00, 6.12855119e-02,
 -1.09938236e+00, 4.84413794e-02, 8.64718713e-02, 1.88306797e-01,
  3.43957851e-02,-7.51040180e-01,-6.31898827e-01]

qacc:
[-4.84221298e-02, 5.92673151e-01,-4.20289046e+00, 1.18434498e+01,
  1.65367484e-01, 3.93212560e+00,-1.76663459e+01, 3.61868743e+01,
 -3.85076683e-01,-3.59412143e+00, 1.19962637e+01,-1.50107499e+01,
 -4.88819882e-01, 6.42235985e-01, 1.64354106e+01,-5.66888506e+01,
 -9.81729319e-01, 4.66381390e-01,-9.48223620e+00,-2.26173258e+01,
  9.01960614e+01, 3.22417643e+00]

qfrc_actuator:
[ 2.39973142e-03, 2.76539177e-02, 8.72513110e-03, 1.65837923e-03,
  1.26003099e-05, 2.74073585e-02, 8.68456358e-03, 1.78286962e-03,
 -2.43936984e-03, 2.76303869e-02, 8.81643567e-03, 1.53753445e-03,
  2.64630634e-03,-1.69393479e-03, 0.00000000e+00,-2.61225906e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-9.00024772e-06,-1.05052040e-05, 1.71218648e-06, 2.21610066e-05,
  3.01136909e-05, 4.49547063e-05,-1.28296454e-05, 5.48190881e-05,
 -7.15746626e-05,-6.45132117e-05, 3.37624513e-05,-7.95739525e-06,
 -3.97176830e-05,-1.20780911e-05,-2.61563320e-05,-2.82288503e-04,
 -2.02016209e+00,-3.89468721e-02,-6.80917857e+00, 1.26097049e-01,
  5.26940841e-02,-7.70495335e-03]


--- Step 1583 ---
qpos:
[-5.43881018e-04, 8.77197443e-01,-2.02743202e-02,-2.75662360e-02,
  7.64204661e-03, 8.64658114e-01,-2.79822562e-02, 9.45310078e-03,
  2.22087499e-02, 8.72941429e-01,-2.02403600e-02, 2.24811984e-02,
  1.34882578e+00,-9.97649493e-03, 1.01704915e+00, 6.12803976e-02,
 -1.10261028e+00, 4.84630897e-02, 8.69296491e-02, 1.75471428e-01,
  5.31507699e-02,-7.52588842e-01,-6.32451428e-01]

qacc:
[ 9.02411420e-02, 1.66866299e+00,-6.72955192e+00, 1.16393081e+01,
  3.28191873e-02,-4.35027864e-01, 2.42668479e+00,-4.30687139e+00,
 -1.33040372e-01, 5.15264480e+00,-2.58181746e+01, 5.65500414e+01,
 -2.20792121e-01, 2.26716301e-01, 9.81867325e-01,-4.44205200e+00,
 -9.93952885e-01, 4.58873461e-01,-9.50150040e+00,-2.54527913e+01,
  8.93068976e+01, 3.58870363e+00]

qfrc_actuator:
[ 2.42084809e-03, 2.76716205e-02, 8.71133109e-03, 1.67168797e-03,
  4.22612582e-06, 2.74270357e-02, 8.69911778e-03, 1.77935335e-03,
 -2.42956013e-03, 2.76375091e-02, 8.78762295e-03, 1.62424873e-03,
  2.63207914e-03,-1.69484348e-03, 0.00000000e+00,-2.62759886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.67828067e-05, 1.31052527e-05,-1.49979283e-05, 1.33479322e-05,
  5.96351725e-06, 4.45260604e-05, 2.41556084e-05,-9.70722687e-07,
 -2.46302176e-05,-2.23926343e-05,-3.82762121e-05, 8.49632280e-05,
 -4.06468273e-05,-1.23716264e-05,-4.80024589e-05,-3.54796357e-05,
 -2.03612657e+00,-4.96555722e-02,-6.84079527e+00, 1.24515199e-01,
  5.84558142e-02,-7.65887830e-03]


--- Step 1584 ---
qpos:
[-5.43612926e-04, 8.77198668e-01,-2.02754499e-02,-2.75650194e-02,
  7.64186472e-03, 8.64658296e-01,-2.79822399e-02, 9.45520633e-03,
  2.22088526e-02, 8.72944426e-01,-2.02412521e-02, 2.24809858e-02,
  1.34895685e+00,-9.97579977e-03, 1.01727303e+00, 6.12807509e-02,
 -1.10584222e+00, 4.84866035e-02, 8.73493425e-02, 1.62685852e-01,
  7.19740055e-02,-7.53680511e-01,-6.32707471e-01]

qacc:
[ 1.11032894e-01, 1.22625713e+00,-5.32561768e+00, 9.15285334e+00,
 -1.10281063e-01,-1.76645142e-02, 2.42963130e+00,-9.32314596e+00,
  1.59609983e-01, 6.23645651e+00,-2.54232989e+01, 4.43691231e+01,
  5.16474780e-02,-1.95573499e-01,-1.79777663e+01, 6.07600612e+01,
 -1.00610106e+00, 4.50904411e-01,-9.52106156e+00,-2.82569648e+01,
  8.83028073e+01, 3.93812274e+00]

qfrc_actuator:
[ 2.43339198e-03, 2.76461115e-02, 8.68580846e-03, 1.67910434e-03,
 -1.85995169e-05, 2.74387411e-02, 8.68990378e-03, 1.75853608e-03,
 -2.38793327e-03, 2.76941291e-02, 8.73507597e-03, 1.67573687e-03,
  2.61350180e-03,-1.69565561e-03, 0.00000000e+00,-2.33262841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.06175681e-05,-2.07312528e-05,-2.42078223e-05, 7.71556805e-06,
 -1.99821028e-05, 4.15509617e-05, 2.92116399e-06,-1.80962208e-05,
  2.97779298e-05, 3.97715121e-05,-5.89668914e-05, 5.08555779e-05,
 -4.54149181e-05,-1.26505233e-05,-2.81689745e-05, 2.86342082e-04,
 -2.05138934e+00,-6.06799450e-02,-6.87274639e+00, 1.22657171e-01,
  6.41570471e-02,-7.59747009e-03]


--- Step 1585 ---
qpos:
[-5.43166195e-04, 8.77199551e-01,-2.02762060e-02,-2.75637404e-02,
  7.64181384e-03, 8.64658627e-01,-2.79821785e-02, 9.45602827e-03,
  2.22089926e-02, 8.72947217e-01,-2.02413096e-02, 2.24796183e-02,
  1.34908759e+00,-9.97488363e-03, 1.01749666e+00, 6.12848992e-02,
 -1.10907824e+00, 4.85118872e-02, 8.77308722e-02, 1.49957127e-01,
  9.08536756e-02,-7.54314047e-01,-6.32667992e-01]

qacc:
[ 9.31738296e-02,-1.36620080e+00, 3.95322893e+00,-3.22044974e+00,
  6.87066533e-02,-2.56691709e+00, 1.48616719e+01,-3.72640199e+01,
  1.98508406e-02,-4.97637078e+00, 2.22283786e+01,-4.33997104e+01,
 -2.11817405e-01, 3.56368304e-01,-1.18287769e+01, 4.08590814e+01,
 -1.01814948e+00, 4.42458055e-01,-9.54096409e+00,-3.10259966e+01,
  8.71853070e+01, 4.27058678e+00]

qfrc_actuator:
[ 2.44068267e-03, 2.76303698e-02, 8.70665855e-03, 1.68295605e-03,
  3.40883660e-06, 2.74277170e-02, 8.68443357e-03, 1.69218111e-03,
 -2.39868887e-03, 2.76733143e-02, 8.77565526e-03, 1.61734922e-03,
  2.60830667e-03,-1.67868009e-03, 0.00000000e+00,-2.14131533e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.72058801e-05,-3.20227948e-05, 1.38508625e-05, 2.27465312e-06,
  1.25030636e-05, 1.20281513e-05, 2.84031000e-06,-6.48290770e-05,
  3.58212494e-06,-8.63453498e-06, 4.32735556e-05,-5.77371987e-05,
 -3.41548162e-05, 3.60976479e-06, 1.73203278e-05, 2.03288832e-04,
 -2.06593476e+00,-7.20205876e-02,-6.90502755e+00, 1.20525864e-01,
  6.97842994e-02,-7.52104105e-03]


--- Step 1586 ---
qpos:
[-5.42959663e-04, 8.77200410e-01,-2.02765729e-02,-2.75621223e-02,
  7.64196316e-03, 8.64658901e-01,-2.79823661e-02, 9.45609674e-03,
  2.22088986e-02, 8.72949226e-01,-2.02399943e-02, 2.24772537e-02,
  1.34921814e+00,-9.97382712e-03, 1.01772048e+00, 6.12899750e-02,
 -1.11231837e+00, 4.85389050e-02, 8.80741568e-02, 1.37292207e-01,
  1.09777930e-01,-7.54488617e-01,-6.32334234e-01]

qacc:
[-1.24551627e-01,-4.21326126e-01, 2.74235691e-02, 5.22821287e+00,
  1.04985769e-01,-9.31141832e-01, 6.39077438e+00,-1.89922335e+01,
 -1.20471868e-01,-6.91700029e+00, 2.73770990e+01,-4.62554371e+01,
 -2.21896526e-01, 3.62649583e-01,-2.50149124e+00, 9.19793193e+00,
 -1.03006732e+00, 4.33518587e-01,-9.56125080e+00,-3.37561169e+01,
  8.59560947e+01, 4.58433155e+00]

qfrc_actuator:
[ 2.40926595e-03, 2.76562815e-02, 8.73699953e-03, 1.70247064e-03,
  1.65556077e-05, 2.74031273e-02, 8.66334727e-03, 1.65280952e-03,
 -2.42297316e-03, 2.76065742e-02, 8.83503044e-03, 1.56580389e-03,
  2.60582577e-03,-1.66899383e-03, 0.00000000e+00,-2.10147436e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.31442528e-05, 1.09475899e-05, 2.55094719e-05, 1.86652519e-05,
  1.91000902e-05,-2.00628460e-05,-2.05005012e-05,-4.00218023e-05,
 -2.25560222e-05,-6.51670305e-05, 6.09055202e-05,-5.15436313e-05,
 -2.09332160e-05, 2.50922792e-06, 2.61873438e-05, 5.23711356e-05,
 -2.07974550e+00,-8.36778991e-02,-6.93763340e+00, 1.18124827e-01,
  7.53242543e-02,-7.42993357e-03]


--- Step 1587 ---
qpos:
[-5.43432175e-04, 8.77201420e-01,-2.02771626e-02,-2.75609545e-02,
  7.64191640e-03, 8.64659297e-01,-2.79829220e-02, 9.45602352e-03,
  2.22083587e-02, 8.72950082e-01,-2.02377101e-02, 2.24747122e-02,
  1.34934870e+00,-9.97321920e-03, 1.01794442e+00, 6.12951833e-02,
 -1.11556267e+00, 4.85676190e-02, 8.83791135e-02, 1.24697935e-01,
  1.28734896e-01,-7.54203689e-01,-6.31707643e-01]

qacc:
[ -0.35305819, -0.10462891,  2.5592981 ,-10.0958628 , -0.10328021,
   0.89781021, -2.36929955,  0.41698291, -0.23072056, -4.59331152,
  14.91398247,-18.67629273,  0.36207007, -0.86689363, -0.24198165,
   1.05506624, -1.04181746,  0.42407086, -9.58196231,-36.44364377,
  84.61704322,  4.87768505]

qfrc_actuator:
[ 2.35497216e-03, 2.76537473e-02, 8.71961209e-03, 1.67782352e-03,
 -1.12414548e-05, 2.74238040e-02, 8.65091987e-03, 1.64736390e-03,
 -2.45511844e-03, 2.75129378e-02, 8.86930565e-03, 1.55417342e-03,
  2.59964818e-03,-1.69919415e-03, 0.00000000e+00,-2.09790923e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.54298266e-05, 9.63112625e-06,-1.13445279e-05,-2.29351909e-05,
 -1.87078409e-05, 3.50661845e-06,-2.04830648e-05,-7.79423818e-06,
 -4.30011251e-05,-1.19763230e-04, 2.65122451e-05,-1.33197963e-05,
 -1.75016881e-05,-3.44497338e-05, 1.23453314e-05, 8.55101597e-06,
 -2.09280272e+00,-9.56519698e-02,-6.97055743e+00, 1.15458251e-01,
  8.07637935e-02,-7.32451839e-03]


--- Step 1588 ---
qpos:
[-5.44378996e-04, 8.77202434e-01,-2.02781353e-02,-2.75607506e-02,
  7.64197523e-03, 8.64659177e-01,-2.79833928e-02, 9.45628164e-03,
  2.22072248e-02, 8.72950532e-01,-2.02361974e-02, 2.24738031e-02,
  1.34947929e+00,-9.97324470e-03, 1.01816818e+00, 6.13020783e-02,
 -1.11881119e+00, 4.85979895e-02, 8.86456577e-02, 1.12181037e-01,
  1.47712690e-01,-7.53459036e-01,-6.30789868e-01]

qacc:
[-2.46742485e-01,-9.12497004e-01, 7.31812975e+00,-2.33708141e+01,
  5.57162078e-02,-2.37316628e-01,-1.54254363e+00, 7.52109324e+00,
 -3.08895437e-01, 4.97625118e+00,-2.54159669e+01, 5.52024314e+01,
  6.22701015e-01,-1.38550426e+00,-5.41594449e+00, 1.84435313e+01,
 -1.05335666e+00, 4.14100669e-01,-9.60313657e+00,-3.90849915e+01,
  8.31701923e+01, 5.14907623e+00]

qfrc_actuator:
[ 2.34074494e-03, 2.76339791e-02, 8.69179662e-03, 1.62733296e-03,
  7.72193060e-06, 2.73649678e-02, 8.64390674e-03, 1.66196345e-03,
 -2.49167472e-03, 2.75103639e-02, 8.83511787e-03, 1.63708106e-03,
  2.59656688e-03,-1.73504100e-03, 0.00000000e+00,-2.00916983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.57066002e-05,-1.77348039e-05,-2.80216245e-05,-5.09191067e-05,
  1.00600633e-05,-6.14469258e-05,-9.08082929e-06, 1.38897720e-05,
 -5.72576328e-05,-6.46797956e-05,-5.61400733e-05, 7.84331742e-05,
 -2.13030514e-05,-4.75949144e-05, 1.81209667e-06, 8.96534842e-05,
 -2.10508607e+00,-1.07942468e-01,-7.00379180e+00, 1.12530949e-01,
  8.60900285e-02,-7.20519275e-03]


--- Step 1589 ---
qpos:
[-5.45267356e-04, 8.77203766e-01,-2.02796306e-02,-2.75608388e-02,
  7.64238880e-03, 8.64658284e-01,-2.79838571e-02, 9.45813344e-03,
  2.22057699e-02, 8.72951751e-01,-2.02362846e-02, 2.24744903e-02,
  1.34960980e+00,-9.97369629e-03, 1.01839202e+00, 6.13089670e-02,
 -1.12206397e+00, 4.86299743e-02, 8.88737027e-02, 9.97481169e-02,
  1.66699431e-01,-7.52254723e-01,-6.29582754e-01]

qacc:
[ 2.99356137e-02, 1.27978042e+00,-2.72129946e+00,-1.72549024e+00,
  1.86699972e-01, 2.23766652e+00,-1.61916392e+01, 4.43365688e+01,
 -1.67996555e-01, 8.76591412e+00,-3.65246802e+01, 6.61455529e+01,
  2.65653659e-01,-7.39584262e-01, 1.18975874e-01,-2.87587153e-01,
 -1.06463590e+00, 4.03595016e-01,-9.62480822e+00,-4.16766772e+01,
  8.16177403e+01, 5.39704327e+00]

qfrc_actuator:
[ 2.36837719e-03, 2.76749689e-02, 8.67572616e-03, 1.61528811e-03,
  3.67657083e-05, 2.73122711e-02, 8.63983624e-03, 1.74143166e-03,
 -2.49504590e-03, 2.76153986e-02, 8.77895784e-03, 1.72171511e-03,
  2.59001471e-03,-1.75615886e-03, 0.00000000e+00,-2.01295405e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.63967769e-06, 2.30871343e-05,-2.49461544e-05,-1.47649296e-05,
  3.38243176e-05,-8.83292631e-05,-1.73949597e-05, 7.67919975e-05,
 -3.09268347e-05, 6.06015167e-05,-7.37351819e-05, 8.14451875e-05,
 -2.99925514e-05,-3.67558202e-05, 6.98744161e-06, 5.19696690e-07,
 -2.11657385e+00,-1.20548525e-01,-7.03732711e+00, 1.09348347e-01,
  9.12903304e-02,-7.07237860e-03]


--- Step 1590 ---
qpos:
[-5.45768047e-04, 8.77205492e-01,-2.02811431e-02,-2.75611166e-02,
  7.64277751e-03, 8.64657525e-01,-2.79847235e-02, 9.46048886e-03,
  2.22043317e-02, 8.72953707e-01,-2.02365348e-02, 2.24743619e-02,
  1.34973993e+00,-9.97383646e-03, 1.01861598e+00, 6.13147576e-02,
 -1.12532104e+00, 4.86635293e-02, 8.90631597e-02, 8.74056513e-02,
  1.85683249e-01,-7.50591106e-01,-6.28088349e-01]

qacc:
[ 2.01289735e-01, 1.77460213e-01, 9.19268101e-01,-4.45599178e+00,
 -1.33270439e-02, 2.33463621e+00,-1.01958358e+01, 1.94600752e+01,
  8.30778438e-03,-2.48038647e-01, 5.74204338e+00,-2.01394861e+01,
 -5.97835177e-01, 9.89246690e-01, 3.54165580e+00,-1.20340016e+01,
 -1.07560060e+00, 3.92542398e-01,-9.64700814e+00,-4.42153275e+01,
  7.99620362e+01, 5.62024108e+00]

qfrc_actuator:
[ 2.40302944e-03, 2.77165909e-02, 8.68474818e-03, 1.60827170e-03,
  1.83084374e-05, 2.73702372e-02, 8.63757563e-03, 1.76966302e-03,
 -2.47854135e-03, 2.76774703e-02, 8.78176180e-03, 1.68249974e-03,
  2.57606406e-03,-1.73288801e-03, 0.00000000e+00,-2.07123430e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.73671780e-05, 4.87311178e-05, 1.02076966e-05,-7.17878465e-06,
 -2.37005712e-06, 8.29817918e-06,-1.99809662e-05, 2.53383638e-05,
  1.63386827e-06, 8.41843344e-05, 9.04582301e-06,-3.75871936e-05,
 -3.98868101e-05, 8.10930865e-06,-1.40958329e-06,-5.84705131e-05,
 -2.12724311e+00,-1.33468623e-01,-7.07115227e+00, 1.05916464e-01,
  9.63523588e-02,-6.92652077e-03]


--- Step 1591 ---
qpos:
[-5.46050968e-04, 8.77207231e-01,-2.02821159e-02,-2.75614665e-02,
  7.64303672e-03, 8.64657295e-01,-2.79857874e-02, 9.46171640e-03,
  2.22033789e-02, 8.72955424e-01,-2.02366892e-02, 2.24749087e-02,
  1.34986956e+00,-9.97339296e-03, 1.01884020e+00, 6.13174569e-02,
 -1.12850643e+00, 4.85207657e-02, 8.93294415e-02, 7.23402033e-02,
  2.04852935e-01,-7.47001657e-01,-6.28323718e-01]

qacc:
[ 1.13482080e-01,-1.64053005e+00, 6.17627477e+00,-8.29586058e+00,
 -6.83996732e-02,-1.06908024e+00, 9.59010455e+00,-2.91869808e+01,
  2.52402114e-01, 8.05063715e-01,-6.18018207e+00, 1.78881958e+01,
 -1.00851586e+00, 1.76566386e+00, 9.77251966e+00,-3.35031270e+01,
  1.79220852e+01,-4.40796627e+01, 1.92062161e+01,-9.93114608e+02,
 -1.04006524e+03,-1.17957105e+03]

qfrc_actuator:
[ 2.40603584e-03, 2.77051323e-02, 8.70852942e-03, 1.60428667e-03,
  7.09350494e-06, 2.74229926e-02, 8.63680716e-03, 1.71434697e-03,
 -2.43256811e-03, 2.76069729e-02, 8.76588951e-03, 1.71276907e-03,
  2.55237799e-03,-1.70130366e-03, 0.00000000e+00,-2.23212815e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.2206561 , -2.77489509, -3.18023507, -2.77489509,  2.28537321,
        1.68861951, -3.18023507,  1.68861951,  2.74726124,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00016658983718983306
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.16026098,  0.10965852,  0.04991671])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09876333e-05, 1.75682395e-05, 3.48522127e-05,-1.68640265e-06,
 -1.23420815e-05, 5.43756626e-05,-6.30270615e-07,-5.51599743e-05,
  4.67738733e-05,-2.32110615e-05, 1.31563506e-06, 3.34559691e-05,
 -4.48987920e-05, 2.43951956e-05,-1.19956637e-05,-1.65466807e-04,
 -2.13706984e+00,-1.46700480e-01,-7.10525433e+00, 1.02241895e-01,
  1.01264089e-01,-6.76808513e-03]


--- Step 1592 ---
qpos:
[-5.46026149e-04, 8.77208177e-01,-2.02823713e-02,-2.75617694e-02,
  7.64316348e-03, 8.64657593e-01,-2.79868985e-02, 9.46191545e-03,
  2.22031313e-02, 8.72956402e-01,-2.02370738e-02, 2.24772841e-02,
  1.34999885e+00,-9.97258485e-03, 1.01906508e+00, 6.13121667e-02,
 -1.13163388e+00, 4.82277759e-02, 8.96560961e-02, 5.49430214e-02,
  2.24228653e-01,-7.41740400e-01,-6.29701480e-01]

qacc:
[ 1.60621433e-01,-2.95305043e+00, 8.81248024e+00,-8.56444661e+00,
 -6.98426972e-02,-1.28690407e+00, 9.94321505e+00,-2.80586518e+01,
  3.66593257e-01, 3.42659833e+00,-2.13600029e+01, 5.39254918e+01,
 -9.89043195e-01, 1.64186138e+00, 2.51555786e+01,-8.64642103e+01,
  1.44851085e+01,-3.75565471e+01, 1.50931955e+01,-7.05685481e+02,
 -8.62812433e+02,-1.02237832e+03]

qfrc_actuator:
[ 2.42557481e-03, 2.76087912e-02, 8.72286340e-03, 1.60207897e-03,
  3.38566164e-07, 2.74544201e-02, 8.63689012e-03, 1.66359042e-03,
 -2.38714169e-03, 2.75286255e-02, 8.73861779e-03, 1.80131744e-03,
  2.53885204e-03,-1.68288066e-03, 0.00000000e+00,-2.64743676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 6.74475553, -4.63585196, -4.89904111, -4.63585196,  3.58248941,
        2.99238101, -4.89904111,  2.99238101,  3.91313297,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006375438948198753
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.16230588,  0.10967957,  0.04968123])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.96352646e-05,-7.94219837e-05, 2.21913498e-05,-2.83470917e-07,
 -1.26217555e-05, 5.93502437e-05, 9.33475647e-06,-4.95220426e-05,
  6.79318094e-05,-8.96577611e-05,-3.07603250e-05, 8.82464266e-05,
 -3.40256521e-05, 1.38892041e-05,-2.88736202e-05,-4.27213532e-04,
 -1.38998281e+00,-3.90825269e-01,-7.73831242e+00, 1.37182793e-01,
  7.63674468e-02,-8.27504548e-03]


--- Step 1593 ---
qpos:
[-5.45549254e-04, 8.77207820e-01,-2.02820959e-02,-2.75620153e-02,
  7.64318506e-03, 8.64658244e-01,-2.79876769e-02, 9.46150034e-03,
  2.22035023e-02, 8.72956990e-01,-2.02372475e-02, 2.24792458e-02,
  1.35012793e+00,-9.97134536e-03, 1.01928940e+00, 6.13052682e-02,
 -1.13471913e+00, 4.78139035e-02, 9.00230623e-02, 3.55605176e-02,
  2.43801309e-01,-7.35023048e-01,-6.31694143e-01]

qacc:
[ 2.35682401e-01,-3.08826787e+00, 8.27077363e+00,-7.17770473e+00,
 -5.52001532e-02,-1.72423783e+00, 9.42066633e+00,-2.08452102e+01,
  3.21687405e-01,-1.95525189e+00, 7.97085204e+00,-1.51822316e+01,
 -5.69172681e-01, 1.08986732e+00, 4.06685677e+00,-1.53469947e+01,
  1.05511236e+01,-3.02206234e+01, 1.00779005e+01,-4.58564259e+02,
 -7.03329738e+02,-8.78599823e+02]

qfrc_actuator:
[ 2.45485625e-03, 2.74978249e-02, 8.73113551e-03, 1.60084727e-03,
 -3.68563491e-06, 2.74728413e-02, 8.65516526e-03, 1.63367397e-03,
 -2.36020989e-03, 2.75349272e-02, 8.75805189e-03, 1.78138851e-03,
  2.54207770e-03,-1.65461622e-03, 0.00000000e+00,-2.71218590e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.90737989, -5.64291555, -5.53932855, -5.64291555,  4.33984748,
        3.63424626, -5.53932855,  3.63424626,  4.2051722 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007912190918098472
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.1640171 ,  0.10983544,  0.04960439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35279272e-05,-1.50822273e-04,-5.41063302e-06,-3.86936724e-06,
 -1.00237234e-05, 5.14145067e-05, 2.99750456e-05,-2.80133543e-05,
  5.96075067e-05,-4.64220945e-05, 1.70559367e-07,-2.31235004e-05,
 -1.40859532e-05, 2.41666457e-05,-6.60450159e-05,-9.34642372e-05,
 -7.70182726e-01,-3.92848556e-01,-8.39315771e+00, 1.71810003e-01,
  5.71319098e-02,-9.22675189e-03]


--- Step 1594 ---
qpos:
[-5.45230217e-04, 8.77206985e-01,-2.02820749e-02,-2.75612893e-02,
  7.64313186e-03, 8.64659197e-01,-2.79881999e-02, 9.46074169e-03,
  2.22041490e-02, 8.72957538e-01,-2.02373671e-02, 2.24809185e-02,
  1.35025699e+00,-9.97008389e-03, 1.01951284e+00, 6.13015593e-02,
 -1.13777025e+00, 4.73007801e-02, 9.04149277e-02, 1.45893330e-02,
  2.63398843e-01,-7.27012283e-01,-6.33925343e-01]

qacc:
[-8.19768785e-02, 2.08303792e+00,-1.24324012e+01, 2.99869351e+01,
 -3.92440228e-02,-1.01969227e+00, 5.66724742e+00,-1.22455015e+01,
  1.43259259e-01,-7.98383556e-01, 3.99103571e+00,-9.05109252e+00,
  1.76455540e-01,-2.59323557e-01,-1.09408635e+01, 3.63660682e+01,
  8.52961838e+00,-2.48127813e+01, 6.22479259e+00,-3.02129356e+02,
 -5.82183067e+02,-6.73133868e+02]

qfrc_actuator:
[ 2.41870522e-03, 2.75209339e-02, 8.73567020e-03, 1.65343032e-03,
 -6.04567621e-06, 2.74834215e-02, 8.66624213e-03, 1.61625864e-03,
 -2.36232305e-03, 2.75564599e-02, 8.76965539e-03, 1.76889474e-03,
  2.54470420e-03,-1.65616482e-03, 0.00000000e+00,-2.53427942e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.11355997, -5.19132478, -4.86342292, -5.19132478,  4.04622285,
        3.27414323, -4.86342292,  3.27414323,  3.61866735,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006828144659315333
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.16678807,  0.10956086,  0.04965859])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.52263284e-05,-6.24983808e-05,-2.74115495e-05, 4.58654339e-05,
 -7.12456366e-06, 4.43105051e-05, 2.44208580e-05,-1.47193429e-05,
  2.65630695e-05,-5.38942259e-06, 1.22930041e-06,-1.49315588e-05,
 -7.46097844e-07, 1.28858324e-06,-4.21971329e-05, 1.63895558e-04,
 -2.69427565e-01,-2.82384980e-01,-9.01024009e+00, 2.03713909e-01,
  4.56844996e-02,-9.82730823e-03]


--- Step 1595 ---
qpos:
[-5.45397035e-04, 8.77206501e-01,-2.02821752e-02,-2.75597114e-02,
  7.64302896e-03, 8.64660410e-01,-2.79890651e-02, 9.45913716e-03,
  2.22045422e-02, 8.72958782e-01,-2.02386261e-02, 2.24837969e-02,
  1.35038605e+00,-9.96929466e-03, 1.01973632e+00, 6.12972473e-02,
 -1.14080124e+00, 4.67161300e-02, 9.08116551e-02,-7.69701909e-03,
  2.82990414e-01,-7.17869938e-01,-6.36018815e-01]

qacc:
[-2.52617922e-01, 2.55649135e+00,-1.20308342e+01, 2.66933234e+01,
 -2.64562259e-02,-4.41987410e-01, 5.64517062e+00,-1.99301401e+01,
 -1.32599628e-01, 6.57996727e+00,-2.72221087e+01, 4.94025725e+01,
  3.41558514e-01,-8.52139339e-01, 1.86388176e+00,-6.48016019e+00,
  5.03457580e+00,-1.78816477e+01, 1.21551706e+00,-1.35467923e+02,
 -4.53661895e+02,-5.62993170e+02]

qfrc_actuator:
[ 2.37922907e-03, 2.76064298e-02, 8.75628783e-03, 1.70185924e-03,
 -7.39555372e-06, 2.74714542e-02, 8.63743895e-03, 1.57081376e-03,
 -2.39952027e-03, 2.76224421e-02, 8.72337493e-03, 1.83191337e-03,
  2.52565703e-03,-1.69311702e-03, 0.00000000e+00,-2.56998676e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.04229116, -3.77607908, -3.34154559, -3.77607908,  3.004162  ,
        2.3031668 , -3.34154559,  2.3031668 ,  2.43962131,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0004160265682696604
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.16801655,  0.10987927,  0.04979199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.68079630e-05, 4.68667460e-05, 5.92695700e-06, 4.56991822e-05,
 -4.73551935e-06, 1.72046721e-05,-1.71545020e-05,-4.29871097e-05,
 -2.44156147e-05, 6.25726328e-05,-4.77645516e-05, 6.25362439e-05,
 -1.95908612e-05,-3.65100549e-05,-2.30192618e-06,-3.22627132e-05,
  1.71202052e-01,-1.12400887e-01,-9.55460522e+00, 2.31925147e-01,
  4.00216523e-02,-1.02113714e-02]


--- Step 1596 ---
qpos:
[-5.45487079e-04, 8.77206572e-01,-2.02818527e-02,-2.75586679e-02,
  7.64270872e-03, 8.64661512e-01,-2.79901300e-02, 9.45738494e-03,
  2.22043976e-02, 8.72960211e-01,-2.02402462e-02, 2.24867285e-02,
  1.35051488e+00,-9.96882193e-03, 1.01995939e+00, 6.12955475e-02,
 -1.14383534e+00, 4.61306988e-02, 9.11643905e-02,-3.00782142e-02,
  3.02255995e-01,-7.08156510e-01,-6.37378202e-01]

qacc:
[ 3.99390514e-02,-1.54798089e+00, 8.83416105e+00,-1.91547666e+01,
 -1.14261790e-01, 1.07021079e-01, 2.87270450e-02,-2.18372558e+00,
 -2.79671947e-01, 1.36357379e+00,-4.72978658e+00, 6.08941848e+00,
  2.16514116e-01,-6.46611913e-01,-8.52538110e+00, 2.88863577e+01,
 -7.78965834e-01,-1.95287886e-01,-1.09980058e+01, 9.65694296e+01,
 -3.60447688e+01, 3.21914659e+00]

qfrc_actuator:
[ 2.40915952e-03, 2.76577114e-02, 8.78652390e-03, 1.67651635e-03,
 -2.58871401e-05, 2.74458804e-02, 8.62070839e-03, 1.56244880e-03,
 -2.43959641e-03, 2.76078589e-02, 8.69679388e-03, 1.83234443e-03,
  2.49893056e-03,-1.71532069e-03, 0.00000000e+00,-2.42955075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 7.41606301e-06, 8.06723200e-05, 4.22288227e-05,-2.22427300e-05,
 -2.07425168e-05,-2.13582290e-05,-1.67790526e-05,-9.05630287e-06,
 -5.18144596e-05, 1.31954013e-05,-1.73802755e-05, 2.67299341e-06,
 -4.68037409e-05,-3.48386346e-05,-8.86599335e-06, 1.37361984e-04,
  5.11354238e-01, 5.36103407e-02,-1.00108984e+01, 2.54716827e-01,
  4.22812918e-02,-1.04339186e-02]


--- Step 1597 ---
qpos:
[-5.45169723e-04, 8.77207461e-01,-2.02821071e-02,-2.75582461e-02,
  7.64198542e-03, 8.64662261e-01,-2.79907235e-02, 9.45553075e-03,
  2.22035648e-02, 8.72961155e-01,-2.02415273e-02, 2.24886454e-02,
  1.35064329e+00,-9.96830774e-03, 1.02018251e+00, 6.12941726e-02,
 -1.14687234e+00, 4.55446455e-02, 9.14728654e-02,-5.25294386e-02,
  3.21179693e-01,-6.97882360e-01,-6.38000372e-01]

qacc:
[  0.21103529,  1.41119903, -0.84596663, -9.57743142, -0.21129335,
  -1.99000779,  6.8525809 , -9.11493386, -0.35731925, -3.67488375,
  16.45814634,-34.20549172, -0.3351885 ,  0.38300327, -0.87296347,
   3.22556282, -0.72205025, -0.15554142,-11.06512099, 98.07700028,
 -30.77369634,  2.90862815]

qfrc_actuator:
[ 2.44486037e-03, 2.76881184e-02, 8.75102500e-03, 1.64346128e-03,
 -5.44762127e-05, 2.74301622e-02, 8.64672112e-03, 1.55821933e-03,
 -2.48101428e-03, 2.75451678e-02, 8.69946263e-03, 1.77814066e-03,
  2.47827012e-03,-1.71088945e-03, 0.00000000e+00,-2.41718716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.92777620e-05, 8.32804749e-05,-1.44119432e-05,-2.85766502e-05,
 -3.84638790e-05,-3.15323860e-05, 1.92234720e-05,-5.89864828e-06,
 -6.63444433e-05,-5.88196000e-05, 3.34345565e-06,-5.41909660e-05,
 -5.56359620e-05,-1.43143068e-05, 7.95441563e-06, 1.81316740e-05,
  5.65228077e-01, 8.40082328e-02,-1.00507558e+01, 2.52598106e-01,
  5.66146434e-02,-1.02193562e-02]


--- Step 1598 ---
qpos:
[-5.44622106e-04, 8.77208976e-01,-2.02830327e-02,-2.75578464e-02,
  7.64108211e-03, 8.64662702e-01,-2.79906981e-02, 9.45327879e-03,
  2.22025190e-02, 8.72962010e-01,-2.02429101e-02, 2.24898780e-02,
  1.35077136e+00,-9.96778903e-03, 1.02040629e+00, 6.12876035e-02,
 -1.14991197e+00, 4.49581378e-02, 9.17368341e-02,-7.50258214e-02,
  3.39746023e-01,-6.87058371e-01,-6.37882874e-01]

qacc:
[ 1.19023499e-01, 2.65653502e+00,-8.17851845e+00, 8.41110618e+00,
 -9.40783094e-02,-2.95258110e+00, 1.16173219e+01,-1.92679516e+01,
 -1.10719308e-01,-1.23950419e+00, 7.14148622e+00,-1.87601073e+01,
 -5.54200446e-01, 7.24840853e-01, 1.66823062e+01,-5.68910926e+01,
 -6.61519491e-01,-1.13578700e-01,-1.11265782e+01, 9.93561241e+01,
 -2.54204353e+01, 2.57002761e+00]

qfrc_actuator:
[ 2.44815687e-03, 2.77055161e-02, 8.71242093e-03, 1.64158517e-03,
 -5.33458721e-05, 2.74206428e-02, 8.68003594e-03, 1.53873188e-03,
 -2.46961360e-03, 2.75607250e-02, 8.70137283e-03, 1.74546042e-03,
  2.46659929e-03,-1.70846126e-03, 0.00000000e+00,-2.69345610e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.22024861e-05, 5.97508955e-05,-2.41765412e-05, 6.30530976e-07,
 -1.71808390e-05,-2.34491737e-05, 2.89689878e-05,-2.02847457e-05,
 -2.05260092e-05,-1.89908336e-05,-1.17021791e-05,-3.61413067e-05,
 -4.68867669e-05,-1.36982138e-05, 7.48387301e-07,-2.75362407e-04,
  6.22032518e-01, 1.15895308e-01,-1.00871237e+01, 2.49653088e-01,
  7.07671388e-02,-9.96992321e-03]


--- Step 1599 ---
qpos:
[-5.44131034e-04, 8.77210502e-01,-2.02833359e-02,-2.75574828e-02,
  7.64029120e-03, 8.64663102e-01,-2.79912946e-02, 9.45258928e-03,
  2.22018157e-02, 8.72962635e-01,-2.02434061e-02, 2.24906579e-02,
  1.35089918e+00,-9.96751902e-03, 1.02063006e+00, 6.12777882e-02,
 -1.15295400e+00, 4.43713512e-02, 9.19560741e-02,-9.75424577e-02,
  3.57939905e-01,-6.75695939e-01,-6.37023933e-01]

qacc:
[-2.90057728e-02,-1.79855688e+00, 6.58473226e+00,-8.21061177e+00,
  5.87545352e-02, 4.89449870e+00,-2.41305951e+01, 5.22041882e+01,
  1.78621332e-01,-3.71152274e+00, 1.47041024e+01,-2.37855563e+01,
 -1.68827197e-01,-1.35270802e-02, 9.78494801e+00,-3.42551222e+01,
 -5.97797135e-01,-6.97263839e-02,-1.11821541e+01, 1.00403714e+02,
 -1.99971712e+01, 2.20675485e+00]

qfrc_actuator:
[ 2.43202493e-03, 2.76972203e-02, 8.74328933e-03, 1.64031284e-03,
 -3.44457048e-05, 2.74149404e-02, 8.64638543e-03, 1.61694200e-03,
 -2.42672182e-03, 2.75697699e-02, 8.75639101e-03, 1.72576989e-03,
  2.44967815e-03,-1.72496717e-03, 0.00000000e+00,-2.85347322e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.44507488e-06, 2.01220272e-05, 4.02452328e-05, 4.58572724e-07,
  1.07198719e-05,-1.37102211e-05,-3.56261982e-05, 7.78162605e-05,
  3.30150699e-05,-5.55634671e-06, 4.84052778e-05,-2.16135390e-05,
 -4.75172269e-05,-3.01754847e-05,-3.62633601e-05,-1.76626471e-04,
  6.81542465e-01, 1.49088758e-01,-1.01198080e+01, 2.45896055e-01,
  8.46918228e-02,-9.68635445e-03]


--- Step 1600 ---
qpos:
[-5.43769276e-04, 8.77211881e-01,-2.02831441e-02,-2.75571079e-02,
  7.63967525e-03, 8.64663544e-01,-2.79929299e-02, 9.45355169e-03,
  2.22011767e-02, 8.72963520e-01,-2.02439928e-02, 2.24911995e-02,
  1.35102671e+00,-9.96743761e-03, 1.02085287e+00, 6.12721056e-02,
 -1.15599816e+00, 4.37844674e-02, 9.21303874e-02,-1.20054431e-01,
  3.75746670e-01,-6.63806962e-01,-6.35422451e-01]

qacc:
[-6.68405939e-02,-1.55488925e+00, 5.21301651e+00,-5.70161853e+00,
  9.13286074e-02, 6.34997876e+00,-2.95414826e+01, 5.97714114e+01,
  3.31854354e-02, 1.06682848e-01, 1.12469875e+00,-5.29602144e+00,
  1.73018372e-01,-5.12363771e-01,-1.39136025e+01, 4.65812992e+01,
 -5.31314477e-01,-2.43123880e-02,-1.12316779e+01, 1.01217165e+02,
 -1.45162037e+01, 1.82246246e+00]

qfrc_actuator:
[ 2.42218326e-03, 2.76738732e-02, 8.76155827e-03, 1.63942563e-03,
 -2.28566809e-05, 2.74113832e-02, 8.59130167e-03, 1.69871168e-03,
 -2.43641631e-03, 2.75928378e-02, 8.75356301e-03, 1.71391514e-03,
  2.43493777e-03,-1.73482950e-03, 0.00000000e+00,-2.62406237e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.24624802e-05,-3.80045364e-06, 2.73874339e-05, 1.37320435e-06,
  1.66888378e-05,-1.52499536e-05,-5.96091197e-05, 8.14650104e-05,
  6.19089156e-06, 2.90231333e-05, 1.23634904e-06,-1.08403927e-05,
 -4.97370064e-05,-2.73431137e-05,-3.97569577e-05, 2.14141113e-04,
  7.43523683e-01, 1.83402427e-01,-1.01486416e+01, 2.41343982e-01,
  9.83428413e-02,-9.36948660e-03]


--- Step 1601 ---
qpos:
[-5.43531780e-04, 8.77213411e-01,-2.02833717e-02,-2.75567211e-02,
  7.63940299e-03, 8.64663718e-01,-2.79939010e-02, 9.45368139e-03,
  2.22001421e-02, 8.72964657e-01,-2.02451570e-02, 2.24912848e-02,
  1.35115391e+00,-9.96748693e-03, 1.02107523e+00, 6.12704693e-02,
 -1.15904416e+00, 4.31976729e-02, 9.22596005e-02,-1.42536833e-01,
  3.93152055e-01,-6.51403831e-01,-6.33078006e-01]

qacc:
[-6.48775474e-02, 1.39701767e+00,-4.73890907e+00, 5.50322869e+00,
  1.80989556e-01,-3.91898058e+00, 1.69789344e+01,-3.22612373e+01,
 -2.06022773e-01, 1.00614451e+00,-1.17825408e+00,-5.98338038e+00,
  9.05535492e-02,-3.51362251e-01,-1.28796113e+01, 4.40931594e+01,
 -4.62506191e-01, 2.23372832e-02,-1.12750315e+01, 1.01794355e+02,
 -8.98992792e+00, 1.42101178e+00]

qfrc_actuator:
[ 2.41621115e-03, 2.76771550e-02, 8.73664066e-03, 1.63873662e-03,
  1.99076988e-06, 2.74090470e-02, 8.63053926e-03, 1.65763421e-03,
 -2.47752115e-03, 2.75884158e-02, 8.71665006e-03, 1.68897600e-03,
  2.42151899e-03,-1.74066631e-03, 0.00000000e+00,-2.41561183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.19718531e-05, 6.83453672e-06,-2.22940594e-05, 1.20004807e-07,
  3.27883047e-05,-1.96813570e-05, 3.15708300e-05,-4.22082405e-05,
 -3.81209211e-05, 1.15807559e-05,-3.11446610e-05,-2.38649735e-05,
 -4.84525718e-05,-2.34794445e-05, 4.26852398e-06, 2.15001615e-04,
  8.07734849e-01, 2.18648442e-01,-1.01734841e+01, 2.36016449e-01,
  1.11675586e-01,-9.02025737e-03]


--- Step 1602 ---
qpos:
[-5.43759941e-04, 8.77215013e-01,-2.02838800e-02,-2.75563443e-02,
  7.63926335e-03, 8.64664114e-01,-2.79945493e-02, 9.45224182e-03,
  2.21984839e-02, 8.72965109e-01,-2.02457785e-02, 2.24907689e-02,
  1.35128085e+00,-9.96787750e-03, 1.02129775e+00, 6.12696542e-02,
 -1.16209173e+00, 4.26111580e-02, 9.23435651e-02,-1.64964787e-01,
  4.10142207e-01,-6.38499424e-01,-6.29990853e-01]

qacc:
[-2.42162682e-01, 8.57636042e-01,-2.87922344e+00, 3.10212802e+00,
  6.96946915e-02,-3.83358934e+00, 2.07245043e+01,-4.85701319e+01,
 -3.23424947e-01,-3.65506273e+00, 1.42611067e+01,-2.50307179e+01,
  1.00087348e-01,-4.94213568e-01,-2.25271026e+00, 8.20220335e+00,
 -3.91806121e-01, 6.99015466e-02,-1.13121480e+01, 1.02133636e+02,
 -3.43081717e+00, 1.00643701e+00]

qfrc_actuator:
[ 2.37710218e-03, 2.76784204e-02, 8.72203266e-03, 1.63816134e-03,
 -9.50704306e-07, 2.74432416e-02, 8.65407177e-03, 1.58017758e-03,
 -2.51928545e-03, 2.75141468e-02, 8.73081974e-03, 1.65649962e-03,
  2.40357953e-03,-1.76182285e-03, 0.00000000e+00,-2.38107795e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.48707713e-05, 4.51746338e-07,-1.59494494e-05,-1.05440938e-06,
  1.26621730e-05, 2.79084424e-05, 2.19024785e-05,-7.80281699e-05,
 -6.01025175e-05,-7.52733231e-05, 1.18990946e-05,-3.35219303e-05,
 -5.09415634e-05,-3.78226258e-05, 2.22813382e-05, 4.62413535e-05,
  8.73929562e-01, 2.54638777e-01,-1.01942217e+01, 2.29935547e-01,
  1.24646830e-01,-8.63970421e-03]


--- Step 1603 ---
qpos:
[-5.44820283e-04, 8.77216558e-01,-2.02842445e-02,-2.75559906e-02,
  7.63916813e-03, 8.64664753e-01,-2.79955436e-02, 9.45061976e-03,
  2.21966449e-02, 8.72964945e-01,-2.02464501e-02, 2.24895561e-02,
  1.35140756e+00,-9.96879613e-03, 1.02152026e+00, 6.12699531e-02,
 -1.16514058e+00, 4.20251154e-02, 9.23821576e-02,-1.87313467e-01,
  4.26703683e-01,-6.25107089e-01,-6.26161928e-01]

qacc:
[-4.32312349e-01,-5.23688458e-01, 1.85621541e+00,-2.44348995e+00,
  2.30136625e-02, 9.09552604e-01,-2.00978588e+00,-7.72370494e-01,
 -9.38014380e-02,-2.10806415e+00, 9.27680751e+00,-2.08048554e+01,
  3.01649536e-01,-9.16742253e-01,-3.41546504e+00, 1.18539827e+01,
 -3.19643236e-01, 1.18067056e-01,-1.13430102e+01, 1.02233838e+02,
  2.14859310e+00, 5.82907768e-01]

qfrc_actuator:
[ 2.31850219e-03, 2.76784966e-02, 8.73139234e-03, 1.63767149e-03,
 -2.73931017e-06, 2.74457137e-02, 8.63275164e-03, 1.57072625e-03,
 -2.50780139e-03, 2.74698147e-02, 8.72149181e-03, 1.61982819e-03,
  2.38826048e-03,-1.79190844e-03, 0.00000000e+00,-2.32501907e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-8.01908265e-05,-3.04908980e-06, 7.44343047e-06,-1.04458376e-06,
  4.24235137e-06, 1.92576646e-05,-1.55542471e-05,-9.01392096e-06,
 -1.74426713e-05,-8.54189588e-05,-2.45680085e-05,-4.01361711e-05,
 -5.31947898e-05,-5.05642893e-05, 1.00157130e-05, 6.02591127e-05,
  9.41858318e-01, 2.91186742e-01,-1.02107668e+01, 2.23125782e-01,
  1.37214861e-01,-8.22896311e-03]


--- Step 1604 ---
qpos:
[-5.46267880e-04, 8.77218160e-01,-2.02848008e-02,-2.75559824e-02,
  7.63945512e-03, 8.64665266e-01,-2.79963793e-02, 9.44925482e-03,
  2.21953517e-02, 8.72964772e-01,-2.02472193e-02, 2.24874927e-02,
  1.35153382e+00,-9.96953950e-03, 1.02174285e+00, 6.12702553e-02,
 -1.16819042e+00, 4.14397389e-02, 9.23752796e-02,-2.09558116e-01,
  4.42823449e-01,-6.11240643e-01,-6.21592845e-01]

qacc:
[-2.01379164e-01,-1.00177866e-01, 1.92206131e+00,-7.62936295e+00,
  2.00921156e-01,-7.95107719e-02,-1.04243745e+00, 5.33153209e+00,
  2.83453179e-01,-1.48778454e+00, 8.88165644e+00,-2.34431097e+01,
 -4.91081131e-01, 6.97676519e-01, 1.47526468e-01,-2.64619043e-01,
 -2.46437768e-01, 1.66530805e-01,-1.13676481e+01, 1.02094266e+02,
  7.73572053e+00, 1.54690297e-01]

qfrc_actuator:
[ 2.31977090e-03, 2.76779583e-02, 8.71931503e-03, 1.61949729e-03,
  3.17042337e-05, 2.74290439e-02, 8.63831757e-03, 1.58356641e-03,
 -2.44680899e-03, 2.75146620e-02, 8.73394644e-03, 1.58097595e-03,
  2.37451952e-03,-1.77377023e-03, 0.00000000e+00,-2.32767699e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.73159706e-05,-7.92159005e-07,-1.18341427e-05,-1.80685037e-05,
  3.64654181e-05,-9.50426110e-06, 7.31993387e-06, 1.29543700e-05,
  5.25895061e-05,-9.70792022e-06,-9.59673305e-06,-4.41410409e-05,
 -5.59736946e-05,-5.72966369e-06, 6.68881694e-06, 9.15110699e-07,
  1.01127041e+00, 3.28108383e-01,-1.02230575e+01, 2.15613970e-01,
  1.49339604e-01,-7.78926708e-03]


--- Step 1605 ---
qpos:
[-5.47701226e-04, 8.77219627e-01,-2.02854048e-02,-2.75565222e-02,
  7.63976482e-03, 8.64665954e-01,-2.79972600e-02, 9.44802961e-03,
  2.21950711e-02, 8.72964563e-01,-2.02475811e-02, 2.24842562e-02,
  1.35165988e+00,-9.97021489e-03, 1.02196547e+00, 6.12701908e-02,
 -1.17124095e+00, 4.08552225e-02, 9.23228570e-02,-2.31674069e-01,
  4.58488882e-01,-5.96914361e-01,-6.16285905e-01]

qacc:
[ 7.39805959e-03,-1.17436987e+00, 6.23551541e+00,-1.55328191e+01,
  1.18444777e-02, 6.44828863e-01,-2.55254488e+00, 4.91414693e+00,
  5.26392653e-01,-3.59835606e+00, 1.77151614e+01,-3.86434613e+01,
 -2.26000047e-01, 3.16585437e-01, 1.16260550e+00,-3.97693544e+00,
 -1.72597593e-01, 2.15002489e-01,-1.13861369e+01, 1.01714697e+02,
  1.33179504e+01,-2.73892176e-01]

qfrc_actuator:
[ 2.33909616e-03, 2.76592072e-02, 8.71240621e-03, 1.59104412e-03,
  1.65209682e-05, 2.74544173e-02, 8.64189621e-03, 1.59166220e-03,
 -2.37451841e-03, 2.75238919e-02, 8.75953812e-03, 1.52349511e-03,
  2.38305758e-03,-1.76269512e-03, 0.00000000e+00,-2.34714722e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.36924466e-06,-2.24458260e-05,-9.16211415e-06,-2.92494077e-05,
  2.17126703e-06, 2.21264598e-05, 2.97016310e-06, 8.19609756e-06,
  9.75927075e-05,-5.59290011e-08, 2.08855841e-05,-5.90845414e-05,
 -2.48719105e-05,-3.13762302e-06,-1.81642696e-06,-1.97040750e-05,
  1.08191577e+00, 3.65223775e-01,-1.02310565e+01, 2.07429129e-01,
  1.60982737e-01,-7.32194459e-03]


--- Step 1606 ---
qpos:
[-5.49185750e-04, 8.77220808e-01,-2.02857828e-02,-2.75567074e-02,
  7.63998840e-03, 8.64666897e-01,-2.79984615e-02, 9.44761046e-03,
  2.21955386e-02, 8.72964364e-01,-2.02480591e-02, 2.24824581e-02,
  1.35178585e+00,-9.97106253e-03, 1.02218816e+00, 6.12688793e-02,
 -1.17429187e+00, 4.02717588e-02, 9.22248400e-02,-2.53636772e-01,
  4.73687769e-01,-5.82142963e-01,-6.10244096e-01]

qacc:
[-2.63412568e-02,-2.79069713e-01,-1.04628126e+00, 7.02286348e+00,
 -4.54798818e-02, 2.88759394e+00,-1.32151358e+01, 2.74965279e+01,
  3.88646274e-01, 3.29563739e+00,-1.78072170e+01, 4.28825838e+01,
 -1.89208743e-04,-1.53744285e-01, 3.86486030e+00,-1.33796371e+01,
 -9.85148615e-02, 2.63206613e-01,-1.13985939e+01, 1.01095384e+02,
  1.88826499e+01,-6.98499777e-01]

qfrc_actuator:
[ 2.33350347e-03, 2.76474507e-02, 8.72628379e-03, 1.61002223e-03,
  7.27350558e-06, 2.74692603e-02, 8.62667002e-03, 1.63243120e-03,
 -2.34939210e-03, 2.75295354e-02, 8.75704079e-03, 1.59752084e-03,
  2.37832731e-03,-1.77357331e-03, 0.00000000e+00,-2.41184141e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.93860559e-06,-2.74771910e-05, 7.09658989e-06, 1.71303943e-05,
 -8.21148333e-06, 2.81728373e-05,-1.00034856e-05, 4.19814186e-05,
  7.20828631e-05, 7.41758668e-06,-1.97289294e-06, 7.36002835e-05,
 -1.99514641e-05,-1.71333468e-05,-7.42024394e-06,-6.70467154e-05,
  1.15354666e+00, 4.02358210e-01,-1.02347506e+01, 1.98602369e-01,
  1.72107806e-01,-6.82841777e-03]


--- Step 1607 ---
qpos:
[-5.50723328e-04, 8.77222012e-01,-2.02863954e-02,-2.75566720e-02,
  7.64048468e-03, 8.64667679e-01,-2.79997121e-02, 9.44875384e-03,
  2.21961472e-02, 8.72964504e-01,-2.02487251e-02, 2.24818682e-02,
  1.35191134e+00,-9.97137712e-03, 1.02241087e+00, 6.12661197e-02,
 -1.17734288e+00, 3.96895387e-02, 9.20812023e-02,-2.75421798e-01,
  4.88408309e-01,-5.66941610e-01,-6.03471099e-01]

qacc:
[-2.77094104e-02, 1.14033025e+00,-4.95130663e+00, 9.12410085e+00,
  1.43352722e-01, 3.13729507e+00,-1.80944218e+01, 4.53397232e+01,
  7.31952619e-02, 3.45730760e+00,-1.67809207e+01, 3.77453812e+01,
 -8.61198499e-01, 1.50435370e+00, 4.44959893e+00,-1.54121194e+01,
 -2.45629251e-02, 3.10884336e-01,-1.14051751e+01, 1.00237054e+02,
  2.44171824e+01,-1.11481661e+00]

qfrc_actuator:
[ 2.33077237e-03, 2.76578487e-02, 8.71687323e-03, 1.62127047e-03,
  3.71925343e-05, 2.74421316e-02, 8.61820743e-03, 1.70983451e-03,
 -2.37045736e-03, 2.75685001e-02, 8.75580328e-03, 1.65954514e-03,
  2.34965590e-03,-1.74415257e-03, 0.00000000e+00,-2.48489038e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.11293525e-06,-2.78978607e-06,-1.36226827e-05, 1.06508469e-05,
  2.60136687e-05,-1.16558518e-05,-2.42086823e-06, 7.90823841e-05,
  1.36164782e-05, 4.58797950e-05, 2.60564633e-06, 6.37089126e-05,
 -4.44993795e-05, 2.11854345e-05,-1.50984671e-05,-7.87253484e-05,
  1.22591934e+00, 4.39343266e-01,-1.02341489e+01, 1.89166772e-01,
  1.82680325e-01,-6.31020045e-03]


--- Step 1608 ---
qpos:
[-5.52296835e-04, 8.77223496e-01,-2.02869806e-02,-2.75565539e-02,
  7.64092310e-03, 8.64667750e-01,-2.80004347e-02, 9.45015679e-03,
  2.21968736e-02, 8.72964630e-01,-2.02500578e-02, 2.24817601e-02,
  1.35203646e+00,-9.97110536e-03, 1.02263325e+00, 6.12641550e-02,
 -1.18039371e+00, 3.91087498e-02, 9.18919403e-02,-2.97004874e-01,
  5.02639115e-01,-5.51325893e-01,-5.95971295e-01]

qacc:
[-1.87446262e-02, 4.63137009e-01,-1.46294014e+00, 2.64268676e+00,
 -2.97885365e-02,-1.87789172e+00, 4.23861967e+00,-6.96825495e-02,
  6.07874215e-02, 2.83383926e+00,-1.21676258e+01, 2.15836655e+01,
 -6.87866527e-01, 1.31855512e+00,-2.82622986e+00, 9.30521949e+00,
  4.89064292e-02, 3.57795025e-01,-1.14060720e+01, 9.91409153e+01,
  2.99089219e+01,-1.51859135e+00]

qfrc_actuator:
[ 2.32978057e-03, 2.76990977e-02, 8.72936544e-03, 1.62787284e-03,
  1.92765604e-05, 2.73723800e-02, 8.63141216e-03, 1.71937636e-03,
 -2.36567208e-03, 2.75206089e-02, 8.70218200e-03, 1.67851807e-03,
  2.34393864e-03,-1.70894147e-03, 0.00000000e+00,-2.43798393e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.45410268e-06, 3.73107613e-05, 1.06030563e-05, 6.21831036e-06,
 -5.53714658e-06,-7.33883518e-05, 1.32379577e-05, 1.04965246e-05,
  1.13411565e-05,-1.89614961e-05,-4.16141162e-05, 2.22706308e-05,
 -2.65923193e-05, 3.00097316e-05,-1.99789773e-05, 3.96101087e-05,
  1.29879552e+00, 4.76017747e-01,-1.02292817e+01, 1.79157272e-01,
  1.92667879e-01,-5.76889587e-03]


--- Step 1609 ---
qpos:
[-5.53518641e-04, 8.77225321e-01,-2.02874681e-02,-2.75563713e-02,
  7.64103369e-03, 8.64667516e-01,-2.80010212e-02, 9.45025786e-03,
  2.21974985e-02, 8.72964647e-01,-2.02514319e-02, 2.24821956e-02,
  1.35216164e+00,-9.97104408e-03, 1.02285519e+00, 6.12650685e-02,
 -1.18344404e+00, 3.85295757e-02, 9.16570723e-02,-3.18361893e-01,
  5.16369218e-01,-5.35311824e-01,-5.87749766e-01]

qacc:
[ 1.82696793e-01, 3.11621821e-01,-7.27784416e-01, 1.43595702e+00,
 -1.72080852e-01,-3.45955519e+00, 1.72490513e+01,-3.97791920e+01,
 -5.27216269e-02, 1.09034457e+00,-6.39083116e+00, 1.59445560e+01,
  3.78532420e-01,-7.02804797e-01,-9.37892641e+00, 3.17938864e+01,
  1.21565412e-01, 4.03717535e-01,-1.14015075e+01, 9.78086552e+01,
  3.53452678e+01,-1.90567745e+00]

qfrc_actuator:
[ 2.36534172e-03, 2.77230858e-02, 8.73707830e-03, 1.63173742e-03,
 -9.36631789e-06, 2.73664322e-02, 8.63930722e-03, 1.65337403e-03,
 -2.38091473e-03, 2.75273377e-02, 8.70644770e-03, 1.70740861e-03,
  2.35200116e-03,-1.72378060e-03, 0.00000000e+00,-2.28526269e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.39009208e-05, 4.72793012e-05, 1.69331057e-05, 5.94813809e-06,
 -3.12876327e-05,-4.37999440e-05,-5.26418969e-06,-6.84851465e-05,
 -9.78856812e-06,-1.15049301e-05,-3.99668785e-06, 2.70732325e-05,
 -4.24511988e-07,-1.38897034e-05,-8.07670905e-06, 1.51611004e-04,
  1.37194378e+00, 5.12228504e-01,-1.02201995e+01, 1.68610536e-01,
  2.02040211e-01,-5.20619419e-03]


--- Step 1610 ---
qpos:
[-5.54346925e-04, 8.77227389e-01,-2.02880702e-02,-2.75564617e-02,
  7.64080959e-03, 8.64667491e-01,-2.80018297e-02, 9.45056135e-03,
  2.21976090e-02, 8.72964923e-01,-2.02520372e-02, 2.24818331e-02,
  1.35228679e+00,-9.97135001e-03, 1.02307752e+00, 6.12637557e-02,
 -1.18649361e+00, 3.79521954e-02, 9.13766374e-02,-3.39468943e-01,
  5.29588065e-01,-5.18915823e-01,-5.78812306e-01]

qacc:
[ 2.04315322e-01, 7.79584859e-02, 1.33624392e+00,-6.04857891e+00,
 -1.76002256e-01, 1.31216689e+00,-5.13255843e+00, 8.83826161e+00,
 -2.66888340e-01,-3.44604677e+00, 1.61541003e+01,-3.13853055e+01,
  1.36460125e-01,-4.74098015e-01, 7.28867233e+00,-2.46879142e+01,
  1.93112315e-01, 4.48451188e-01,-1.13917321e+01, 9.62424477e+01,
  4.07136613e+01,-2.27207273e+00]

qfrc_actuator:
[ 2.38695611e-03, 2.77187909e-02, 8.72408987e-03, 1.61619183e-03,
 -2.63995803e-05, 2.74163986e-02, 8.64419728e-03, 1.66777122e-03,
 -2.42575460e-03, 2.75846907e-02, 8.76283942e-03, 1.67098471e-03,
  2.33635166e-03,-1.75033493e-03, 0.00000000e+00,-2.40875383e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.79268034e-05, 2.58608633e-05,-9.43429557e-07,-1.28229686e-05,
 -3.19291413e-05, 2.14593172e-05,-7.16805336e-06, 1.10070015e-05,
 -4.95522463e-05, 5.12638600e-05, 5.44702603e-05,-3.65267712e-05,
 -1.92900181e-05,-2.96448005e-05, 1.02435975e-05,-1.16775707e-04,
  1.44514075e+00, 5.47831119e-01,-1.02069706e+01, 1.57564828e-01,
  2.10769314e-01,-4.62386968e-03]


--- Step 1611 ---
qpos:
[-5.54850300e-04, 8.77229476e-01,-2.02884569e-02,-2.75563859e-02,
  7.64032216e-03, 8.64667518e-01,-2.80028742e-02, 9.45174578e-03,
  2.21973798e-02, 8.72965550e-01,-2.02523092e-02, 2.24813996e-02,
  1.35241171e+00,-9.97164266e-03, 1.02329975e+00, 6.12619960e-02,
 -1.18954212e+00, 3.73767825e-02, 9.10506944e-02,-3.60302321e-01,
  5.42285531e-01,-5.02154714e-01,-5.69165427e-01]

qacc:
[  0.16896174, -0.23409559,  0.17112124,  2.34360261, -0.13842657,
   2.53822571,-12.67218746, 28.26168486, -0.17641611, -0.61336358,
   3.16066036, -5.18225044, -0.20844998,  0.23801336,  1.216506  ,
  -4.44046838,  0.26327324,  0.49181647,-11.37701985, 94.44495681,
  46.00160186, -2.61395783]

qfrc_actuator:
[ 2.40001994e-03, 2.77152411e-02, 8.73435895e-03, 1.62481702e-03,
 -3.63290787e-05, 2.74107575e-02, 8.62983527e-03, 1.71167195e-03,
 -2.43464150e-03, 2.76010845e-02, 8.77870274e-03, 1.66750678e-03,
  2.32245779e-03,-1.74817220e-03, 0.00000000e+00,-2.42772972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.13107323e-05, 1.01296973e-05, 1.50384039e-05, 9.44701802e-06,
 -2.51238676e-05, 5.35221499e-06,-1.04257573e-05, 4.47875528e-05,
 -3.27229920e-05, 5.47386532e-05, 3.19017733e-05,-1.05317888e-07,
 -3.21962323e-05,-8.84390931e-06,-1.36204656e-05,-2.54148362e-05,
  1.51817223e+00, 5.82690457e-01,-1.01896802e+01, 1.46059887e-01,
  2.18829505e-01,-4.02377755e-03]


--- Step 1612 ---
qpos:
[-5.54931661e-04, 8.77231241e-01,-2.02885557e-02,-2.75558229e-02,
  7.63965080e-03, 8.64667090e-01,-2.80038188e-02, 9.45314431e-03,
  2.21971192e-02, 8.72966548e-01,-2.02532028e-02, 2.24809921e-02,
  1.35253639e+00,-9.97167405e-03, 1.02352161e+00, 6.12620036e-02,
 -1.19258930e+00, 3.68035041e-02, 9.06793207e-02,-3.80838558e-01,
  5.54451919e-01,-4.85045708e-01,-5.58816360e-01]

qacc:
[ 2.19593079e-01,-2.26203819e-01,-1.86320816e+00, 1.00615053e+01,
 -9.63792704e-02,-4.38847032e-01,-2.11172342e-01, 4.09138000e+00,
 -1.68392437e-02, 2.27903520e+00,-7.52590227e+00, 8.69757076e+00,
 -2.86161219e-01, 5.24490398e-01,-5.85019113e+00, 1.97354397e+01,
  3.31803429e-01, 5.33655425e-01,-1.13576638e+01, 9.24193425e+01,
  5.11966659e+01,-2.92773342e+00]

qfrc_actuator:
[ 2.42561728e-03, 2.76767596e-02, 8.74054586e-03, 1.64761473e-03,
 -4.19338140e-05, 2.73540729e-02, 8.62177741e-03, 1.71925742e-03,
 -2.42192554e-03, 2.75927067e-02, 8.73487160e-03, 1.66563608e-03,
  2.32028850e-03,-1.72901283e-03, 0.00000000e+00,-2.33162750e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.06584948e-05,-2.93486185e-05, 1.04448143e-05, 2.39325424e-05,
 -1.75625092e-05,-5.39232994e-05,-6.68033749e-06, 8.32579640e-06,
 -3.02152904e-06, 2.88001439e-05,-2.86004539e-05, 1.57751097e-06,
 -2.29966221e-05, 9.92345817e-06,-1.29163454e-05, 9.20531100e-05,
  1.59083412e+00, 6.16681085e-01,-1.01684279e+01, 1.34136785e-01,
  2.26197503e-01,-3.40785040e-03]


--- Step 1613 ---
qpos:
[-5.54652901e-04, 8.77232567e-01,-2.02882311e-02,-2.75542944e-02,
  7.63867457e-03, 8.64666099e-01,-2.80044573e-02, 9.45427817e-03,
  2.21969242e-02, 8.72967329e-01,-2.02549470e-02, 2.24813494e-02,
  1.35266070e+00,-9.97117202e-03, 1.02374349e+00, 6.12621241e-02,
 -1.19563489e+00, 3.62325210e-02, 9.02626111e-02,-4.01054438e-01,
  5.66077966e-01,-4.67606393e-01,-5.47773069e-01]

qacc:
[ 1.87576496e-01, 2.27293326e-01,-5.71505052e+00, 2.20466797e+01,
 -1.59756563e-01,-2.14196650e+00, 7.67684496e+00,-1.23358047e+01,
  3.36353757e-02, 3.66167945e+00,-1.67030476e+01, 3.14606600e+01,
 -6.89051847e-01, 1.28491810e+00,-2.85491943e-01, 1.11608771e+00,
  3.98488274e-01, 5.73831788e-01,-1.13339723e+01, 9.01692656e+01,
  5.62865267e+01,-3.21005564e+00]

qfrc_actuator:
[ 2.44075502e-03, 2.76531584e-02, 8.76187749e-03, 1.69628106e-03,
 -6.26703794e-05, 2.73205063e-02, 8.63501329e-03, 1.70536820e-03,
 -2.41417286e-03, 2.75338006e-02, 8.67379805e-03, 1.70016630e-03,
  2.30386031e-03,-1.69990878e-03, 0.00000000e+00,-2.32828736e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 3.46918689e-05,-3.68673121e-05, 1.73715024e-05, 4.82338759e-05,
 -2.91022448e-05,-6.47288403e-05, 1.57326405e-06,-1.62684398e-05,
  6.30407631e-06,-4.86578553e-05,-5.85938970e-05, 3.48058980e-05,
 -2.74375969e-05, 2.62320163e-05, 1.03105116e-06, 6.05265957e-06,
  1.66293319e+00, 6.49687568e-01,-1.01433269e+01, 1.21837799e-01,
  2.32852493e-01,-2.77809432e-03]


--- Step 1614 ---
qpos:
[-5.53741679e-04, 8.77233761e-01,-2.02877023e-02,-2.75529097e-02,
  7.63780083e-03, 8.64665044e-01,-2.80048654e-02, 9.45517729e-03,
  2.21964409e-02, 8.72967546e-01,-2.02566555e-02, 2.24814115e-02,
  1.35278477e+00,-9.97032107e-03, 1.02396487e+00, 6.12659613e-02,
 -1.19867863e+00, 3.56639869e-02, 8.98006765e-02,-4.20927027e-01,
  5.77154851e-01,-4.49854723e-01,-5.36044255e-01]

qacc:
[ 3.28800184e-01,-1.04132849e+00, 4.06432165e+00,-6.77837068e+00,
  5.39833583e-02,-1.20915066e+00, 5.18168653e+00,-9.56754977e+00,
 -1.49531277e-01,-1.45213990e+00, 5.34266564e+00,-1.00943580e+01,
 -2.47458480e-01, 5.26193871e-01,-1.19297570e+01, 4.07247217e+01,
  4.63143872e-01, 6.12230820e-01,-1.13062641e+01, 8.76988941e+01,
  6.12589759e+01,-3.45786956e+00]

qfrc_actuator:
[ 2.48501535e-03, 2.76564826e-02, 8.77429249e-03, 1.68878494e-03,
 -3.90336474e-05, 2.73543586e-02, 8.66077911e-03, 1.69673992e-03,
 -2.44498781e-03, 2.74982747e-02, 8.67386722e-03, 1.68477735e-03,
  2.29487335e-03,-1.68296722e-03, 0.00000000e+00,-2.13112034e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 6.09429549e-05,-1.16715914e-05, 8.59490387e-06,-7.53874402e-06,
  9.77754616e-06,-2.69127508e-06, 1.20398468e-05,-1.16625177e-05,
 -2.77868487e-05,-7.33511636e-05,-1.59880560e-05,-1.88235623e-05,
 -1.86954920e-05, 1.67561448e-05,-3.41683868e-06, 1.96586467e-04,
  1.73428769e+00, 6.81604626e-01,-1.01145012e+01, 1.09206261e-01,
  2.38776190e-01,-2.13658453e-03]


--- Step 1615 ---
qpos:
[-5.52810928e-04, 8.77234630e-01,-2.02874249e-02,-2.75526043e-02,
  7.63731344e-03, 8.64664386e-01,-2.80048876e-02, 9.45520377e-03,
  2.21956308e-02, 8.72967735e-01,-2.02591376e-02, 2.24809304e-02,
  1.35290886e+00,-9.96981959e-03, 1.02418620e+00, 6.12717681e-02,
 -1.20172027e+00, 3.50980478e-02, 8.92936425e-02,-4.40433690e-01,
  5.87674206e-01,-4.31809003e-01,-5.23639358e-01]

qacc:
[ 1.00561145e-02,-1.95289995e+00, 1.08815885e+01,-2.88969522e+01,
  2.02986087e-01,-2.34828564e+00, 1.28189544e+01,-2.88342573e+01,
 -1.70314069e-01, 1.00793240e+00,-1.35145585e+00,-6.79438795e+00,
  3.94576687e-01,-8.37647955e-01,-6.04336534e+00, 2.09825392e+01,
  5.25617251e-01, 6.48758890e-01,-1.12748646e+01, 8.50129080e+01,
  6.61019476e+01,-3.66844039e+00]

qfrc_actuator:
[ 2.45756968e-03, 2.76048208e-02, 8.74590220e-03, 1.63056177e-03,
 -6.81096957e-06, 2.74106351e-02, 8.69401628e-03, 1.65583889e-03,
 -2.46311058e-03, 2.75127164e-02, 8.63906547e-03, 1.65794363e-03,
  2.29035375e-03,-1.70885727e-03, 0.00000000e+00,-2.03433764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.87111568e-06,-5.67647474e-05,-3.00195772e-05,-5.85778619e-05,
  3.68760636e-05, 5.67867548e-05, 3.37712235e-05,-4.08259214e-05,
 -3.15014948e-05,-3.06811012e-05,-5.25618261e-05,-3.08942631e-05,
 -1.12363387e-05,-2.63256958e-05, 1.70641093e-05, 1.06538673e-04,
  1.80472787e+00, 7.12337176e-01,-1.00820847e+01, 9.62864206e-02,
  2.43952892e-01,-1.48546052e-03]


--- Step 1616 ---
qpos:
[-5.52045605e-04, 8.77234974e-01,-2.02876546e-02,-2.75532997e-02,
  7.63721213e-03, 8.64664405e-01,-2.80051858e-02, 9.45405807e-03,
  2.21949244e-02, 8.72968075e-01,-2.02619890e-02, 2.24814612e-02,
  1.35303288e+00,-9.96981898e-03, 1.02440774e+00, 6.12773627e-02,
 -1.20475956e+00, 3.45348421e-02, 8.87416480e-02,-4.59552117e-01,
  5.97628120e-01,-4.13487871e-01,-5.10568568e-01]

qacc:
[-8.61351050e-02,-1.33741286e+00, 7.97801788e+00,-2.40808657e+01,
  2.02314928e-01,-7.44792903e-01, 8.90543287e+00,-2.92518613e+01,
  5.36251097e-02, 3.31039805e+00,-1.57901977e+01, 3.37852451e+01,
  3.21131337e-01,-8.64709864e-01, 9.13959123e-01,-2.82149878e+00,
  5.85786199e-01, 6.83342803e-01,-1.12401014e+01, 8.21165040e+01,
  7.08035435e+01,-3.83938190e+00]

qfrc_actuator:
[ 2.44071827e-03, 2.75559196e-02, 8.71115531e-03, 1.57840072e-03,
  1.24857832e-05, 2.74444268e-02, 8.67823065e-03, 1.59630600e-03,
 -2.43795884e-03, 2.75568269e-02, 8.63739408e-03, 1.71337229e-03,
  2.27252210e-03,-1.74213485e-03, 0.00000000e+00,-2.05078309e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.59587023e-05,-8.93731589e-05,-5.22043482e-05,-5.67726136e-05,
  3.68553273e-05, 7.07914418e-05,-1.30474770e-06,-5.67252571e-05,
  9.99083336e-06, 1.47832410e-05,-1.55343350e-05, 5.16981663e-05,
 -3.03784962e-05,-4.18612990e-05, 1.51906512e-05,-9.39409866e-06,
  1.87409620e+00, 7.41800253e-01,-1.00462187e+01, 8.31232979e-02,
  2.48369526e-01,-8.26920751e-04]


--- Step 1617 ---
qpos:
[-5.51282791e-04, 8.77235102e-01,-2.02887769e-02,-2.75542819e-02,
  7.63741411e-03, 8.64664513e-01,-2.80057536e-02, 9.45297493e-03,
  2.21946110e-02, 8.72968102e-01,-2.02629784e-02, 2.24818640e-02,
  1.35315666e+00,-9.97015417e-03, 1.02462965e+00, 6.12800556e-02,
 -1.20779627e+00, 3.39745001e-02, 8.81448443e-02,-4.78260349e-01,
  6.07009150e-01,-3.94910289e-01,-4.96842826e-01]

qacc:
[-1.79081545e-03, 1.61730994e+00,-4.97217021e+00, 1.59949951e+00,
  1.59106365e-01, 9.96919175e-01,-3.65112294e+00, 5.10166112e+00,
  2.05434225e-01,-5.87648908e+00, 2.08952304e+01,-2.58569613e+01,
 -8.60035732e-02,-1.93752730e-01, 9.30921171e+00,-3.17746098e+01,
  6.43558718e-01, 7.15928895e-01,-1.12023006e+01, 7.90154000e+01,
  7.53520611e+01,-3.96868208e+00]

qfrc_actuator:
[ 2.44815318e-03, 2.75622608e-02, 8.67295065e-03, 1.56573531e-03,
  2.38727058e-05, 2.74110292e-02, 8.65129153e-03, 1.59725311e-03,
 -2.40489478e-03, 2.75653145e-02, 8.74426915e-03, 1.71030473e-03,
  2.25203625e-03,-1.76180112e-03, 0.00000000e+00,-2.20478184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.52845235e-07,-5.68526820e-05,-6.50564779e-05,-1.94017143e-05,
  2.89379939e-05, 3.49577256e-06,-1.44393552e-05, 2.83244313e-06,
  3.78712767e-05, 1.57742009e-05, 1.09821868e-04,-1.96278597e-06,
 -4.77436989e-05,-3.62097982e-05, 8.37964505e-07,-1.53781209e-04,
  1.94224758e+00, 7.69918817e-01,-1.00070506e+01, 6.97625318e-02,
  2.52015695e-01,-1.63216873e-04]


--- Step 1618 ---
qpos:
[-5.50846555e-04, 8.77235185e-01,-2.02905450e-02,-2.75551029e-02,
  7.63782951e-03, 8.64663842e-01,-2.80057226e-02, 9.45300004e-03,
  2.21945071e-02, 8.72967738e-01,-2.02627949e-02, 2.24819390e-02,
  1.35328001e+00,-9.97041844e-03, 1.02485167e+00, 6.12798836e-02,
 -1.21083020e+00, 3.34171441e-02, 8.75033935e-02,-4.96536803e-01,
  6.15810335e-01,-3.76095519e-01,-4.82473828e-01]

qacc:
[ -0.1700673 ,  2.07687932, -8.1691115 , 12.01952671,  0.11281367,
  -0.42056053, -4.67295203, 23.47004697,  0.1097649 , -4.46513193,
  16.55751624,-23.81898313, -0.5424405 ,  0.71001487,  8.84036451,
 -30.62992676,  0.69887213,  0.7464819 ,-11.1617827 , 75.71583744,
  79.73602322, -4.0547255 ]

qfrc_actuator:
[ 2.41680524e-03, 2.75838963e-02, 8.65101234e-03, 1.57645363e-03,
  3.04420974e-05, 2.73376371e-02, 8.67102221e-03, 1.65147500e-03,
 -2.40291939e-03, 2.75173263e-02, 8.78992006e-03, 1.69062724e-03,
  2.22997564e-03,-1.75551270e-03, 0.00000000e+00,-2.34977516e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.14746045e-05,-2.44141621e-05,-4.23554722e-05, 5.65885851e-06,
  2.03431748e-05,-7.42910936e-05, 1.87764872e-05, 5.39289347e-05,
  2.01972017e-05,-1.65575772e-05, 6.23760724e-05,-1.52392273e-05,
 -5.81983632e-05,-1.28582658e-05,-2.19876086e-05,-1.54685976e-04,
  2.00904932e+00, 7.96627459e-01,-9.96473198e+00, 5.62502292e-02,
  2.54883703e-01, 5.03352650e-04]


--- Step 1619 ---
qpos:
[-5.51130880e-04, 8.77235144e-01,-2.02920312e-02,-2.75561898e-02,
  7.63894276e-03, 8.64662876e-01,-2.80052665e-02, 9.45293382e-03,
  2.21941473e-02, 8.72966868e-01,-2.02624428e-02, 2.24818642e-02,
  1.35340296e+00,-9.97039579e-03, 1.02507330e+00, 6.12799541e-02,
 -1.21386111e+00, 3.28628879e-02, 8.68174673e-02,-5.14360296e-01,
  6.24025203e-01,-3.57063109e-01,-4.67474029e-01]

qacc:
[ -0.37420963, -1.49981468,  6.22852161,-11.184214  ,  0.36692142,
  -1.76250624,  6.10713329, -8.15307242, -0.13277575, -1.44849128,
   4.82620756, -7.31713084, -0.50199699,  0.81185572, -1.27082027,
   3.687548  ,  0.75169181,  0.77498365,-11.118859  , 72.22458276,
  83.94420967, -4.09631222]

qfrc_actuator:
[ 2.36251267e-03, 2.75968713e-02, 8.67444938e-03, 1.56536368e-03,
  8.73474189e-05, 2.73475954e-02, 8.70024158e-03, 1.64782787e-03,
 -2.43732367e-03, 2.74534079e-02, 8.78102828e-03, 1.67898744e-03,
  2.22297377e-03,-1.73392384e-03, 0.00000000e+00,-2.32846764e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.94371755e-05,-9.17278198e-06, 1.33880708e-05,-1.34861099e-05,
  6.65776387e-05,-2.53768678e-05, 1.80609966e-05,-5.12987265e-06,
 -2.46895507e-05,-6.09373223e-05,-5.15410411e-06,-1.04876485e-05,
 -4.37955057e-05, 5.44879606e-06,-3.15839871e-05, 8.88376668e-06,
  2.07438100e+00, 8.21870010e-01,-9.91941718e+00, 4.26328094e-02,
  2.56968587e-01, 1.17044939e-03]


--- Step 1620 ---
qpos:
[-5.51725758e-04, 8.77234600e-01,-2.02920099e-02,-2.75564025e-02,
  7.64092284e-03, 8.64662304e-01,-2.80047555e-02, 9.45241540e-03,
  2.21936372e-02, 8.72965693e-01,-2.02619403e-02, 2.24812812e-02,
  1.35352580e+00,-9.97025877e-03, 1.02529497e+00, 6.12782124e-02,
 -1.21688882e+00, 3.23118375e-02, 8.60872457e-02,-5.31710075e-01,
  6.31647787e-01,-3.37832868e-01,-4.51856640e-01]

qacc:
[-1.60233553e-01,-3.07467313e+00, 6.31648750e+00, 6.75361809e+00,
  4.55176117e-01,-5.64444230e-01, 4.67576200e+00,-1.28798296e+01,
 -7.78598659e-02,-1.86592864e+00, 8.21761758e+00,-1.70295682e+01,
 -2.72248437e-01, 4.51356262e-01, 5.54194176e+00,-1.92745697e+01,
  8.02009624e-01, 8.01431531e-01,-1.10738284e+01, 6.85489267e+01,
  8.79656912e+01,-4.09267299e+00]

qfrc_actuator:
[ 0.00236599, 0.02758699, 0.00875995, 0.00161256, 0.00013838, 0.02740739,
  0.00871734, 0.00162797,-0.00243992, 0.02745121, 0.0087932 , 0.00165437,
  0.00223567,-0.00172115, 0.        ,-0.00242237, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[-2.99321700e-05,-1.28115620e-05, 8.48008778e-05, 4.70113461e-05,
  8.27165759e-05, 4.91434427e-05, 1.39041676e-05,-2.04217095e-05,
 -1.44804162e-05,-3.77689901e-05,-1.40462844e-06,-2.76093200e-05,
 -1.14546419e-05, 4.13435854e-06,-1.64106181e-05,-9.81266491e-05,
  2.13813413e+00, 8.45599064e-01,-9.87126160e+00, 2.89568461e-02,
  2.58268134e-01, 1.83570238e-03]


--- Step 1621 ---
qpos:
[-5.52075580e-04, 8.77233666e-01,-2.02903919e-02,-2.75553794e-02,
  7.64306448e-03, 8.64662011e-01,-2.80041125e-02, 9.45305273e-03,
  2.21932258e-02, 8.72964895e-01,-2.02618829e-02, 2.24800156e-02,
  1.35364853e+00,-9.97021315e-03, 1.02551644e+00, 6.12760036e-02,
 -1.21991313e+00, 3.17640905e-02, 8.53129162e-02,-5.48565839e-01,
  6.38672632e-01,-3.18424849e-01,-4.35635634e-01]

qacc:
[ 1.28501822e-01,-2.42837861e+00, 2.70751168e+00, 1.63883023e+01,
  8.49186929e-02, 2.37692070e+00,-1.28211714e+01, 3.24116007e+01,
  5.08371538e-02, 3.34990683e-01, 2.40743000e+00,-1.37860599e+01,
 -2.47214919e-02,-6.59026700e-02, 1.11556316e+00,-4.33193136e+00,
  8.49842031e-01, 8.25836900e-01,-1.10269744e+01, 6.46966815e+01,
  9.17898645e+01,-4.04348056e+00]

qfrc_actuator:
[ 0.002404  , 0.02758159, 0.00884584, 0.00167595, 0.00011443, 0.02742551,
  0.00872735, 0.00168754,-0.00242342, 0.02750381, 0.00878247, 0.00162239,
  0.0022229 ,-0.00173136, 0.        ,-0.00244143, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
No contacts

qfrc_smooth:
[ 2.36116853e-05, 6.96473573e-06, 9.53235806e-05, 6.66883995e-05,
  1.54245872e-05, 4.76149127e-05, 2.11751119e-05, 6.17623454e-05,
  9.51783054e-06, 3.00219314e-05,-1.96622950e-05,-3.41870589e-05,
 -1.89002702e-05,-1.15361865e-05,-2.23891302e-05,-2.75451336e-05,
  2.20021179e+00, 8.67775423e-01,-9.82042040e+00, 1.52689080e-02,
  2.58782887e-01, 2.49671603e-03]


--- Step 1622 ---
qpos:
[-5.52439362e-04, 8.77232745e-01,-2.02885778e-02,-2.75545951e-02,
  7.64475037e-03, 8.64661638e-01,-2.80028424e-02, 9.45372006e-03,
  2.21927815e-02, 8.72964606e-01,-2.02627127e-02, 2.24794253e-02,
  1.35377108e+00,-9.97068990e-03, 1.02573766e+00, 6.12742127e-02,
 -1.22293385e+00, 3.12197363e-02, 8.44946725e-02,-5.64907770e-01,
  6.45094814e-01,-2.98859324e-01,-4.18825736e-01]

qacc:
[-7.14875761e-03,-1.02258612e+00, 4.67615296e+00,-9.12677570e+00,
 -2.38967134e-01,-1.79461150e+00, 6.11946238e+00,-6.54623211e+00,
 -1.78357747e-02, 4.53977960e+00,-1.80616864e+01, 3.07914389e+01,
  3.02762030e-01,-8.93492662e-01,-1.64244348e+00, 5.17220673e+00,
  8.95227902e-01, 8.48223264e-01,-1.09785621e+01, 6.06761760e+01,
  9.54064891e+01,-3.94885680e+00]

qfrc_actuator:
[ 2.39130011e-03, 2.75611999e-02, 8.84251002e-03, 1.65956889e-03,
  6.35988689e-05, 2.74008236e-02, 8.75078248e-03, 1.68683212e-03,
 -2.43117715e-03, 2.75354589e-02, 8.74076097e-03, 1.65736917e-03,
  2.18951539e-03,-1.77296092e-03, 0.00000000e+00,-2.41618957e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.34380996e-06, 6.05593892e-06, 1.21530323e-05,-1.14849566e-05,
 -4.34834344e-05, 8.96231974e-06, 3.80042907e-05, 3.26373214e-06,
 -3.17034350e-06, 4.29329439e-05,-3.91012614e-05, 3.49264931e-05,
 -4.73574714e-05,-4.82975839e-05,-1.65929874e-05, 2.00723120e-05,
  2.26052801e+00, 8.88367487e-01,-9.76704716e+00, 1.61539592e-03,
  2.58516149e-01, 3.15107863e-03]


--- Step 1623 ---
qpos:
[-5.52703119e-04, 8.77231954e-01,-2.02873372e-02,-2.75546637e-02,
  7.64589550e-03, 8.64661213e-01,-2.80011820e-02, 9.45335123e-03,
  2.21922752e-02, 8.72963764e-01,-2.02634222e-02, 2.24810527e-02,
  1.35389314e+00,-9.97103809e-03, 1.02595881e+00, 6.12723697e-02,
 -1.22595083e+00, 3.06788566e-02, 8.36327135e-02,-5.80716561e-01,
  6.50909949e-01,-2.79156760e-01,-4.01442422e-01]

qacc:
[ 5.15399665e-02, 1.64819535e-02, 3.78221842e+00,-1.77045798e+01,
 -2.83837032e-01,-3.28670397e+00, 1.59988299e+01,-3.45237218e+01,
 -3.17654429e-02, 3.49371008e+00,-2.28851876e+01, 6.14865086e+01,
 -4.77602141e-01, 6.27838310e-01, 6.06804466e-02,-3.31632139e-01,
  9.38226097e-01, 8.68624438e-01,-1.09288359e+01, 5.64962474e+01,
  9.88057254e+01,-3.80937566e+00]

qfrc_actuator:
[ 2.40158462e-03, 2.75493271e-02, 8.80416441e-03, 1.61406651e-03,
  3.27003126e-05, 2.73862104e-02, 8.76395479e-03, 1.63286354e-03,
 -2.43563109e-03, 2.74654956e-02, 8.73435529e-03, 1.76695309e-03,
  2.16508477e-03,-1.76190934e-03, 0.00000000e+00,-2.41833450e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 9.63925199e-06,-6.46146633e-06,-3.60032665e-05,-4.50488325e-05,
 -5.15941720e-05,-1.62048386e-06, 1.98112573e-05,-5.22074349e-05,
 -5.97539318e-06,-5.25222538e-05,-1.13689251e-06, 1.10752944e-04,
 -6.30656748e-05,-1.08501003e-05,-8.75972977e-06,-3.93675501e-06,
  2.31900716e+00, 9.07350574e-01,-9.71129271e+00,-1.19576201e-02,
  2.57473972e-01, 3.79637132e-03]


--- Step 1624 ---
qpos:
[-5.53222743e-04, 8.77231526e-01,-2.02869871e-02,-2.75552843e-02,
  7.64658757e-03, 8.64660776e-01,-2.79996637e-02, 9.45271651e-03,
  2.21918985e-02, 8.72961362e-01,-2.02633032e-02, 2.24830268e-02,
  1.35401471e+00,-9.97102706e-03, 1.02617999e+00, 6.12694909e-02,
 -1.22896389e+00, 3.01415253e-02, 8.27272424e-02,-5.95973438e-01,
  6.56114207e-01,-2.59337791e-01,-3.83501915e-01]

qacc:
[-1.33645613e-01, 1.82905519e+00,-3.50259677e+00,-4.87992991e+00,
 -2.38077848e-01,-1.65735512e-01, 1.69143216e+00,-6.05816668e+00,
  6.83255069e-02,-3.66094150e+00, 8.59892642e+00,-2.77500703e+00,
 -7.08900184e-01, 1.14312120e+00, 3.22802215e+00,-1.11131549e+01,
  9.78912806e-01, 8.87082606e-01,-1.08780178e+01, 5.21662303e+01,
  1.01978173e+02,-3.62606168e+00]

qfrc_actuator:
[ 2.37229555e-03, 2.75779468e-02, 8.76325229e-03, 1.58730434e-03,
  1.40275829e-05, 2.73776431e-02, 8.75320727e-03, 1.61900426e-03,
 -2.42031122e-03, 2.73176706e-02, 8.74847607e-03, 1.77746394e-03,
  2.15138470e-03,-1.73746363e-03, 0.00000000e+00,-2.47211085e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.46502488e-05, 1.56544045e-05,-4.82437961e-05,-2.91627632e-05,
 -4.32289063e-05,-7.62740879e-06,-1.04567263e-05,-1.42597351e-05,
  1.24349188e-05,-1.72662563e-04, 6.97409452e-06, 1.03760592e-05,
 -5.24191958e-05, 7.43394786e-06,-8.68271684e-06,-5.60768152e-05,
  2.37558316e+00, 9.24706224e-01,-9.65330419e+00,-2.54045660e-02,
  2.55665141e-01, 4.43017754e-03]


--- Step 1625 ---
qpos:
[-5.53675614e-04, 8.77231356e-01,-2.02871746e-02,-2.75562324e-02,
  7.64731860e-03, 8.64660661e-01,-2.79992781e-02, 9.45194698e-03,
  2.21916799e-02, 8.72958357e-01,-2.02635519e-02, 2.24843823e-02,
  1.35413601e+00,-9.97081229e-03, 1.02640129e+00, 6.12642988e-02,
 -1.23197288e+00, 2.96078085e-02, 8.17784660e-02,-6.10660194e-01,
  6.60704326e-01,-2.39423194e-01,-3.65021171e-01]

qacc:
[ 3.42529023e-02, 1.16900938e+00,-2.29229724e+00,-2.69957977e+00,
  1.96361434e-02, 3.30741674e+00,-1.06111773e+01, 9.85698176e+00,
  8.21306471e-02,-1.04088107e+00, 5.16890236e+00,-1.48441381e+01,
 -4.97334528e-01, 7.92917773e-01, 7.19397959e+00,-2.48414700e+01,
  1.01737870e+00, 9.03646351e-01,-1.08263057e+01, 4.76959432e+01,
  1.04914911e+02,-3.40038404e+00]

qfrc_actuator:
[ 2.39058874e-03, 2.75950726e-02, 8.73909928e-03, 1.57182640e-03,
  3.83242230e-05, 2.73904370e-02, 8.69297873e-03, 1.61110210e-03,
 -2.41104626e-03, 2.73196356e-02, 8.73865129e-03, 1.74726757e-03,
  2.14946583e-03,-1.72301614e-03, 0.00000000e+00,-2.59136682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 6.43694433e-06, 1.46748593e-05,-2.78701002e-05,-1.70440044e-05,
  3.72104499e-06, 5.75235888e-06,-6.35927960e-05,-8.86844807e-06,
  1.52224306e-05,-9.26483911e-05,-4.42556089e-05,-3.71521779e-05,
 -3.03776193e-05, 4.17760589e-06,-1.47113595e-05,-1.24510750e-04,
  2.43019861e+00, 9.40421450e-01,-9.59322410e+00,-3.86805287e-02,
  2.53101142e-01, 5.05009297e-03]


--- Step 1626 ---
qpos:
[-5.53612513e-04, 8.77231316e-01,-2.02877062e-02,-2.75563197e-02,
  7.64803157e-03, 8.64660859e-01,-2.79996964e-02, 9.45106700e-03,
  2.21915946e-02, 8.72955886e-01,-2.02645526e-02, 2.24859350e-02,
  1.35425711e+00,-9.97045517e-03, 1.02662261e+00, 6.12566917e-02,
 -1.23497765e+00, 2.90777653e-02, 8.07865942e-02,-6.24759211e-01,
  6.64677624e-01,-2.19433858e-01,-3.46017871e-01]

qacc:
[ 2.67890021e-01, 2.90602219e+00,-1.37363153e+01, 2.90690702e+01,
 -1.01035679e-02, 2.42995014e+00,-7.59891296e+00, 6.74523568e+00,
  6.86399003e-02, 3.20927823e+00,-1.12552486e+01, 1.54795170e+01,
 -3.90373932e-01, 6.17243374e-01, 7.33634919e+00,-2.55849749e+01,
  1.05372595e+00, 9.18368682e-01,-1.07738718e+01, 4.30956704e+01,
  1.07607535e+02,-3.13424623e+00]

qfrc_actuator:
[ 2.43721101e-03, 2.76052604e-02, 8.72500499e-03, 1.61637327e-03,
  3.48337831e-05, 2.74157197e-02, 8.65736704e-03, 1.60674952e-03,
 -2.40549475e-03, 2.74288934e-02, 8.73307647e-03, 1.76448393e-03,
  2.14396274e-03,-1.71455580e-03, 0.00000000e+00,-2.71271354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.97222182e-05, 1.19172558e-05,-1.50823456e-05, 4.38804458e-05,
 -1.71772598e-06, 1.49869232e-05,-4.25670323e-05,-6.47905452e-06,
  1.28596177e-05, 4.67881952e-05,-3.14258590e-05, 1.09940731e-05,
 -2.23753840e-05, 2.70504037e-06,-2.49142768e-05,-1.31154441e-04,
  2.48280390e+00, 9.54488002e-01,-9.53118971e+00,-5.17414214e-02,
  2.49796124e-01, 5.65373587e-03]


--- Step 1627 ---
qpos:
[-5.53382925e-04, 8.77231907e-01,-2.02889511e-02,-2.75555666e-02,
  7.64833903e-03, 8.64661161e-01,-2.80003017e-02, 9.45116120e-03,
  2.21914231e-02, 8.72954354e-01,-2.02658892e-02, 2.24865618e-02,
  1.35437789e+00,-9.96991670e-03, 1.02684323e+00, 6.12520053e-02,
 -1.23797807e+00, 2.85514472e-02, 7.97518389e-02,-6.38253488e-01,
  6.68032010e-01,-1.99390755e-01,-3.26510408e-01]

qacc:
[ 8.58946570e-02, 4.55706202e+00,-1.85772116e+01, 3.37799273e+01,
 -2.13098597e-01, 2.66271912e+00,-1.34089135e+01, 3.04952078e+01,
 -4.53532647e-02, 2.75306382e-01, 4.73098640e+00,-2.09129774e+01,
 -2.03543831e-01, 3.13998296e-01,-9.83460021e+00, 3.29415976e+01,
  1.08806509e+00, 9.31305084e-01,-1.07208628e+01, 3.83761417e+01,
  1.10048200e+02,-2.82997115e+00]

qfrc_actuator:
[ 2.42934429e-03, 2.76645690e-02, 8.69921485e-03, 1.66037249e-03,
 -3.04010370e-06, 2.74306219e-02, 8.65440229e-03, 1.65781412e-03,
 -2.41996235e-03, 2.75128695e-02, 8.73058304e-03, 1.72081640e-03,
  2.12033466e-03,-1.70970785e-03, 0.00000000e+00,-2.55024548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.60573649e-05, 6.47467328e-05,-2.36646331e-05, 4.48422609e-05,
 -3.86889647e-05, 1.42134778e-05,-5.33545727e-06, 5.01089892e-05,
 -8.27988456e-06, 1.04184918e-04, 3.70410755e-06,-4.25333486e-05,
 -3.64056056e-05, 6.86996834e-07,-2.97553501e-05, 1.51117847e-04,
  2.53335621e+00, 9.66901606e-01,-9.46733247e+00,-6.45441477e-02,
  2.45766852e-01, 6.23875772e-03]


--- Step 1628 ---
qpos:
[-5.52940003e-04, 8.77233057e-01,-2.02901938e-02,-2.75553696e-02,
  7.64840258e-03, 8.64661812e-01,-2.80013412e-02, 9.45185159e-03,
  2.21911213e-02, 8.72953823e-01,-2.02670463e-02, 2.24859249e-02,
  1.35449831e+00,-9.96925179e-03, 1.02706363e+00, 6.12492365e-02,
 -1.24097401e+00, 2.80288992e-02, 7.86744141e-02,-6.51126666e-01,
  6.70765998e-01,-1.79314909e-01,-3.06517869e-01]

qacc:
[ 1.10637286e-01,-4.12902470e-01, 4.88541744e+00,-1.49093519e+01,
 -1.28478771e-01, 2.89792006e+00,-1.21836144e+01, 2.29436718e+01,
 -6.80402290e-02,-1.77900487e+00, 1.35989958e+01,-3.64954204e+01,
 -2.68164738e-01, 3.56404271e-01,-6.09415739e+00, 2.08923625e+01,
  1.12051187e+00, 9.42511622e-01,-1.06673989e+01, 3.35485079e+01,
  1.12229652e+02,-2.49028191e+00]

qfrc_actuator:
[ 2.44218516e-03, 2.76995399e-02, 8.70241945e-03, 1.63270871e-03,
 -7.89147840e-06, 2.74571323e-02, 8.63522509e-03, 1.68783069e-03,
 -2.42852262e-03, 2.75810567e-02, 8.74757587e-03, 1.65941548e-03,
  2.09650107e-03,-1.70712329e-03, 0.00000000e+00,-2.45264247e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.05734017e-05, 6.82035990e-05, 1.52155690e-05,-2.48387296e-05,
 -2.32645221e-05, 3.54957682e-05,-1.51620487e-05, 3.14170715e-05,
 -1.25349892e-05, 1.25433230e-04, 3.75178997e-05,-5.76323836e-05,
 -4.46564659e-05,-5.54414803e-06, 1.01353780e-06, 1.01730586e-04,
  2.58181848e+00, 9.77661239e-01,-9.40177773e+00,-7.70467650e-02,
  2.41032640e-01, 6.80285424e-03]


--- Step 1629 ---
qpos:
[-5.52317510e-04, 8.77234121e-01,-2.02908504e-02,-2.75551174e-02,
  7.64832088e-03, 8.64662389e-01,-2.80021369e-02, 9.45255851e-03,
  2.21907055e-02, 8.72953943e-01,-2.02670540e-02, 2.24848792e-02,
  1.35461851e+00,-9.96883040e-03, 1.02728403e+00, 6.12473114e-02,
 -1.24388742e+00, 2.75924798e-02, 7.77313215e-02,-6.61830058e-01,
  6.75114352e-01,-1.57679789e-01,-2.85199352e-01]

qacc:
[ 9.36986262e-02,-1.63786364e+00, 5.44070793e+00,-5.35931772e+00,
 -7.61099611e-02,-7.44477915e-01, 2.44267194e+00,-2.49254713e+00,
 -5.87369895e-02,-3.18908998e+00, 1.43483823e+01,-2.37415546e+01,
  6.87882471e-02,-3.56844427e-01,-2.57079008e+00, 8.95395713e+00,
  2.06331572e+01, 2.15321655e+01, 3.35830716e+01,-1.37358937e+03,
  3.79080848e+02,-7.67185768e+02]

qfrc_actuator:
[ 2.44958451e-03, 2.76664686e-02, 8.72259050e-03, 1.63411786e-03,
 -1.06813729e-05, 2.74370635e-02, 8.64214776e-03, 1.68745413e-03,
 -2.43345982e-03, 2.76215814e-02, 8.81138448e-03, 1.64134054e-03,
  2.08321134e-03,-1.72366700e-03, 0.00000000e+00,-2.41187639e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.29757668,  6.96844365, -2.16689144,  6.96844365,  6.80795971,
       -1.57454507, -2.16689144, -1.57454507,  2.23404262,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007061467924232567
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.23524292, -0.03001754,  0.04964693])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.73044945e-05, 7.12914785e-06, 3.52702227e-05, 4.37034608e-06,
 -1.38586827e-05,-2.01693362e-06, 1.34750729e-05, 1.23083376e-06,
 -1.09548650e-05, 1.15966018e-04, 9.23581957e-05,-1.25194344e-05,
 -4.00534894e-05,-2.81586164e-05, 7.74953599e-06, 4.56488131e-05,
  2.62815837e+00, 9.86768411e-01,-9.33464452e+00,-8.92086440e-02,
  2.35615284e-01, 7.34377657e-03]


--- Step 1630 ---
qpos:
[-5.51934683e-04, 8.77235000e-01,-2.02911817e-02,-2.75541283e-02,
  7.64833981e-03, 8.64662948e-01,-2.80025404e-02, 9.45289267e-03,
  2.21900224e-02, 8.72954732e-01,-2.02667568e-02, 2.24829906e-02,
  1.35473847e+00,-9.96838481e-03, 1.02750457e+00, 6.12445516e-02,
 -1.24673825e+00, 2.72232177e-02, 7.68852824e-02,-6.70650933e-01,
  6.80480875e-01,-1.34608145e-01,-2.62780805e-01]

qacc:
[-1.24237982e-01, 3.66590398e-01,-4.76180405e+00, 1.71127840e+01,
  5.30822666e-02,-1.88417203e+00, 8.26004258e+00,-1.53285268e+01,
 -1.38971020e-01,-1.70176673e+00, 1.09106999e+01,-2.64801307e+01,
 -2.46705711e-01, 3.03235277e-01, 2.76356207e+00,-9.30471628e+00,
  1.56436292e+01, 1.67892976e+01, 2.42633770e+01,-1.09070277e+03,
  1.89596937e+02,-6.61108931e+02]

qfrc_actuator:
[ 2.41816212e-03, 2.76462524e-02, 8.73460415e-03, 1.67033461e-03,
  5.51714639e-06, 2.74425888e-02, 8.66422602e-03, 1.66918288e-03,
 -2.45394009e-03, 2.76277045e-02, 8.81347798e-03, 1.59565389e-03,
  2.08157362e-03,-1.71586305e-03, 0.00000000e+00,-2.45816346e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.34389615, -2.22849141,  8.34389615,  8.17579043,
       -1.7244738 , -2.22849141, -1.7244738 ,  2.17960539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020624027708641135
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.23649958, -0.03005477,  0.0489688 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.30982018e-05,-8.77863958e-06, 1.79776578e-05, 3.78262005e-05,
  9.60197063e-06, 7.22299842e-06, 2.33654428e-05,-1.78678559e-05,
 -2.57380832e-05, 8.95073158e-05, 3.69909782e-05,-3.77632599e-05,
 -3.11260493e-05,-7.92031153e-06, 4.11223883e-06,-4.37912707e-05,
  1.58517357e+00, 4.09748402e-01,-8.71378453e+00,-1.13408747e-01,
  1.57230567e-01, 8.00340105e-03]


--- Step 1631 ---
qpos:
[-5.52231293e-04, 8.77235333e-01,-2.02908655e-02,-2.75526881e-02,
  7.64832170e-03, 8.64663560e-01,-2.80026740e-02, 9.45265925e-03,
  2.21890878e-02, 8.72955941e-01,-2.02668520e-02, 2.24809967e-02,
  1.35485816e+00,-9.96761542e-03, 1.02772494e+00, 6.12425998e-02,
 -1.24954167e+00, 2.69043478e-02, 7.61015248e-02,-6.77840040e-01,
  6.86326923e-01,-1.10198261e-01,-2.39467279e-01]

qacc:
[-3.52442268e-01,-1.60144872e+00, 2.76197058e+00, 4.40208422e+00,
 -1.93348824e-02,-1.85032277e+00, 9.09654174e+00,-1.93928613e+01,
 -1.31067052e-01, 1.43455007e+00,-3.86505083e+00, 2.36128850e+00,
 -4.18101361e-01, 7.53008959e-01,-2.68235529e+00, 9.05364276e+00,
  1.18523983e+01, 1.25980800e+01, 1.55703831e+01,-8.31760982e+02,
  2.85970369e+01,-5.73660851e+02]

qfrc_actuator:
[ 2.36379409e-03, 2.75983759e-02, 8.75950228e-03, 1.69122692e-03,
 -2.58431551e-06, 2.74456909e-02, 8.67739901e-03, 1.64055749e-03,
 -2.46579463e-03, 2.76129090e-02, 8.77892687e-03, 1.58725572e-03,
  2.07628465e-03,-1.69362080e-03, 0.00000000e+00,-2.41332043e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.39777315, -2.0159819 ,  8.39777315,  8.27096618,
       -1.52209946, -2.0159819 , -1.52209946,  2.29590693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029798289253325227
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.23746818, -0.03011432,  0.04851009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.54847062e-05,-4.74769435e-05, 2.66031121e-05, 2.18734084e-05,
 -3.53050480e-06, 1.11916031e-05, 1.69233537e-05,-2.78558895e-05,
 -2.42258247e-05, 4.12560294e-05,-1.28190654e-05,-4.01586484e-06,
 -2.51274548e-05, 1.33656141e-05,-7.79867951e-06, 4.18230998e-05,
  6.62086815e-01, 1.17713928e-01,-8.18706149e+00,-1.28895552e-01,
  8.71798570e-02, 8.23930057e-03]


--- Step 1632 ---
qpos:
[-5.53003654e-04, 8.77235207e-01,-2.02901920e-02,-2.75513446e-02,
  7.64804927e-03, 8.64664272e-01,-2.80029774e-02, 9.45279988e-03,
  2.21881484e-02, 8.72956328e-01,-2.02662761e-02, 2.24800417e-02,
  1.35497772e+00,-9.96687168e-03, 1.02794512e+00, 6.12418462e-02,
 -1.25230769e+00, 2.66261960e-02, 7.53571362e-02,-6.83558366e-01,
  6.92238179e-01,-8.45342050e-02,-2.15425698e-01]

qacc:
[-2.46834593e-01,-1.80360164e+00, 5.95827125e+00,-7.86514978e+00,
 -1.33701876e-01, 1.37440060e+00,-6.28948648e+00, 1.29631220e+01,
 -1.75708977e-03,-8.24080075e-01,-3.02571598e+00, 2.05389798e+01,
 -9.19091982e-03,-5.34740538e-02,-3.87880784e+00, 1.31910201e+01,
  9.35186629e+00, 1.01795113e+01, 9.84223321e+00,-6.37023629e+02,
 -8.63934057e+01,-5.04969096e+02]

qfrc_actuator:
[ 2.34945221e-03, 2.75698452e-02, 8.77392621e-03, 1.68516288e-03,
 -2.51683598e-05, 2.74472759e-02, 8.66744174e-03, 1.65932144e-03,
 -2.45463000e-03, 2.75145328e-02, 8.79397502e-03, 1.63633541e-03,
  2.06881767e-03,-1.69853011e-03, 0.00000000e+00,-2.35061339e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.44228485, -1.82060522,  8.44228485,  8.40587072,
       -1.06881317, -1.82060522, -1.06881317,  3.6801957 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035364850093442396
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.23928322, -0.02742851,  0.04823176])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.58556952e-05,-4.86681704e-05, 8.64740978e-06,-6.75149058e-06,
 -2.42628386e-05, 1.01310789e-05,-6.52823531e-06, 1.92866693e-05,
 -4.84083159e-07,-7.81555402e-05, 2.18454281e-05, 5.03274567e-05,
 -1.88785918e-05,-7.48701212e-06,-2.73568664e-06, 6.31636154e-05,
 -9.13529068e-02,-1.15615553e-02,-7.74092335e+00,-1.35679558e-01,
  2.73081286e-02, 8.26497836e-03]


--- Step 1633 ---
qpos:
[-5.53903882e-04, 8.77234887e-01,-2.02894182e-02,-2.75504456e-02,
  7.64751657e-03, 8.64664883e-01,-2.80033057e-02, 9.45318015e-03,
  2.21874644e-02, 8.72956164e-01,-2.02660779e-02, 2.24797215e-02,
  1.35509723e+00,-9.96621922e-03, 1.02816549e+00, 6.12398239e-02,
 -1.25504336e+00, 2.63724345e-02, 7.46235309e-02,-6.87982270e-01,
  6.97801711e-01,-5.77289727e-02,-1.90841648e-01]

qacc:
[-6.63342979e-02,-1.45190697e+00, 6.67711762e+00,-1.43794878e+01,
 -1.36675365e-01, 4.30265317e-01,-2.73819299e+00, 6.99985507e+00,
  1.32657080e-01, 1.63278991e+00,-9.55994529e+00, 2.15575835e+01,
 -4.01444204e-02,-2.10040375e-02, 4.09692857e+00,-1.39460204e+01,
  7.58571601e+00, 6.09756025e+00, 2.69582550e+00,-4.29289213e+02,
 -1.85057593e+02,-4.26568987e+02]

qfrc_actuator:
[ 2.35919411e-03, 2.75708053e-02, 8.78209679e-03, 1.66329248e-03,
 -3.84572254e-05, 2.74301296e-02, 8.66169052e-03, 1.67029912e-03,
 -2.42979994e-03, 2.74735985e-02, 8.76686560e-03, 1.66554194e-03,
  2.07069199e-03,-1.70175781e-03, 0.00000000e+00,-2.41992239e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.19125466, -2.73680907,  8.19125466,  8.74363304,
        0.32105673, -2.73680907,  0.32105673,  9.59728469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038350368616673625
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.2398683 , -0.02749206,  0.04808248])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.23267106e-05,-2.47650717e-05,-1.05338303e-06,-2.37876668e-05,
 -2.48358530e-05,-1.20208688e-05,-3.79882458e-06, 1.15607090e-05,
  2.45878213e-05,-7.79836867e-05,-3.88264403e-05, 2.75925130e-05,
 -1.08142219e-05,-9.18099178e-06, 1.96461571e-06,-6.70261799e-05,
 -7.06075495e-01,-5.88289947e-02,-7.35407424e+00,-1.35356176e-01,
 -2.40503551e-02, 8.20108822e-03]


--- Step 1634 ---
qpos:
[-5.55168917e-04, 8.77234402e-01,-2.02882787e-02,-2.75501837e-02,
  7.64696642e-03, 8.64665013e-01,-2.80026367e-02, 9.45297662e-03,
  2.21868745e-02, 8.72956406e-01,-2.02662925e-02, 2.24782514e-02,
  1.35521645e+00,-9.96503708e-03, 1.02838517e+00, 6.12423453e-02,
 -1.25775353e+00, 2.61298374e-02, 7.38852840e-02,-6.91163284e-01,
  7.02761995e-01,-2.99693804e-02,-1.65893732e-01]

qacc:
[-1.89307024e-01,-2.55177995e+00, 1.14636098e+01,-2.29363749e+01,
 -8.40657412e-03,-4.61846606e+00, 1.80138040e+01,-2.93648114e+01,
  4.84941698e-02,-6.75317697e-01, 8.04392386e+00,-2.75868237e+01,
 -3.69653393e-01, 8.17857511e-01,-1.46985870e+01, 5.00243553e+01,
  6.37530983e+00, 2.79111135e+00,-1.16039340e+00,-3.06789140e+02,
 -2.23080399e+02,-3.22377078e+02]

qfrc_actuator:
[ 2.32997080e-03, 2.75716254e-02, 8.80438210e-03, 1.63232477e-03,
 -2.83086725e-05, 2.74019048e-02, 8.71164399e-03, 1.64108457e-03,
 -2.43253411e-03, 2.75559498e-02, 8.76850003e-03, 1.61180252e-03,
  2.06219111e-03,-1.66839538e-03, 0.00000000e+00,-2.17589562e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.24604729, -2.56699842,  8.24604729, 15.77260471,
       22.92396479, -2.56699842, 22.92396479, 82.27571467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003914817775424982
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.24115886, -0.02935058,  0.04804259])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51566248e-05,-1.42627875e-05, 1.62140433e-05,-3.25291414e-05,
 -1.67381002e-06,-3.52515448e-05, 4.74004048e-05,-2.96366656e-05,
  9.08664054e-06, 3.19105346e-05,-1.83018082e-05,-5.78879110e-05,
 -1.71709796e-05, 2.89972917e-05,-1.11931627e-05, 2.39462823e-04,
 -1.14038278e+00,-6.27606277e-02,-7.01696920e+00,-1.28294658e-01,
 -6.43926849e-02, 8.10689644e-03]


--- Step 1635 ---
qpos:
[-5.56599707e-04, 8.77233874e-01,-2.02868937e-02,-2.75509932e-02,
  7.64684627e-03, 8.64664871e-01,-2.80011475e-02, 9.45275515e-03,
  2.21861306e-02, 8.72956818e-01,-2.02656647e-02, 2.24760902e-02,
  1.35533541e+00,-9.96343287e-03, 1.02860522e+00, 6.12437098e-02,
 -1.26043911e+00, 2.58873129e-02, 7.31304425e-02,-6.93168206e-01,
  7.06916502e-01,-1.31229355e-03,-1.40659787e-01]

qacc:
[-8.60109552e-02,-2.95098979e+00, 1.49491507e+01,-3.38297430e+01,
  2.26471264e-01,-2.68603467e+00, 9.13154016e+00,-1.05555826e+01,
 -7.96203827e-02,-3.54886697e+00, 1.58997099e+01,-2.93333215e+01,
 -6.03450693e-01, 1.11052591e+00, 4.07513325e+00,-1.33799645e+01,
  6.14805550e+00, 1.81523936e-02,-4.14865336e+00,-2.05025545e+02,
 -2.58933794e+02,-3.04817189e+02]

qfrc_actuator:
[ 2.33091434e-03, 2.75724103e-02, 8.81707803e-03, 1.57851625e-03,
  1.35162548e-05, 2.74029591e-02, 8.75850270e-03, 1.64174017e-03,
 -2.45174781e-03, 2.75872672e-02, 8.82307203e-03, 1.58083686e-03,
  2.04748861e-03,-1.64916858e-03, 0.00000000e+00,-2.24624587e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -3.13011599, -8.04917081, -3.13011599,  2.52331821,
        2.3772065 , -8.04917081,  2.3772065 ,  7.71192903,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003855494274579478
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.24267093, -0.02342732,  0.04807225])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.59725159e-05,-5.23375853e-06, 1.06180034e-05,-5.44921377e-05,
  4.10237697e-05,-1.01461199e-05, 4.43868533e-05, 2.08140321e-07,
 -1.48365915e-05, 4.28985319e-05, 5.69068155e-05,-3.13561662e-05,
 -1.76567128e-05, 2.19813769e-05, 1.88717252e-05,-5.90544103e-05,
 -1.49010599e+00,-4.94712137e-02,-6.73012908e+00,-1.17869984e-01,
 -9.77621480e-02, 8.00575181e-03]


--- Step 1636 ---
qpos:
[-5.58097320e-04, 8.77233091e-01,-2.02855492e-02,-2.75523938e-02,
  7.64700563e-03, 8.64664301e-01,-2.79995593e-02, 9.45295858e-03,
  2.21853813e-02, 8.72957089e-01,-2.02645414e-02, 2.24743289e-02,
  1.35545438e+00,-9.96213738e-03, 1.02882571e+00, 6.12412344e-02,
 -1.26309551e+00, 2.56408243e-02, 7.24387492e-02,-6.94319800e-01,
  7.10096090e-01, 2.99814148e-02,-1.13069329e-01]

qacc:
[-3.46859710e-02,-1.44112680e+00, 7.13886207e+00,-1.71045116e+01,
  1.47048230e-01, 3.37550427e-02,-2.73288338e+00, 1.02428775e+01,
 -2.41393504e-03,-7.47598805e-01, 7.05804357e-01, 5.52915663e+00,
  2.71381552e-02,-2.52437947e-01, 1.22242192e+01,-4.18579930e+01,
  7.29628916e+00,-9.91025987e-01, 1.57870498e+01,-1.47778154e+02,
 -1.48964629e+02,-1.68936944e+03]

qfrc_actuator:
[ 2.33215223e-03, 2.75376132e-02, 8.80624163e-03, 1.54719782e-03,
  2.06486382e-05, 2.73505547e-02, 8.75002492e-03, 1.65998551e-03,
 -2.44513339e-03, 2.75525327e-02, 8.83730603e-03, 1.59904185e-03,
  2.03972426e-03,-1.67403270e-03, 0.00000000e+00,-2.44808137e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.68675001,  8.47004435, -1.68675001,  0.33200415,
       -1.65375503,  8.47004435, -1.65375503,  8.3070299 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003637036035951266
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.24430547, -0.01745685,  0.04818148])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -4.03573849,  7.63541693, -4.03573849,  2.01561416,
       -3.49943084,  7.63541693, -3.49943084,  6.78672165,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003239223397019514
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.25589977,  0.04131409,  0.04838039])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  3.05419287, -8.07828464,  3.05419287, 45.1958256 ,
       13.82219776, -8.07828464, 13.82219776, 13.86218318,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00325129407698474
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.25653514,  0.04275823,  0.04837435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.44663594e-06,-3.78592237e-05,-1.24992293e-05,-3.22359721e-05,
  2.66560801e-05,-4.89048319e-05,-5.10787146e-06, 1.93486539e-05,
 -5.18220741e-07,-3.50226439e-07, 2.90146994e-05, 2.14040754e-05,
 -1.28260645e-05,-2.37566965e-05,-3.60052783e-06,-2.04026627e-04,
 -1.76705572e+00,-2.71551531e-02,-6.46648444e+00,-1.03986186e-01,
 -1.25322660e-01, 7.87852521e-03]


--- Step 1637 ---
qpos:
[-5.59428521e-04, 8.77232197e-01,-2.02847183e-02,-2.75534530e-02,
  7.64715429e-03, 8.64663690e-01,-2.79984467e-02, 9.45267957e-03,
  2.21846738e-02, 8.72956976e-01,-2.02627484e-02, 2.24721291e-02,
  1.35557344e+00,-9.96142218e-03, 1.02904598e+00, 6.12376992e-02,
 -1.26571692e+00, 2.53845893e-02, 7.17522611e-02,-6.94324386e-01,
  7.11969064e-01, 6.34921557e-02,-8.35610326e-02]

qacc:
[ 8.62077256e-02, 1.99000379e+00,-8.74688142e+00, 1.55497741e+01,
 -5.92702870e-03, 2.80871491e-01, 9.55994797e-01,-8.51462399e+00,
  2.22530460e-02,-3.28090582e+00, 1.28136684e+01,-2.11935707e+01,
  4.81417257e-01,-1.09552779e+00, 2.85124048e+00,-1.05116068e+01,
  8.74522026e+00,-2.43659699e+00, 1.30130580e+00,-1.07882334e+02,
 -1.79898663e+02,-1.40900696e+03]

qfrc_actuator:
[ 2.35128674e-03, 2.75349533e-02, 8.78147365e-03, 1.56482694e-03,
  6.94399266e-06, 2.73551012e-02, 8.72649092e-03, 1.63509115e-03,
 -2.44086181e-03, 2.75139157e-02, 8.86285248e-03, 1.57492409e-03,
  2.04143400e-03,-1.70703677e-03, 0.00000000e+00,-2.49487809e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.91099911, -8.42228349, -1.91099911, 32.3863524 ,
       -5.38882446, -8.42228349, -5.38882446,  9.85907702,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003429746782623068
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.25711009,  0.04269546,  0.04828513])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0031435121478203057
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.24465762, -0.01797938,  0.04842824])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0031400311136854167
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.24453437, -0.01744884,  0.04842998])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.60298076e-05,-2.77780581e-05,-3.52425721e-05, 1.49499983e-05,
 -1.02372977e-06,-2.30219438e-05,-3.36025780e-05,-2.67920668e-05,
  4.02264653e-06,-3.19166894e-05, 2.97803552e-05,-2.27117451e-05,
 -1.17831534e-05,-4.10857317e-05,-2.93522437e-05,-5.97973767e-05,
 -2.08193237e+00,-4.26398193e-02,-6.29155044e+00,-9.06970183e-02,
 -1.60756765e-01, 7.62832816e-03]


--- Step 1638 ---
qpos:
[-5.60187606e-04, 8.77231273e-01,-2.02839877e-02,-2.75543326e-02,
  7.64721099e-03, 8.64663579e-01,-2.79982021e-02, 9.45206186e-03,
  2.21840156e-02, 8.72956992e-01,-2.02613717e-02, 2.24693218e-02,
  1.35569244e+00,-9.96107332e-03, 1.02926585e+00, 6.12352545e-02,
 -1.26830119e+00, 2.51173998e-02, 7.12394344e-02,-6.93264479e-01,
  7.11960467e-01, 9.88787586e-02,-5.21502329e-02]

qacc:
[ 2.97236148e-01, 6.11873462e-01,-2.99374311e+00, 6.28070583e+00,
 -4.90467325e-02, 2.38410013e+00,-6.11602427e+00, 1.27719684e+00,
  2.52901004e-02, 8.53489623e-02, 2.51015571e+00,-1.24536417e+01,
  3.05554242e-01,-7.44691777e-01,-3.90495890e+00, 1.27534605e+01,
  9.28580537e+00,-2.73862331e+00, 4.34153360e+01, 1.35425850e+02,
 -8.64480383e+01,-1.34490969e+03]

qfrc_actuator:
[ 2.39870534e-03, 2.75515352e-02, 8.78434133e-03, 1.57562330e-03,
 -1.33184668e-06, 2.74113559e-02, 8.69445821e-03, 1.62055559e-03,
 -2.43804097e-03, 2.75265273e-02, 8.84155598e-03, 1.54384394e-03,
  2.03284238e-03,-1.72677711e-03, 0.00000000e+00,-2.43214297e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.21154718, -8.63377233,  0.21154718,  0.07462702,
       -0.20978214, -8.63377233, -0.20978214,  8.63122349,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0040321569234949214
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.27138395,  0.10126747,  0.04798392])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -8.63092008,  0.30658677, -8.63092008,  8.68334847,
        1.32270018,  0.30658677,  1.32270018, 45.87254178,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002833736909561402
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.26916136,  0.04645327,  0.04858313])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002972934179139422
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.25327331,  0.0160566 ,  0.04851353])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.51292844e-05,-5.56799462e-06,-6.68985840e-06, 8.68077537e-06,
 -8.76507893e-06, 3.52997838e-05,-4.18584465e-05,-1.72067294e-05,
  4.75315827e-06,-6.71620884e-08,-2.50164783e-05,-3.18587959e-05,
 -2.55763737e-05,-3.15585601e-05,-2.29518582e-05, 5.49692571e-05,
 -2.39116730e+00,-5.52877749e-02,-6.12011387e+00,-7.35408358e-02,
 -1.93369659e-01, 7.29821485e-03]


--- Step 1639 ---
qpos:
[-5.60376556e-04, 8.77230111e-01,-2.02825823e-02,-2.75554490e-02,
  7.64698623e-03, 8.64663531e-01,-2.79979896e-02, 9.45161728e-03,
  2.21835854e-02, 8.72957459e-01,-2.02607714e-02, 2.24668381e-02,
  1.35581117e+00,-9.96112555e-03, 1.02948514e+00, 6.12368820e-02,
 -1.27075648e+00, 2.48140797e-02, 7.10117060e-02,-6.91635195e-01,
  7.09570909e-01, 1.33130445e-01,-2.06438231e-02]

qacc:
[ 2.96734864e-01,-2.68750962e+00, 1.01220842e+01,-1.51179429e+01,
 -1.47868077e-01, 5.30147003e-01,-2.49928884e+00, 5.50097702e+00,
  1.17779054e-01, 3.42975949e+00,-1.27318373e+01, 1.92430810e+01,
  3.47919605e-01,-9.07231894e-01,-1.31785424e+01, 4.48031890e+01,
  3.22435935e+01,-9.03266048e+00, 7.12745854e+01, 6.47763163e+02,
  3.37335159e+02, 2.68354049e+02]

qfrc_actuator:
[ 2.42711687e-03, 2.75441186e-02, 8.82133516e-03, 1.56459254e-03,
 -2.40174799e-05, 2.74093489e-02, 8.69341410e-03, 1.63003719e-03,
 -2.41836215e-03, 2.75695150e-02, 8.81072459e-03, 1.56218847e-03,
  2.00210427e-03,-1.75629368e-03, 0.00000000e+00,-2.21665198e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.60884226, -7.3037901 ,  4.60884226, 41.56315185,
       20.77748279, -7.3037901 , 20.77748279, 21.747384  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004775776227401093
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29179668,  0.09246139,  0.04761211])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.003390580284890532
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.2695771 ,  0.04637673,  0.04830471])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.82189491,  8.59716614, -0.82189491, 11.71552939,
        0.29437033,  8.59716614,  0.29437033,  8.66450564,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001529181558210732
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.2648473 , -0.03111331,  0.04923541])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.49365280e-05,-1.15145686e-05, 3.53229587e-05,-1.13305385e-05,
 -2.68523097e-05, 8.35029875e-06, 4.93258366e-07, 9.21117624e-06,
  2.19671928e-05, 3.64100301e-05,-3.50366075e-05, 1.68578736e-05,
 -5.30659645e-05,-4.24993614e-05,-7.15431725e-06, 2.14972172e-04,
 -2.37170854e+00,-8.28214811e-02,-6.09934740e+00,-6.08782583e-02,
 -2.07051947e-01, 6.99722813e-03]


--- Step 1640 ---
qpos:
[-5.60301295e-04, 8.77228903e-01,-2.02810701e-02,-2.75566742e-02,
  7.64630161e-03, 8.64663120e-01,-2.79973151e-02, 9.45131036e-03,
  2.21833877e-02, 8.72957987e-01,-2.02599244e-02, 2.24652627e-02,
  1.35592953e+00,-9.96148829e-03, 1.02970442e+00, 6.12403760e-02,
 -1.27313228e+00, 2.44733395e-02, 7.09852383e-02,-6.89337138e-01,
  7.04921855e-01, 1.66655798e-01, 1.11951965e-02]

qacc:
[ 1.37363609e-01,-5.84056771e-01, 2.45084623e+00,-4.46756563e+00,
 -2.41123709e-01,-1.48504715e+00, 4.01974600e+00,-2.11104885e+00,
  1.21031275e-01, 1.25866044e+00,-8.20723641e+00, 2.34879832e+01,
  6.21464811e-02,-4.48592063e-01,-5.67175477e+00, 1.97839046e+01,
  1.98739541e+01,-9.35501561e+00, 5.03151731e+01, 5.29653936e+02,
  3.01454733e+02,-7.93615196e-01]

qfrc_actuator:
[ 2.42614465e-03, 2.75402761e-02, 8.82481175e-03, 1.55856270e-03,
 -5.51227171e-05, 2.73726204e-02, 8.71047462e-03, 1.63580011e-03,
 -2.40651946e-03, 2.75770973e-02, 8.82795682e-03, 1.60949971e-03,
  1.97940147e-03,-1.77374209e-03, 0.00000000e+00,-2.12595700e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.16707485, -8.55714398,  1.16707485,  9.41346409,
        0.10598564, -8.55714398,  0.10598564,  8.6508186 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006352397646747096
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.2921692 ,  0.09231774,  0.0468238 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00340586611506756
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.26988598,  0.0463373 ,  0.04829707])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  3.42996705, -7.92603954,  3.42996705, 44.8271851 ,
       15.66145672, -7.92603954, 15.66145672, 15.41380655,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019308753819250596
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.26486609, -0.0311428 ,  0.04903456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.54591306e-05,-3.44666125e-06, 5.05710381e-06,-5.52036220e-06,
 -4.38848895e-05,-3.15658371e-05, 1.91643915e-05, 6.31785639e-06,
  2.24177803e-05, 2.14179442e-05, 2.10147386e-05, 4.79889458e-05,
 -6.27880878e-05,-3.96252311e-05, 1.77050252e-05, 1.01076861e-04,
 -1.45329767e+00,-9.85574462e-02,-6.69942094e+00,-8.61422497e-02,
 -1.67072076e-01, 7.36030363e-03]


--- Step 1641 ---
qpos:
[-5.60106949e-04, 8.77227925e-01,-2.02802567e-02,-2.75569055e-02,
  7.64520827e-03, 8.64662373e-01,-2.79963969e-02, 9.45108702e-03,
  2.21835592e-02, 8.72958471e-01,-2.02587821e-02, 2.24639311e-02,
  1.35604757e+00,-9.96188083e-03, 1.02992414e+00, 6.12415956e-02,
 -1.27544987e+00, 2.41012010e-02, 7.11112273e-02,-6.86208787e-01,
  6.98183837e-01, 1.99466123e-01, 4.32446173e-02]

qacc:
[ 6.14166046e-02, 4.30388406e+00,-1.90877343e+01, 3.72139798e+01,
 -2.14406233e-01,-9.50764332e-01, 2.39498660e+00,-1.09269091e+00,
  1.92086775e-01,-3.82310625e-01, 2.47839991e-01, 3.53282216e+00,
 -3.66889162e-01, 4.10379952e-01, 7.55803781e+00,-2.54240466e+01,
  1.45534120e+01,-7.84957496e+00, 3.81141849e+01, 4.05966879e+02,
  2.63207797e+02, 8.06682335e-01]

qfrc_actuator:
[ 2.42537269e-03, 2.75562344e-02, 8.79072353e-03, 1.60875805e-03,
 -7.32360893e-05, 2.73509653e-02, 8.72016389e-03, 1.63929803e-03,
 -2.38172169e-03, 2.75636462e-02, 8.83780923e-03, 1.62021908e-03,
  1.97751570e-03,-1.76612710e-03, 0.00000000e+00,-2.25158382e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.67344335, -8.61006684,  0.67344335, 14.68043538,
        0.47274197, -8.61006684,  0.47274197,  8.67333953,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007468509577920127
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29418156,  0.09465985,  0.04626575])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  6.43328133, -5.76191532,  6.43328133, 29.98395208,
       23.83496363, -5.76191532, 23.83496363, 35.24852607,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020237230456106037
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.26597572, -0.03443258,  0.04898814])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.14783196e-05, 1.48605049e-05,-3.43689219e-05, 5.01163572e-05,
 -3.90048919e-05,-3.50777735e-05, 5.74895970e-06, 2.93250193e-06,
  3.55870705e-05, 4.90844773e-06, 1.85168963e-05, 1.32982848e-05,
 -4.67509278e-05,-1.62129615e-05, 1.44645322e-05,-1.18860508e-04,
 -6.59705529e-01,-5.29346410e-02,-7.08219002e+00,-1.06043590e-01,
 -1.38354400e-01, 7.62703934e-03]


--- Step 1642 ---
qpos:
[-5.59861644e-04, 8.77227177e-01,-2.02801893e-02,-2.75561849e-02,
  7.64418585e-03, 8.64660958e-01,-2.79949264e-02, 9.45127462e-03,
  2.21840600e-02, 8.72958582e-01,-2.02567988e-02, 2.24630884e-02,
  1.35616552e+00,-9.96257769e-03, 1.03014375e+00, 6.12426632e-02,
 -1.27773762e+00, 2.36980126e-02, 7.13190223e-02,-6.82119213e-01,
  6.89423946e-01, 2.31725375e-01, 7.55734937e-02]

qacc:
[ 2.59855059e-02, 4.34973834e+00,-1.90732751e+01, 3.65481008e+01,
  3.78601999e-02,-1.57970710e+00, 2.61570834e+00, 4.10415279e+00,
  1.71692113e-01,-1.83482915e+00, 3.76368138e+00, 3.62942133e+00,
  1.66915832e-01,-4.97512836e-01, 2.61959148e-01,-1.21446983e+00,
  7.45950583e+00,-7.76247350e+00, 2.04514783e+01, 3.18483856e+02,
  2.34567358e+02,-1.26063707e+02]

qfrc_actuator:
[ 2.42476032e-03, 2.75660627e-02, 8.75261187e-03, 1.65612408e-03,
 -4.79162824e-05, 2.73029667e-02, 8.74321662e-03, 1.65918860e-03,
 -2.36713324e-03, 2.75376563e-02, 8.87859187e-03, 1.64478972e-03,
  1.98280423e-03,-1.77913583e-03, 0.00000000e+00,-2.25507259e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.98968887, -8.57946926,  0.98968887,  6.51572034,
       -0.24462784, -8.57946926, -0.24462784,  8.60814447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00812109073827888
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29415307,  0.09463131,  0.04593945])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  8.61869747,  0.55211481,  8.61869747,  8.79588468,
       -2.490177  ,  0.55211481, -2.490177  , 47.50886241,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020044818285825106
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.26592854, -0.03442695,  0.04899776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91313049e-06, 1.32031561e-05,-3.75408760e-05, 4.77891995e-05,
  6.75073335e-06,-6.62941662e-05, 1.66175320e-05, 1.86444207e-05,
  3.17127868e-05,-1.88641825e-05, 4.45267547e-05, 2.56796244e-05,
 -2.53528014e-05,-2.74655507e-05,-1.24252571e-05,-9.60836525e-06,
 -1.90613753e-02, 2.16133138e-02,-7.31529514e+00,-1.21688907e-01,
 -1.19396284e-01, 7.79219572e-03]


--- Step 1643 ---
qpos:
[-5.59965335e-04, 8.77226374e-01,-2.02806987e-02,-2.75559127e-02,
  7.64336024e-03, 8.64659065e-01,-2.79934899e-02, 9.45171558e-03,
  2.21846216e-02, 8.72958640e-01,-2.02552585e-02, 2.24629405e-02,
  1.35628328e+00,-9.96319616e-03, 1.03036346e+00, 6.12419793e-02,
 -1.28001120e+00, 2.32658991e-02, 7.15460369e-02,-6.76938356e-01,
  6.78712626e-01, 2.63459878e-01, 1.08131986e-01]

qacc:
[-1.81698579e-01, 6.14071967e-01,-4.08155117e-01,-6.37904962e+00,
  1.03530752e-01,-1.49261142e-02,-1.93268920e+00, 6.72388854e+00,
  3.13925484e-02, 2.59576315e+00,-1.22922937e+01, 2.50655287e+01,
 -2.96745776e-01, 4.34821035e-01, 5.45281400e+00,-1.88251948e+01,
  3.54020278e+00,-7.23128227e+00, 4.80491042e+00, 2.43026728e+02,
  2.05496555e+02,-1.64934308e+02]

qfrc_actuator:
[ 2.38875894e-03, 2.75366151e-02, 8.71241281e-03, 1.63042648e-03,
 -3.23579878e-05, 2.72751352e-02, 8.73837603e-03, 1.67080134e-03,
 -2.37653058e-03, 2.75222413e-02, 8.84850564e-03, 1.67732844e-03,
  1.98173597e-03,-1.76872711e-03, 0.00000000e+00,-2.34626486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63408369,  0.19843329,  8.63408369,  8.66468016,
       -1.23208758,  0.19843329, -1.23208758, 62.24605319,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.008357549530693127
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29400417,  0.09464542,  0.04582123])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  8.48724256,  1.59796451,  8.48724256,  8.7542721 ,
       -0.62624527,  1.59796451, -0.62624527, 11.9625298 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017723527743322004
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.26587005, -0.03440952,  0.04911382])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.36347877e-05,-2.77560084e-05,-4.04392034e-05,-2.55010470e-05,
  1.87626998e-05,-6.06482368e-05,-1.58401905e-05, 9.71002213e-06,
  5.85937821e-06,-1.56781680e-05,-2.76238425e-05, 3.37686439e-05,
 -2.23086000e-05,-1.56498415e-06,-1.04136525e-05,-9.41795148e-05,
  5.22821704e-01, 1.10894020e-01,-7.42980888e+00,-1.33703964e-01,
 -1.07200370e-01, 7.84973234e-03]


--- Step 1644 ---
qpos:
[-5.60642747e-04, 8.77225540e-01,-2.02811491e-02,-2.75563428e-02,
  7.64216999e-03, 8.64657485e-01,-2.79932897e-02, 9.45192887e-03,
  2.21851512e-02, 8.72958858e-01,-2.02547782e-02, 2.24638906e-02,
  1.35640079e+00,-9.96366039e-03, 1.03058287e+00, 6.12418661e-02,
 -1.28227124e+00, 2.28041199e-02, 7.17456930e-02,-6.70645424e-01,
  6.66047326e-01, 2.94605698e-01, 1.40794734e-01]

qacc:
[-2.98099579e-01,-1.65131509e+00, 8.78697187e+00,-2.09980596e+01,
 -1.92425904e-01, 3.39453093e+00,-1.05459863e+01, 8.35677661e+00,
 -1.72619295e-02, 5.42857199e+00,-2.36892977e+01, 4.42722322e+01,
 -2.74047846e-01, 4.24681787e-01,-2.13470392e+00, 6.88327144e+00,
  3.38914258e+00,-7.41643771e+00,-6.83962309e+00, 2.38497448e+02,
  1.93854685e+02,-1.53204920e+02]

qfrc_actuator:
[ 2.34965635e-03, 2.75548067e-02, 8.72434853e-03, 1.59741542e-03,
 -7.60687377e-05, 2.73127380e-02, 8.68165955e-03, 1.65968796e-03,
 -2.38243012e-03, 2.75307535e-02, 8.79459834e-03, 1.73199922e-03,
  1.96621363e-03,-1.76228153e-03, 0.00000000e+00,-2.31089264e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.57132068, -1.05794074, -8.57132068,  9.78836484,
       -9.33338832, -1.05794074, -9.33338832, 84.2544595 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00827932101683504
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29537708,  0.09591726,  0.04586034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.52856199e-05,-6.75258229e-06, 3.50199102e-07,-3.60929876e-05,
 -3.47879241e-05, 8.69685209e-07,-7.08549416e-05,-1.40712924e-05,
 -3.08121934e-06,-4.52470149e-06,-5.93918679e-05, 5.36980817e-05,
 -2.90607144e-05, 1.22973797e-06,-1.95321767e-05, 2.77945543e-05,
  9.67525101e-01, 2.01426991e-01,-7.45378651e+00,-1.42355134e-01,
 -1.00413821e-01, 7.79248906e-03]


--- Step 1645 ---
qpos:
[-5.61833368e-04, 8.77225071e-01,-2.02816744e-02,-2.75572077e-02,
  7.64053850e-03, 8.64656400e-01,-2.79936961e-02, 9.45193924e-03,
  2.21858109e-02, 8.72959297e-01,-2.02550327e-02, 2.24654578e-02,
  1.35651795e+00,-9.96418693e-03, 1.03080160e+00, 6.12464907e-02,
 -1.28452116e+00, 2.23323810e-02, 7.19139013e-02,-6.62936363e-01,
  6.51713398e-01, 3.25160886e-01, 1.73365000e-01]

qacc:
[-2.66861076e-01,-2.05423873e-01, 3.26104721e+00,-1.09232764e+01,
 -2.32330302e-01, 1.93028949e+00,-5.07615100e+00, 2.17090866e+00,
  6.70908392e-02, 3.61351810e+00,-1.50663765e+01, 2.67582707e+01,
  5.19111699e-02,-2.58369773e-01,-1.53174721e+01, 5.21159883e+01,
  2.52627150e+00,-2.48989076e+00,-7.86195920e+00, 5.99886072e+01,
  7.61513137e+01,-1.17912211e+02]

qfrc_actuator:
[ 0.00232681, 0.02760158, 0.00873165, 0.0015782 ,-0.0001016 , 0.02737125,
  0.00866604, 0.00165307,-0.00236841, 0.02755343, 0.0087627 , 0.00176376,
  0.00193138,-0.00177607, 0.        ,-0.00205918, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -7.00139881, -5.05640104, -7.00139881,  9.93831331,
       -1.80275829, -5.05640104, -1.80275829, 11.13257184,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007994330594447381
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29512329,  0.09597677,  0.04600283])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.94438940e-05, 4.15418113e-05, 4.71763857e-06,-2.01895826e-05,
 -4.20878962e-05, 4.37931657e-05,-2.46420492e-05,-9.30345245e-06,
  1.25380317e-05, 1.01713851e-05,-3.82997113e-05, 3.05572643e-05,
 -5.14320962e-05,-2.00076048e-05,-9.11984369e-06, 2.50001936e-04,
  1.40295391e+00, 3.06291211e-01,-7.37852300e+00,-1.49056692e-01,
 -9.31091700e-02, 7.67356028e-03]


--- Step 1646 ---
qpos:
[-5.63036441e-04, 8.77224597e-01,-2.02822792e-02,-2.75579033e-02,
  7.63891820e-03, 8.64655486e-01,-2.79931591e-02, 9.45249345e-03,
  2.21866168e-02, 8.72960272e-01,-2.02558140e-02, 2.24663018e-02,
  1.35663467e+00,-9.96456718e-03, 1.03102089e+00, 6.12486994e-02,
 -1.28676225e+00, 2.18626047e-02, 7.20490431e-02,-6.53676163e-01,
  6.35930364e-01, 3.55038887e-01, 2.05541806e-01]

qacc:
[-6.50967452e-03, 5.64722163e-01,-2.73441282e+00, 5.78941491e+00,
  6.44035434e-03,-1.28968162e+00, 2.63024663e+00, 5.14681431e+00,
  7.54410731e-02, 6.91562084e-01, 1.61537921e+00,-1.36843801e+01,
 -5.95921348e-01, 8.38781958e-01, 8.13970198e+00,-2.72222485e+01,
  2.21021146e+00, 4.90612250e-01,-8.26660566e+00,-1.98552026e+01,
 -3.03299543e+01,-1.89892920e+01]

qfrc_actuator:
[ 2.34939162e-03, 2.75763524e-02, 8.71854087e-03, 1.58503367e-03,
 -8.04966495e-05, 2.74064928e-02, 8.72821178e-03, 1.68472402e-03,
 -2.36033968e-03, 2.76022337e-02, 8.74410021e-03, 1.72856597e-03,
  1.91160816e-03,-1.76634830e-03, 0.00000000e+00,-2.19689052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.48210975, -8.5082388 ,  1.48210975,  0.27875716,
       -1.45587005, -8.5082388 , -1.45587005,  8.38275543,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.007468374815090377
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29486442,  0.0960452 ,  0.04626581])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20041223e-06,-1.87373611e-06,-4.64219882e-06, 8.38312819e-06,
  1.07752637e-06, 5.42674800e-05, 6.78663590e-05, 3.24979883e-05,
  1.41050295e-05, 4.78816163e-05,-2.01608588e-05,-3.54942318e-05,
 -5.35941896e-05,-6.89427559e-06, 2.08812043e-05,-1.25587887e-04,
  1.50965561e+00, 3.38191809e-01,-7.26142943e+00,-1.45574263e-01,
 -9.97627643e-02, 7.21910523e-03]


--- Step 1647 ---
qpos:
[-5.64099780e-04, 8.77223950e-01,-2.02826392e-02,-2.75588571e-02,
  7.63762881e-03, 8.64654569e-01,-2.79923276e-02, 9.45383459e-03,
  2.21871709e-02, 8.72960740e-01,-2.02553732e-02, 2.24681113e-02,
  1.35675111e+00,-9.96489890e-03, 1.03124062e+00, 6.12462638e-02,
 -1.28899502e+00, 2.13946973e-02, 7.21522662e-02,-6.42882233e-01,
  6.18749615e-01, 3.84163936e-01, 2.37211760e-01]

qacc:
[  0.07280556, -1.44521227,  5.90607821,-10.63146297,  0.17404744,
   0.79268097, -6.15472375, 19.30747003, -0.12988948, -2.09688765,
   2.42775849, 12.70272838, -0.5161054 ,  0.70845299, 14.72402978,
 -50.47342987,  2.07827956,  0.46726505, -7.97968097,-18.25895603,
 -43.7068241 , -0.67293254]

qfrc_actuator:
[ 2.36342930e-03, 2.75614092e-02, 8.72871478e-03, 1.57155665e-03,
 -4.94404158e-05, 2.73746444e-02, 8.72922628e-03, 1.72092037e-03,
 -2.39141293e-03, 2.75597934e-02, 8.80458073e-03, 1.77855468e-03,
  1.90621780e-03,-1.76044876e-03, 0.00000000e+00,-2.43872320e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.006743577614559015
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29464286,  0.09611058,  0.04662821])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34613206e-05,-1.65716834e-05, 9.51549369e-06,-1.35516710e-05,
  3.15744578e-05, 1.39222107e-05, 2.17110983e-05, 4.15025481e-05,
 -2.42785948e-05,-2.13652259e-05, 6.66562582e-05, 5.06505877e-05,
 -3.76547568e-05,-8.04666030e-06,-1.06989642e-05,-2.47608917e-04,
  1.39562750e+00, 3.17923187e-01,-7.10531947e+00,-1.32720358e-01,
 -1.12317874e-01, 6.48938775e-03]


--- Step 1648 ---
qpos:
[-5.64820742e-04, 8.77223264e-01,-2.02826036e-02,-2.75606835e-02,
  7.63688175e-03, 8.64653416e-01,-2.79923690e-02, 9.45502172e-03,
  2.21877781e-02, 8.72960542e-01,-2.02539767e-02, 2.24698542e-02,
  1.35686732e+00,-9.96496508e-03, 1.03145995e+00, 6.12436209e-02,
 -1.29122028e+00, 2.09285035e-02, 7.22243972e-02,-6.30579474e-01,
  6.00209311e-01, 4.12471368e-01, 2.68301474e-01]

qacc:
[ 1.78121643e-01,-2.95475483e+00, 1.41339721e+01,-2.98204361e+01,
  2.84388587e-01, 1.80736831e+00,-6.24879519e+00, 5.15521970e+00,
  2.84224698e-02,-3.68635065e+00, 1.21481980e+01,-1.43393082e+01,
 -3.74243774e-01, 6.64387242e-01, 5.38898572e-02,-1.00107768e+00,
  1.87703945e+00, 4.28369562e-01,-7.77304242e+00,-1.53027907e+01,
 -4.52805880e+01,-6.40071616e-01]

qfrc_actuator:
[ 2.38994603e-03, 2.75705592e-02, 8.75256897e-03, 1.52850159e-03,
 -1.27368373e-05, 2.73026457e-02, 8.65831515e-03, 1.70612428e-03,
 -2.37462214e-03, 2.74989410e-02, 8.83995946e-03, 1.77173955e-03,
  1.90945840e-03,-1.73905283e-03, 0.00000000e+00,-2.43804090e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.005827498775991591
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29448409,  0.09616691,  0.04708625])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29930904e-05, 1.29188640e-06, 2.11450218e-05,-4.36959910e-05,
  5.17324130e-05,-5.79344837e-05,-6.39260753e-05,-1.26427309e-05,
  5.10648671e-06,-5.68801648e-05, 4.09207475e-05,-4.44196444e-06,
 -2.07403649e-05, 1.11812254e-05,-3.76038686e-05,-1.56735461e-05,
  1.25018182e+00, 2.91209451e-01,-6.95341473e+00,-1.17829765e-01,
 -1.23728032e-01, 5.68525089e-03]


--- Step 1649 ---
qpos:
[-5.64842504e-04, 8.77222442e-01,-2.02822566e-02,-2.75626482e-02,
  7.63662339e-03, 8.64651818e-01,-2.79929006e-02, 9.45637011e-03,
  2.21885124e-02, 8.72960607e-01,-2.02535020e-02, 2.24697868e-02,
  1.35698343e+00,-9.96483566e-03, 1.03167913e+00, 6.12402705e-02,
 -1.29343892e+00, 2.04638530e-02, 7.22661767e-02,-6.16796269e-01,
  5.80350673e-01, 4.39898284e-01, 2.98738947e-01]

qacc:
[  0.36354803, -1.33310109,  5.07584468, -7.86345208,  0.25655232,
   1.11199623, -5.50025775,  9.40451853,  0.06529091, -0.79987087,
  11.00315877,-41.05595091, -0.26305001,  0.49383299,  1.91932905,
  -7.01693673,  1.65587933,  0.38583873, -7.58786075,-12.24267272,
 -46.60580483, -0.59872685]

qfrc_actuator:
[ 2.44144429e-03, 2.75585942e-02, 8.76662979e-03, 1.52167532e-03,
  9.25873882e-06, 2.72778019e-02, 8.63406142e-03, 1.71461683e-03,
 -2.36482243e-03, 2.75161669e-02, 8.78904419e-03, 1.67823019e-03,
  1.91255699e-03,-1.72634813e-03, 0.00000000e+00,-2.47195525e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004782738644289915
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29539533,  0.09596096,  0.04760863])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.73741759e-05,-8.72205335e-06, 1.54280986e-05,-6.88688467e-06,
  4.66117081e-05,-7.09512425e-05,-4.45258759e-05, 3.55102750e-06,
  1.22501295e-05,-6.32610137e-06,-5.77880347e-05,-9.46216395e-05,
 -6.67426761e-06, 1.08637426e-05,-2.15017805e-05,-4.01855050e-05,
  1.09013085e+00, 2.61591735e-01,-6.81789742e+00,-1.01930919e-01,
 -1.33752600e-01, 4.83299471e-03]


--- Step 1650 ---
qpos:
[-5.64579863e-04, 8.77221401e-01,-2.02819940e-02,-2.75639498e-02,
  7.63654783e-03, 8.64649892e-01,-2.79935323e-02, 9.45776726e-03,
  2.21889965e-02, 8.72961252e-01,-2.02539268e-02, 2.24692480e-02,
  1.35709959e+00,-9.96529793e-03, 1.03189827e+00, 6.12354972e-02,
 -1.29565189e+00, 2.00005631e-02, 7.22782514e-02,-6.01564426e-01,
  5.59217887e-01, 4.66383689e-01, 3.28453727e-01]

qacc:
[  0.14783361,  1.31017354, -7.88575597, 19.64222348,  0.09607692,
  -0.05428195, -0.6428704 ,  1.88898304, -0.13077849,  2.30876406,
  -5.12912058, -2.02018998,  0.41821225, -1.02667504,  4.21783042,
 -14.89686791,  1.41702306,  0.34012718, -7.42619973, -9.09542091,
 -47.67348561, -0.54971177]

qfrc_actuator:
[ 2.43642717e-03, 2.75340720e-02, 8.75698803e-03, 1.55395364e-03,
  4.51357917e-06, 2.72815542e-02, 8.63776854e-03, 1.71907624e-03,
 -2.39481785e-03, 2.75795759e-02, 8.75885821e-03, 1.65874290e-03,
  1.89426440e-03,-1.77215233e-03, 0.00000000e+00,-2.54379706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0036040542500434675
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29541384,  0.09598549,  0.04819797])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.73987546e-05,-2.64804320e-05,-9.77492208e-06, 3.23075780e-05,
  1.74316882e-05,-4.49197130e-05,-1.62952961e-05,-5.18952970e-08,
 -2.40994960e-05, 4.38782891e-05,-4.18894555e-05,-2.36003483e-05,
 -2.00704111e-05,-4.44671785e-05,-1.76651077e-05,-7.76094526e-05,
  9.17150734e-01, 2.29405886e-01,-6.70022616e+00,-8.51554277e-02,
 -1.42303693e-01, 3.93999199e-03]


--- Step 1651 ---
qpos:
[-5.64582960e-04, 8.77220270e-01,-2.02819074e-02,-2.75645196e-02,
  7.63690060e-03, 8.64648181e-01,-2.79946584e-02, 9.45881794e-03,
  2.21893573e-02, 8.72962367e-01,-2.02548601e-02, 2.24698468e-02,
  1.35721574e+00,-9.96651864e-03, 1.03211675e+00, 6.12342233e-02,
 -1.29786021e+00, 1.95384400e-02, 7.22611666e-02,-5.84919109e-01,
  5.36857999e-01, 4.91868632e-01, 3.57377074e-01]

qacc:
[ -0.13812741,  1.88323882, -9.96460094, 22.96035951,  0.22457488,
   0.95153921, -1.51772516, -3.84564612, -0.06451263,  4.37879933,
 -19.51912992, 39.67701308,  0.80124015, -1.73759649,-11.60866912,
  39.05386943,  1.16291599,  0.29172579, -7.28987269, -5.87845196,
 -48.47605733, -0.49398725]

qfrc_actuator:
[ 2.39763594e-03, 2.75376605e-02, 8.75114858e-03, 1.59119612e-03,
  3.70922856e-05, 2.73202787e-02, 8.62255299e-03, 1.70341114e-03,
 -2.39510599e-03, 2.76170150e-02, 8.74145626e-03, 1.71855944e-03,
  1.88443099e-03,-1.81684757e-03, 0.00000000e+00,-2.35335495e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0022603384541310945
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.2955467 ,  0.09599091,  0.04886983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.56104259e-05,-1.18273129e-05,-1.13864287e-05, 3.64029403e-05,
  4.08700894e-05, 1.02896935e-05,-2.64844096e-05,-1.81531433e-05,
 -1.18764981e-05, 5.22989268e-05,-1.43161615e-05, 5.97889461e-05,
 -3.22222930e-05,-5.93072362e-05,-2.03008613e-05, 1.83022140e-04,
  7.33064049e-01, 1.95012106e-01,-6.60167873e+00,-6.76426336e-02,
 -1.49305865e-01, 3.01397482e-03]


--- Step 1652 ---
qpos:
[-5.64769592e-04, 8.77219218e-01,-2.02816593e-02,-2.75653746e-02,
  7.63784396e-03, 8.64646800e-01,-2.79963626e-02, 9.45966323e-03,
  2.21896563e-02, 8.72963692e-01,-2.02565055e-02, 2.24718954e-02,
  1.35733169e+00,-9.96800880e-03, 1.03233481e+00, 6.12371973e-02,
 -1.30006495e+00, 1.90772815e-02, 7.22153601e-02,-5.66898769e-01,
  5.13320799e-01, 5.16296345e-01, 3.85442119e-01]

qacc:
[-9.53085664e-02,-9.35768051e-01, 4.68646552e+00,-9.93108731e+00,
  3.09729142e-01, 1.62611093e+00,-4.30015822e+00, 1.42927666e+00,
 -3.25355428e-02, 5.24860543e+00,-2.44341249e+01, 5.05114760e+01,
  3.03137427e-01,-7.18465865e-01,-1.34636191e+01, 4.61612394e+01,
  8.96195930e-01, 2.41155640e-01,-7.18041601e+00,-2.60968375e+00,
 -4.90074159e+01,-4.32641458e-01]

qfrc_actuator:
[ 2.39227451e-03, 2.75580714e-02, 8.76546853e-03, 1.57782514e-03,
  7.39940433e-05, 2.73440683e-02, 8.59641807e-03, 1.69379968e-03,
 -2.39534916e-03, 2.76032460e-02, 8.69618823e-03, 1.78903256e-03,
  1.87967552e-03,-1.82496872e-03, 0.00000000e+00,-2.13416391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007636827460538037
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.29581218,  0.0959737 ,  0.04961816])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76826497e-05, 1.30275922e-05, 1.17439541e-05,-1.35593302e-05,
  5.63558887e-05, 2.33490516e-05,-2.78810030e-05,-1.04384897e-05,
 -5.95023606e-06, 1.50608976e-05,-3.41622636e-05, 7.33816242e-05,
 -3.71333221e-05,-2.92160554e-05, 8.92147096e-06, 2.26283828e-04,
  5.39820227e-01, 1.58790881e-01,-6.52333593e+00,-4.95384215e-02,
 -1.54696786e-01, 2.06296762e-03]


--- Step 1653 ---
qpos:
[-5.64891718e-04, 8.77218157e-01,-2.02812114e-02,-2.75663748e-02,
  7.63892074e-03, 8.64645441e-01,-2.79980054e-02, 9.46038186e-03,
  2.21899232e-02, 8.72965189e-01,-2.02583061e-02, 2.24733582e-02,
  1.35744717e+00,-9.96903725e-03, 1.03255310e+00, 6.12407576e-02,
 -1.30226720e+00, 1.86168789e-02, 7.21411574e-02,-5.47545061e-01,
  4.88658701e-01, 5.39612371e-01, 4.12584016e-01]

qacc:
[ 3.36375952e-02,-8.68898277e-01, 3.69287481e+00,-6.51674789e+00,
  7.01019074e-02,-4.03485804e-01, 2.01475984e+00,-4.32123344e+00,
 -1.68560850e-02,-5.44708767e-01, 4.74424819e+00,-1.47598788e+01,
 -7.02861415e-01, 1.20096390e+00,-1.37723348e+00, 5.42641875e+00,
  6.19660863e-01, 1.88961498e-01,-7.09906650e+00, 6.92564673e-01,
 -4.92629709e+01,-3.66866920e-01]

qfrc_actuator:
[ 2.40699506e-03, 2.75529394e-02, 8.77386435e-03, 1.57031565e-03,
  5.98981311e-05, 2.73409439e-02, 8.59951830e-03, 1.68781793e-03,
 -2.39557759e-03, 2.76120804e-02, 8.68786544e-03, 1.75861659e-03,
  1.86200672e-03,-1.79357842e-03, 0.00000000e+00,-2.11290342e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 6.21673453e-06, 4.01984378e-06, 1.20714572e-05,-6.80679963e-06,
  1.27301872e-05, 3.77857818e-06, 4.14828825e-06,-6.14699277e-06,
 -3.08834551e-06, 1.33233356e-05,-6.88133490e-06,-2.95269643e-05,
 -4.54188336e-05, 1.59396925e-05, 2.56552799e-05, 3.41685670e-05,
  3.39474071e-01, 1.21138630e-01,-6.46606787e+00,-3.09939647e-02,
 -1.58427795e-01, 1.09521768e-03]


--- Step 1654 ---
qpos:
[-5.64706770e-04, 8.77217026e-01,-2.02806980e-02,-2.75660586e-02,
  7.63978096e-03, 8.64644009e-01,-2.79992775e-02, 9.46101369e-03,
  2.21903566e-02, 8.72966161e-01,-2.02588228e-02, 2.24751257e-02,
  1.35756228e+00,-9.96948518e-03, 1.03277173e+00, 6.12425674e-02,
 -1.30446812e+00, 1.81570191e-02, 7.20387677e-02,-5.26902749e-01,
  4.62926620e-01, 5.61764696e-01, 4.38740086e-01]

qacc:
[  0.15968487,  2.43731299,-14.36643251, 37.06774324, -0.11349453,
  -1.30883324,  4.89544939, -6.93918433,  0.08754672, -3.65211704,
  10.73020152, -7.1239315 , -0.83912529,  1.53047629,  5.8405459 ,
 -19.58394669,  0.33623367,  0.1357048 , -7.04674296,  4.00967634,
 -49.23968128, -0.29793511]

qfrc_actuator:
[ 2.43359017e-03, 2.75502897e-02, 8.77860280e-03, 1.63730774e-03,
  3.31771921e-05, 2.73396003e-02, 8.61975137e-03, 1.68401742e-03,
 -2.37804953e-03, 2.75811744e-02, 8.75469572e-03, 1.77563854e-03,
  1.85792542e-03,-1.75685725e-03, 0.00000000e+00,-2.20843889e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.95885460e-05, 1.82351577e-06, 6.82633330e-06, 6.74517110e-05,
 -2.06614872e-05, 1.40856183e-06, 2.13342926e-05,-3.61142166e-06,
  1.60462606e-05,-2.61656145e-05, 6.77131916e-05, 1.67785320e-05,
 -2.60420653e-05, 2.98481586e-05, 9.80837639e-06,-9.16700873e-05,
  1.34162703e-01, 8.24631337e-02,-6.43052282e+00,-1.21644242e-02,
 -1.60464339e-01, 1.19123826e-04]


--- Step 1655 ---
qpos:
[-5.64211249e-04, 8.77216143e-01,-2.02799333e-02,-2.75656870e-02,
  7.64036778e-03, 8.64642656e-01,-2.80000509e-02, 9.46122083e-03,
  2.21909766e-02, 8.72966464e-01,-2.02578319e-02, 2.24774313e-02,
  1.35767730e+00,-9.96981335e-03, 1.03299062e+00, 6.12412230e-02,
 -1.30666883e+00, 1.76974872e-02, 7.19082819e-02,-5.05019617e-01,
  4.36181841e-01, 5.82703870e-01, 4.63849963e-01]

qacc:
[ 1.61452022e-01,-2.61749612e-01, 1.17322565e+00,-7.98597671e-01,
 -1.43350572e-01,-2.15842537e+00, 9.64497339e+00,-1.78546877e+01,
  9.80887159e-02,-3.98774604e+00, 1.06642346e+01,-3.26889348e+00,
 -3.46252384e-01, 5.68633397e-01, 9.93160175e+00,-3.41383406e+01,
  4.89246767e-02, 8.19563815e-02,-7.02403254e+00, 7.32284205e+00,
 -4.89360829e+01,-2.27169169e-01]

qfrc_actuator:
[ 2.44928901e-03, 2.75846994e-02, 8.79895385e-03, 1.64108136e-03,
  1.69304705e-05, 2.73571631e-02, 8.64993018e-03, 1.66378383e-03,
 -2.36780604e-03, 2.75448043e-02, 8.82973549e-03, 1.80271459e-03,
  1.85667808e-03,-1.75274632e-03, 0.00000000e+00,-2.37194952e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.99356125e-05, 3.97510047e-05, 2.39065530e-05, 5.40167352e-06,
 -2.60806258e-05, 2.26426049e-05, 3.29940377e-05,-1.95016888e-05,
  1.79617304e-05,-3.63152379e-05, 7.85513529e-05, 2.86209793e-05,
 -9.31121323e-06, 5.19232344e-06,-1.11858676e-05,-1.68629956e-04,
 -7.39187513e-02, 4.31788013e-02,-6.41711897e+00, 6.79238800e-03,
 -1.60786286e-01,-8.56836167e-04]


--- Step 1656 ---
qpos:
[-5.63288326e-04, 8.77215527e-01,-2.02786426e-02,-2.75656406e-02,
  7.64053531e-03, 8.64642151e-01,-2.80010975e-02, 9.46148329e-03,
  2.21915620e-02, 8.72966977e-01,-2.02563872e-02, 2.24779308e-02,
  1.35779188e+00,-9.96942505e-03, 1.03320948e+00, 6.12375826e-02,
 -1.30887051e+00, 1.72380684e-02, 7.17496714e-02,-4.81946353e-01,
  4.08483879e-01, 6.02383120e-01, 4.87855727e-01]

qacc:
[ 2.22304068e-01,-1.78587078e+00, 8.24927083e+00,-1.49071859e+01,
 -2.20707122e-01, 1.99368193e+00,-5.71979475e+00, 6.49286564e+00,
 -1.78713561e-02,-4.70205133e+00, 2.47986297e+01,-5.69382284e+01,
 -1.01230471e+00, 1.85865279e+00, 6.94798639e+00,-2.42335454e+01,
 -2.39207355e-01, 2.82890164e-02,-7.03118210e+00, 1.06131679e+01,
 -4.83523060e+01,-1.55915314e-01]

qfrc_actuator:
[ 2.47607639e-03, 2.76055505e-02, 8.82846043e-03, 1.62541104e-03,
 -1.06408795e-05, 2.74392041e-02, 8.65029510e-03, 1.66956827e-03,
 -2.37977248e-03, 2.75765206e-02, 8.85570571e-03, 1.71119938e-03,
  1.83049126e-03,-1.71471509e-03, 0.00000000e+00,-2.48537825e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.11956348e-05, 4.82634902e-05, 4.08469437e-05,-1.30374410e-05,
 -3.99817926e-05, 1.00715706e-04, 8.44834893e-06, 7.52020176e-06,
 -3.32838845e-06, 2.88455914e-05, 2.91231612e-05,-8.98017260e-05,
 -3.08921930e-05, 3.74952922e-05,-2.84151275e-05,-1.25315082e-04,
 -2.82542343e-01, 3.70186568e-03,-6.42603902e+00, 2.57173710e-02,
 -1.59388115e-01,-1.82417880e-03]


--- Step 1657 ---
qpos:
[-5.62183603e-04, 8.77214877e-01,-2.02768586e-02,-2.75653958e-02,
  7.64014583e-03, 8.64642178e-01,-2.80020445e-02, 9.46182696e-03,
  2.21920540e-02, 8.72967770e-01,-2.02541502e-02, 2.24776426e-02,
  1.35790597e+00,-9.96823329e-03, 1.03342791e+00, 6.12345779e-02,
 -1.31107428e+00, 1.67785507e-02, 7.15627885e-02,-4.57736443e-01,
  3.79894338e-01, 6.20758467e-01, 5.10702033e-01]

qacc:
[ 9.47894146e-02,-1.01465642e+00, 2.71581205e+00,-4.84607761e-02,
 -2.92697042e-01, 5.91160165e-01,-1.43114404e+00, 2.28654662e+00,
 -4.81740878e-02,-3.46378606e+00, 1.62138820e+01,-3.13216688e+01,
 -9.52375271e-01, 1.80627404e+00,-2.47706837e+00, 7.90662925e+00,
 -5.25095176e-01,-2.47300664e-02,-7.06809467e+00, 1.38617840e+01,
 -4.74900834e+01,-8.55136060e-02]

qfrc_actuator:
[ 2.47377058e-03, 2.75826415e-02, 8.84533249e-03, 1.63393808e-03,
 -4.47517556e-05, 2.74526175e-02, 8.65109653e-03, 1.67290076e-03,
 -2.38716571e-03, 2.76129710e-02, 8.90594301e-03, 1.67492664e-03,
  1.80535208e-03,-1.67472892e-03, 0.00000000e+00,-2.44408599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.75200355e-05, 1.19631285e-05, 3.14129097e-05, 1.17503939e-05,
 -5.31280549e-05, 7.18133573e-05, 2.29155926e-05, 8.08886197e-06,
 -8.98824555e-06, 5.47244996e-05, 5.66600802e-05,-3.57799874e-05,
 -3.45396443e-05, 4.18957862e-05,-3.07296742e-05, 2.98175519e-05,
 -4.89472991e-01,-3.55544342e-02,-6.45722800e+00, 4.44515083e-02,
 -1.56278975e-01,-2.77448816e-03]


--- Step 1658 ---
qpos:
[-5.61195710e-04, 8.77214261e-01,-2.02750888e-02,-2.75657143e-02,
  7.63965404e-03, 8.64642472e-01,-2.80022384e-02, 9.46150599e-03,
  2.21924536e-02, 8.72968792e-01,-2.02516418e-02, 2.24783450e-02,
  1.35802007e+00,-9.96741332e-03, 1.03364609e+00, 6.12323675e-02,
 -1.31324447e+00, 1.62265715e-02, 7.13548122e-02,-4.34298635e-01,
  3.51381564e-01, 6.35259934e-01, 5.33254637e-01]

qacc:
[-6.07524809e-02,-1.07513219e+00, 6.27061413e+00,-1.60087922e+01,
 -5.33981171e-02,-3.11371480e+00, 1.44258179e+01,-2.73352041e+01,
 -4.78504303e-02, 1.58219208e+00,-9.38500680e+00, 2.59276282e+01,
  3.55654072e-01,-7.87095270e-01,-2.80354918e+00, 9.19880988e+00,
  8.39525924e+00,-2.31153635e+01,-5.27334487e+00,-7.69204165e+02,
  1.05122979e+03, 1.02511202e+03]

qfrc_actuator:
[ 2.45408349e-03, 2.75691768e-02, 8.83669348e-03, 1.60333204e-03,
 -2.92230224e-05, 2.74603360e-02, 8.68740167e-03, 1.63920880e-03,
 -2.39174240e-03, 2.76166040e-02, 8.91696260e-03, 1.72476148e-03,
  1.80216545e-03,-1.70495389e-03, 0.00000000e+00,-2.40073752e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.38406619, -5.81639714, -6.38406619,  6.28734787,
        2.57827513, -5.81639714,  2.57827513,  5.80645387,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012730344013157646
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34169564,  0.08690927,  0.04936348])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12569171e-05, 2.15496774e-07,-1.90246983e-06,-2.87806187e-05,
 -9.74905627e-06, 5.29539471e-05, 5.42474643e-05,-2.96629700e-05,
 -8.89197882e-06, 4.43688965e-05, 2.80420998e-05, 5.34405075e-05,
 -1.33949007e-05,-2.82780926e-05,-1.36644992e-05, 4.04262727e-05,
 -6.92494269e-01,-7.41846011e-02,-6.51039412e+00, 6.28372419e-02,
 -1.51482617e-01,-3.69948853e-03]


--- Step 1659 ---
qpos:
[-5.60205754e-04, 8.77213660e-01,-2.02731783e-02,-2.75657142e-02,
  7.63921395e-03, 8.64642995e-01,-2.80019483e-02, 9.46115315e-03,
  2.21929636e-02, 8.72969789e-01,-2.02496392e-02, 2.24790360e-02,
  1.35813426e+00,-9.96722131e-03, 1.03386448e+00, 6.12279832e-02,
 -1.31538543e+00, 1.55979877e-02, 7.11267856e-02,-4.11214029e-01,
  3.22914266e-01, 6.46669373e-01, 5.55381060e-01]

qacc:
[ 1.16709984e-03, 2.83503046e-01,-2.32264171e+00, 7.59293436e+00,
  2.73754617e-02,-1.11429613e+00, 4.54708637e+00,-6.04220801e+00,
  5.70389907e-02, 1.35569709e+00,-4.83564338e+00, 5.46788185e+00,
  4.30363061e-01,-1.05104458e+00, 6.83671396e+00,-2.35497027e+01,
  7.30737095e+00,-1.91511498e+01,-5.01257706e+00,-6.37056496e+02,
  6.96826666e+02, 7.45096107e+02]

qfrc_actuator:
[ 2.45969881e-03, 2.75790763e-02, 8.84856341e-03, 1.62093902e-03,
 -1.96476856e-05, 2.74646883e-02, 8.70881047e-03, 1.63727342e-03,
 -2.37684022e-03, 2.75649794e-02, 8.86915019e-03, 1.71828184e-03,
  1.80147054e-03,-1.74094643e-03, 0.00000000e+00,-2.51634187e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.93642865, -5.14516612, -6.93642865,  8.0092015 ,
        0.84550534, -5.14516612,  0.84550534,  7.49650006,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025985467008668925
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34191913,  0.08680604,  0.04870073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99955714e-07, 8.39319017e-06, 1.06751099e-05, 1.69885523e-05,
  4.94155136e-06, 4.38894425e-05, 3.80023412e-05, 1.63405751e-06,
  1.06318350e-05,-1.87763255e-05,-3.33722675e-05,-2.57386128e-06,
 -1.52797603e-05,-4.54352926e-05,-4.94703154e-06,-1.15849089e-04,
  1.10056658e+00, 2.80357258e-01,-7.18956107e+00,-2.27039431e-03,
 -2.09578071e-01,-3.45954337e-03]


--- Step 1660 ---
qpos:
[-5.59920944e-04, 8.77213361e-01,-2.02715438e-02,-2.75655115e-02,
  7.63848822e-03, 8.64643303e-01,-2.80014467e-02, 9.46120211e-03,
  2.21936168e-02, 8.72970330e-01,-2.02476627e-02, 2.24786323e-02,
  1.35824815e+00,-9.96686227e-03, 1.03408302e+00, 6.12205677e-02,
 -1.31750344e+00, 1.49102385e-02, 7.08777030e-02,-3.88160768e-01,
  2.94465208e-01, 6.55577116e-01, 5.76922962e-01]

qacc:
[-3.66671411e-01, 1.58608559e+00,-5.93038999e+00, 9.65147190e+00,
 -1.49806302e-01,-4.87018549e-02,-1.93605223e+00, 8.71066386e+00,
  7.45012880e-02,-2.78095623e+00, 1.36656378e+01,-3.22383384e+01,
 -5.25721099e-01, 7.95478023e-01, 9.41254174e+00,-3.25291257e+01,
  5.73903335e+00,-1.47913678e+01,-5.26397797e+00,-5.04524958e+02,
  4.25172561e+02, 5.39158503e+02]

qfrc_actuator:
[ 2.39166026e-03, 2.76029996e-02, 8.83708408e-03, 1.63131202e-03,
 -4.92627287e-05, 2.74136953e-02, 8.70349670e-03, 1.65402509e-03,
 -2.36816911e-03, 2.75158685e-02, 8.85771787e-03, 1.66086650e-03,
  1.78628657e-03,-1.72673671e-03, 0.00000000e+00,-2.67140962e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.33629317, -4.55692653, -7.33629317, 14.44864192,
       -9.35731071, -4.55692653, -9.35731071, 23.70089762,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00344920237163613
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34201658,  0.08676162,  0.0482754 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.79418102e-05, 3.15453062e-05,-7.85400039e-06, 1.14303702e-05,
 -2.72582444e-05,-1.85460698e-05, 8.48354603e-06, 1.99783900e-05,
  1.37883123e-05,-6.66513804e-05,-1.95346887e-05,-5.94303658e-05,
 -3.50299550e-05, 4.30242768e-07,-1.95142323e-05,-1.63175176e-04,
  2.29441390e+00, 6.60042607e-01,-7.53105767e+00,-3.75920085e-02,
 -2.52036977e-01,-3.91655082e-03]


--- Step 1661 ---
qpos:
[-5.60211593e-04, 8.77213384e-01,-2.02705670e-02,-2.75665434e-02,
  7.63744517e-03, 8.64643391e-01,-2.80011785e-02, 9.46079361e-03,
  2.21942050e-02, 8.72970530e-01,-2.02453349e-02, 2.24775027e-02,
  1.35836171e+00,-9.96608917e-03, 1.03430089e+00, 6.12156779e-02,
 -1.31960650e+00, 1.41839222e-02, 7.06032919e-02,-3.64936373e-01,
  2.66039420e-01, 6.62391262e-01, 5.97730949e-01]

qacc:
[-2.99588165e-01,-2.80910523e-01, 6.81729612e+00,-2.73420702e+01,
 -1.66775359e-01,-5.78871884e-01, 3.57508947e+00,-1.09589699e+01,
 -3.34512325e-02,-2.92273266e+00, 1.28355204e+01,-2.57100982e+01,
 -4.14526437e-01, 7.85795597e-01,-8.58055686e+00, 2.86556150e+01,
  3.73741251e+00,-9.64175169e+00,-6.33215296e+00,-3.93162509e+02,
  2.35513618e+02, 4.09276188e+02]

qfrc_actuator:
[ 2.36889892e-03, 2.75995402e-02, 8.79420297e-03, 1.56632267e-03,
 -6.65700774e-05, 2.73831059e-02, 8.68222823e-03, 1.62831016e-03,
 -2.38106629e-03, 2.75219646e-02, 8.88558880e-03, 1.62723569e-03,
  1.77841799e-03,-1.70070207e-03, 0.00000000e+00,-2.52888112e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  7.47971737,  4.31747669,  7.47971737, 10.0767616 ,
       -2.49538572,  4.31747669, -2.49538572, 12.95943966,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003919954777800841
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34203664,  0.08674796,  0.04804002])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.54463389e-05, 1.30323208e-05,-3.69486940e-05,-6.36898721e-05,
 -3.02835157e-05,-3.83666458e-05,-2.33681089e-05,-2.58279280e-05,
 -6.26739486e-06,-3.77811199e-05, 9.62256892e-06,-3.83228871e-05,
 -2.82937970e-05, 1.83553233e-05,-3.13461695e-05, 1.29975971e-04,
  3.06393259e+00, 9.79635653e-01,-7.65732187e+00,-5.28478667e-02,
 -2.81435025e-01,-4.68971024e-03]


--- Step 1662 ---
qpos:
[-5.60731718e-04, 8.77213344e-01,-2.02700019e-02,-2.75679672e-02,
  7.63596247e-03, 8.64643595e-01,-2.80015833e-02, 9.45972292e-03,
  2.21946795e-02, 8.72971012e-01,-2.02435700e-02, 2.24763065e-02,
  1.35847515e+00,-9.96531165e-03, 1.03451800e+00, 6.12168192e-02,
 -1.32159756e+00, 1.35506698e-02, 7.05814742e-02,-3.41439901e-01,
  2.38070616e-01, 6.68670394e-01, 6.16133979e-01]

qacc:
[-1.19489206e-01, 2.61048198e-01, 6.01463761e-01,-6.67350953e+00,
 -2.31432016e-01, 6.69197227e-01, 6.30787729e-01,-1.11002965e+01,
 -5.95255980e-02, 1.80646003e+00,-5.62099678e+00, 5.16100432e+00,
  2.54453443e-01,-4.26998391e-01,-1.93550047e+01, 6.60423406e+01,
  2.79993522e+01, 2.32659560e+01, 6.31483512e+01, 5.17237375e+02,
 -4.49144262e+02, 5.80599436e+02]

qfrc_actuator:
[ 2.37345628e-03, 2.75795095e-02, 8.76847818e-03, 1.54623520e-03,
 -9.40995037e-05, 2.74003540e-02, 8.65174730e-03, 1.59556644e-03,
 -2.38900092e-03, 2.75612512e-02, 8.86566417e-03, 1.62569716e-03,
  1.77495233e-03,-1.70339161e-03, 0.00000000e+00,-2.21213926e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.31869117,  8.53509405, -1.31869117, 31.73586449,
        3.56892467,  8.53509405,  3.56892467,  9.1877705 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00416492638976787
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.3434772 ,  0.08519396,  0.04791754])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.3681202 ,  1.69675052, -8.19429517,  1.69675052, 31.05069893,
        4.69676482, -8.19429517,  4.69676482,  9.34065512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008767038138137173
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32123656, -0.04639658,  0.04956165])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.21166094e-05,-2.31118779e-05,-2.97943174e-05,-2.20479808e-05,
 -4.19468334e-05,-1.01456729e-05,-4.21796616e-05,-3.56984638e-05,
 -1.09524925e-05, 1.84842244e-05,-2.78864405e-05,-3.57233579e-06,
 -1.55223145e-05,-4.80097526e-06,-2.07113175e-06, 3.19488745e-04,
  3.54890962e+00, 1.21754975e+00,-7.65352300e+00,-5.54078361e-02,
 -3.00741666e-01,-5.55880821e-03]


--- Step 1663 ---
qpos:
[-5.61330198e-04, 8.77212861e-01,-2.02693792e-02,-2.75685679e-02,
  7.63410630e-03, 8.64644188e-01,-2.80025566e-02, 9.45822504e-03,
  2.21950487e-02, 8.72971831e-01,-2.02424664e-02, 2.24757909e-02,
  1.35858838e+00,-9.96450614e-03, 1.03473510e+00, 6.12210444e-02,
 -1.32351990e+00, 1.29899564e-02, 7.07474188e-02,-3.17469069e-01,
  2.10268259e-01, 6.74474680e-01, 6.32522376e-01]

qacc:
[-4.04913158e-02, 9.48737250e-01,-7.69901924e+00, 2.21601662e+01,
 -1.96694746e-01, 1.22226027e+00,-1.80851359e+00,-4.96147246e+00,
 -5.52351575e-02, 3.69110023e+00,-1.53902700e+01, 2.79790136e+01,
 -1.93920857e-02,-3.12607271e-02,-9.31626803e+00, 3.25884363e+01,
  1.71788665e+01, 1.81347564e+01, 4.69405983e+01, 4.42541603e+02,
 -3.68739478e+02, 3.10275190e+02]

qfrc_actuator:
[ 0.00237654, 0.02754979, 0.00877082, 0.00158825,-0.00010976, 0.02744606,
  0.00863402, 0.00157675,-0.00239388, 0.02758446, 0.00883559, 0.0016608 ,
  0.00175814,-0.00170532, 0.        ,-0.00206167, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.55490717,  8.49523634, -1.55490717,  7.87253722,
       -0.13980531,  8.49523634, -0.13980531,  8.61077467,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004222677529396535
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34342952,  0.08520136,  0.04788866])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.7267173 ,  8.60573407, -0.7267173 , 59.76664144,
        4.31773246,  8.60573407,  4.31773246,  9.00097761,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002456453812729721
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32153708, -0.04647678,  0.04877177])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.56277837e-06,-4.97409532e-05,-6.86842068e-06, 3.95622830e-05,
 -3.56254851e-05, 2.97843428e-05,-2.62469842e-05,-2.14074743e-05,
 -1.01475715e-05, 2.76100731e-05,-2.98317804e-05, 3.48568884e-05,
 -2.65370898e-05,-6.70026105e-06, 3.21240728e-05, 1.67423496e-04,
  2.60053919e+00, 8.08367501e-01,-7.27685631e+00,-1.13536721e-02,
 -2.51255994e-01,-6.05886075e-03]


--- Step 1664 ---
qpos:
[-5.61575808e-04, 8.77212066e-01,-2.02685128e-02,-2.75683455e-02,
  7.63217018e-03, 8.64644645e-01,-2.80030796e-02, 9.45754529e-03,
  2.21953363e-02, 8.72971608e-01,-2.02411885e-02, 2.24768563e-02,
  1.35870138e+00,-9.96369766e-03, 1.03495252e+00, 6.12253974e-02,
 -1.32540317e+00, 1.24851233e-02, 7.10456720e-02,-2.92939595e-01,
  1.82461691e-01, 6.79767671e-01, 6.47155343e-01]

qacc:
[ 1.83650577e-01, 6.02679415e-01,-6.21300861e+00, 2.02799504e+01,
 -4.16130570e-02, 2.45929077e-01,-4.59184371e+00, 1.81320434e+01,
 -4.18480235e-02, 1.38803842e+00,-1.36249211e+01, 4.14787077e+01,
 -1.82435187e-01, 1.91071317e-01, 8.97901716e-02, 3.85882543e-01,
  9.76825513e+00, 1.39700877e+01, 3.30771334e+01, 3.72340703e+02,
 -2.90545478e+02, 1.54457068e+02]

qfrc_actuator:
[ 0.00241418, 0.02755017, 0.00878969, 0.00163095,-0.00010044, 0.0274375 ,
  0.00865963, 0.00161957,-0.0023969 , 0.02745584, 0.0088175 , 0.00173491,
  0.00174399,-0.00170681, 0.        ,-0.0020637 , 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364, -1.49032136,  8.50680428, -1.49032136, 45.46976227,
        6.4529051 ,  8.50680428,  6.4529051 ,  9.76685894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004098044589033553
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34335456,  0.08364673,  0.04795098])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  4.27589543, -7.5035655 ,  4.27589543, 45.71324943,
       21.12820719, -7.5035655 , 21.12820719, 20.67624049,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038824263590753333
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.3343842 ,  0.02877835,  0.04805879])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.39223275, -8.52340688,  1.39223275, 42.51052649,
        5.53308315, -8.52340688,  5.53308315,  9.54015008,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003551354324645012
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32165672, -0.04650914,  0.04822432])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.39953612e-05,-2.71497607e-05, 9.12374034e-06, 4.11100858e-05,
 -7.62883374e-06, 1.75424976e-06, 2.77841672e-05, 4.27753157e-05,
 -7.89088886e-06,-1.17880503e-04,-1.48696499e-05, 7.49435900e-05,
 -3.04733208e-05,-9.34934396e-06, 2.82489357e-05, 1.02288715e-05,
  1.80802404e+00, 5.09051177e-01,-7.03721507e+00, 2.38046197e-02,
 -2.09370867e-01,-6.56178112e-03]


--- Step 1665 ---
qpos:
[-5.61787031e-04, 8.77211361e-01,-2.02673183e-02,-2.75676718e-02,
  7.63026330e-03, 8.64644924e-01,-2.80035248e-02, 9.45776034e-03,
  2.21955652e-02, 8.72970257e-01,-2.02399526e-02, 2.24784842e-02,
  1.35881429e+00,-9.96319769e-03, 1.03517029e+00, 6.12277189e-02,
 -1.32726679e+00, 1.20208667e-02, 7.14272203e-02,-2.67838870e-01,
  1.54551847e-01, 6.84443241e-01, 6.60237469e-01]

qacc:
[ 1.80590322e-02, 1.33588129e-01,-2.20193858e+00, 9.41166375e+00,
  1.55183740e-02, 1.38814106e+00,-9.06935996e+00, 2.45648948e+01,
 -3.00915402e-02,-2.14987371e-01,-3.77119284e+00, 1.44051177e+01,
  4.27798250e-02,-3.14420142e-01, 6.64145453e+00,-2.25051114e+01,
  4.91366121e+00, 1.01441137e+01, 2.08237700e+01, 2.90413847e+02,
 -2.11851622e+02, 6.36002119e+01]

qfrc_actuator:
[ 2.40114131e-03, 2.75864122e-02, 8.81827249e-03, 1.65599068e-03,
 -9.40215403e-05, 2.74145171e-02, 8.65717406e-03, 1.66279303e-03,
 -2.39877156e-03, 2.73793770e-02, 8.80602875e-03, 1.76025620e-03,
  1.73677442e-03,-1.72578947e-03, 0.00000000e+00,-2.17324803e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.16182401, -8.63484741, -0.16182401,  6.73768025,
        0.03558286, -8.63484741,  0.03558286,  8.63569678,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004242919709677252
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32164475, -0.04650984,  0.04787854])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.004026914203070511
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.33432356,  0.02878627,  0.04798654])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  2.33670452, -8.31424012,  2.33670452, 26.11515347,
        4.91238725, -8.31424012,  4.91238725, 10.01698259,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003622380320981
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34470993,  0.08472202,  0.04818881])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.31804625e-06, 2.47180003e-05, 2.55219961e-05, 2.49938191e-05,
  2.78435281e-06,-1.44411987e-05, 2.81533990e-06, 4.50968617e-05,
 -5.68565673e-06,-1.42244471e-04,-3.50657913e-05, 2.12316655e-05,
 -2.66664877e-05,-2.82298064e-05, 8.34615454e-06,-1.06700756e-04,
  1.14460552e+00, 2.92759909e-01,-6.89325637e+00, 5.18343962e-02,
 -1.73059790e-01,-7.04528834e-03]


--- Step 1666 ---
qpos:
[-5.62062261e-04, 8.77211070e-01,-2.02664712e-02,-2.75670438e-02,
  7.62841833e-03, 8.64645640e-01,-2.80044199e-02, 9.45672299e-03,
  2.21957534e-02, 8.72968588e-01,-2.02391461e-02, 2.24792902e-02,
  1.35892709e+00,-9.96294953e-03, 1.03538811e+00, 6.12283875e-02,
 -1.32912586e+00, 1.15878509e-02, 7.18442578e-02,-2.42168536e-01,
  1.26487473e-01, 6.88434473e-01, 6.71872976e-01]

qacc:
[-3.36155443e-02, 1.42231799e+00,-4.08627896e+00, 3.54800340e+00,
  3.20131615e-02,-7.43498722e-01, 8.77589599e+00,-3.00550257e+01,
 -2.13508969e-02,-9.12191382e-01, 6.11308952e+00,-1.94199889e+01,
  2.81397725e-02,-2.54536389e-01, 5.06237645e+00,-1.76125754e+01,
  1.13709318e+00, 7.81019224e+00, 8.87229677e+00, 2.45895571e+02,
 -1.64105983e+02, 5.70669986e+00]

qfrc_actuator:
[ 2.39338424e-03, 2.76083831e-02, 8.79924245e-03, 1.65272189e-03,
 -8.94267014e-05, 2.74539780e-02, 8.63808134e-03, 1.59934271e-03,
 -2.39995258e-03, 2.74057281e-02, 8.79867771e-03, 1.72121498e-03,
  1.73370896e-03,-1.73718939e-03, 0.00000000e+00,-2.25643946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.36358574, -8.52803675,  1.36358574,  4.86581163,
       -0.60289034, -8.52803675, -0.60289034,  8.53996482,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00460516082756534
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32154086, -0.04649044,  0.04769742])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.003949557673744809
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.33421576,  0.02880379,  0.04802522])
  solimp: array([9.0e-01, 9.5e-01, 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([  8.63636364,   8.29362091,   2.40886468,   8.29362091,
        14.27364699, -19.40893212,   2.40886468, -19.40893212,
        75.46050965,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0032944141437578553
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34461525,  0.08473472,  0.04835279])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.15788041e-06, 4.21396188e-05,-9.92147530e-06,-8.42692970e-07,
  5.91755867e-06, 3.38961296e-05,-2.01665460e-05,-6.30939468e-05,
 -3.93536406e-06,-5.95045351e-05,-4.03178226e-05,-4.59392909e-05,
 -2.51617931e-05,-2.39557868e-05,-1.32404436e-05,-8.92883596e-05,
  6.16335430e-01, 1.43378832e-01,-6.82177268e+00, 7.34344553e-02,
 -1.42375092e-01,-7.48995459e-03]


--- Step 1667 ---
qpos:
[-5.62415082e-04, 8.77211478e-01,-2.02668454e-02,-2.75664354e-02,
  7.62663912e-03, 8.64646518e-01,-2.80051866e-02, 9.45458317e-03,
  2.21959140e-02, 8.72967121e-01,-2.02393017e-02, 2.24792456e-02,
  1.35903971e+00,-9.96260715e-03, 1.03560575e+00, 6.12287015e-02,
 -1.33098675e+00, 1.11708956e-02, 7.22642859e-02,-2.15929222e-01,
  9.82642244e-02, 6.91660178e-01, 6.82147280e-01]

qacc:
[-4.13056992e-02, 4.29413345e+00,-1.38878987e+01, 1.49877918e+01,
  3.45003343e-02,-2.41011417e+00, 1.35626849e+01,-3.29727049e+01,
 -1.50569579e-02, 1.20430257e+00,-3.15265395e-01,-1.30171898e+01,
 -2.20768808e-01, 3.30237962e-01, 8.12627915e-01,-3.20750890e+00,
 -4.55661485e-01, 4.01513319e+00, 7.47658071e-01, 1.94685302e+02,
 -1.35911319e+02,-3.26130447e+01]

qfrc_actuator:
[ 2.38887849e-03, 2.76391867e-02, 8.73443617e-03, 1.65053686e-03,
 -8.59689592e-05, 2.74593539e-02, 8.64500638e-03, 1.54468627e-03,
 -2.40071205e-03, 2.74401503e-02, 8.75869688e-03, 1.68020844e-03,
  1.73314002e-03,-1.72622489e-03, 0.00000000e+00,-2.27012474e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.63501139, 0.15282401, 8.63501139, 8.63416319,
       0.12433152, 0.15282401, 0.12433152, 1.61126292, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004698301132569416
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32137759, -0.04645955,  0.04765085])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0036944729006876953
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.33408109,  0.02882602,  0.04815276])
  solimp: array([9.0e-01, 9.5e-01, 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([8.63636364, 5.24490912, 6.86131949, 5.24490912, 3.24532476,
       4.12100165, 6.86131949, 4.12100165, 5.4862    , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0028578282629325713
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34451193,  0.08474869,  0.04857109])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.46331036e-06, 5.22810380e-05,-5.73604690e-05,-7.43009652e-07,
  6.27956576e-06, 1.74540201e-05, 9.25992331e-06,-5.51284870e-05,
 -2.66172602e-06,-9.11695764e-06,-5.88221558e-05,-4.58455949e-05,
 -2.09773984e-05,-1.50470350e-07,-2.00071799e-05,-2.12979092e-05,
  1.62333795e-01, 3.05453087e-02,-6.80072011e+00, 9.09013002e-02,
 -1.14385437e-01,-7.88152471e-03]


--- Step 1668 ---
qpos:
[-5.63015437e-04, 8.77211995e-01,-2.02678437e-02,-2.75651324e-02,
  7.62492011e-03, 8.64647157e-01,-2.80057328e-02, 9.45254132e-03,
  2.21958716e-02, 8.72966357e-01,-2.02400501e-02, 2.24793088e-02,
  1.35915222e+00,-9.96240572e-03, 1.03582299e+00, 6.12308209e-02,
 -1.33285161e+00, 1.07600157e-02, 7.26669639e-02,-1.89171133e-01,
  6.98814630e-02, 6.93939501e-01, 6.91215475e-01]

qacc:
[-1.29012363e-01, 3.32035385e+00,-1.45508183e+01, 2.74729751e+01,
  3.18525805e-02,-7.30877512e-01, 1.73262163e+00,-2.13758815e-01,
 -1.06043207e-01, 2.80664811e+00,-9.11433873e+00, 1.14110285e+01,
  1.31463908e-01,-3.39753846e-01,-6.04117664e+00, 2.02701587e+01,
 -9.93541748e-01, 1.51883099e+00,-4.33751305e+00, 8.60782917e+01,
 -8.21062944e+01,-5.54310452e+01]

qfrc_actuator:
[ 2.36861009e-03, 2.76215816e-02, 8.69643487e-03, 1.68449952e-03,
 -8.32220855e-05, 2.74266251e-02, 8.64939101e-03, 1.54891508e-03,
 -2.41896801e-03, 2.75322799e-02, 8.75310055e-03, 1.69163794e-03,
  1.72342793e-03,-1.73759231e-03, 0.00000000e+00,-2.17173303e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.63517939, 0.1430165 , 8.63517939, 8.63421611,
       0.12966499, 0.1430165 , 0.12966499, 0.80733351, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.004566026128240988
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32118192, -0.04643157,  0.04771699])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0032894465348405205
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.33393252,  0.02884191,  0.04835528])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002328216111618181
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34440242,  0.08475528,  0.04883589])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.38528078e-05,-2.56082478e-07,-3.42973237e-05, 3.41998428e-05,
  5.73847539e-06,-2.34293203e-05, 7.22451656e-06, 4.22706441e-06,
 -1.95394673e-05, 7.29529052e-05,-1.62993291e-05, 8.11360690e-06,
 -2.21116988e-05,-1.59820827e-05,-1.49246347e-05, 9.38509779e-05,
 -2.19613923e-01,-5.45076514e-02,-6.83950390e+00, 1.05607034e-01,
 -8.94603729e-02,-8.23365735e-03]


--- Step 1669 ---
qpos:
[-5.63856900e-04, 8.77211941e-01,-2.02686712e-02,-2.75640900e-02,
  7.62325380e-03, 8.64647878e-01,-2.80066535e-02, 9.45125660e-03,
  2.21956194e-02, 8.72965990e-01,-2.02405321e-02, 2.24791411e-02,
  1.35926474e+00,-9.96286093e-03, 1.03604007e+00, 6.12344000e-02,
 -1.33472141e+00, 1.03516565e-02, 7.30434208e-02,-1.61984869e-01,
  4.13903245e-02, 6.95176306e-01, 6.99126346e-01]

qacc:
[-1.24997402e-01,-1.76892002e+00, 6.30912193e+00,-1.06679302e+01,
  2.74573728e-02, 2.71161991e+00,-1.27080922e+01, 2.63537519e+01,
 -1.09015757e-01,-6.95398373e-01, 4.21521064e+00,-8.93020753e+00,
  6.00575327e-01,-1.35436189e+00,-4.70897113e+00, 1.60018394e+01,
 -1.23398579e+00, 6.30208022e-01,-6.55529226e+00, 3.65533374e+01,
 -5.29519959e+01,-3.97222923e+01]

qfrc_actuator:
[ 2.35683772e-03, 2.75574875e-02, 8.69216047e-03, 1.66843388e-03,
 -8.09224830e-05, 2.74423817e-02, 8.63435529e-03, 1.58771559e-03,
 -2.42978289e-03, 2.75519358e-02, 8.76815044e-03, 1.68065299e-03,
  1.71355673e-03,-1.77991402e-03, 0.00000000e+00,-2.09687632e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63484268, -0.16207648,  8.63484268,  8.63350516,
       -0.15228918, -0.16207648, -0.15228918,  0.52295223,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0042590780659251815
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32209995, -0.04658307,  0.04787046])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002853115451052518
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.33432435,  0.0258637 ,  0.04857344])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0015053492309347882
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.3451304 ,  0.08515014,  0.04924733])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.32490873e-05,-6.98642821e-05,-7.36619260e-06,-1.65982168e-05,
  5.02777076e-06, 4.32151285e-06,-1.88357832e-05, 3.81318932e-05,
 -2.02096134e-05, 5.74530121e-05, 2.84029716e-05,-8.26233245e-06,
 -2.64119162e-05,-5.10022965e-05, 6.14081485e-07, 7.74682499e-05,
 -4.42928976e-01,-1.01156628e-01,-6.91715223e+00, 1.15918276e-01,
 -7.16290857e-02,-8.53492811e-03]


--- Step 1670 ---
qpos:
[-5.64698513e-04, 8.77211560e-01,-2.02692797e-02,-2.75643182e-02,
  7.62144761e-03, 8.64648681e-01,-2.80077907e-02, 9.45078114e-03,
  2.21953855e-02, 8.72965923e-01,-2.02409935e-02, 2.24778368e-02,
  1.35937679e+00,-9.96292896e-03, 1.03625718e+00, 6.12381687e-02,
 -1.33659819e+00, 9.94175087e-03, 7.33840158e-02,-1.34469506e-01,
  1.29032940e-02, 6.95271638e-01, 7.05938245e-01]

qacc:
[ 1.11342275e-04,-3.66269044e+00, 1.77797863e+01,-3.98512086e+01,
 -7.35915582e-02, 2.37582652e+00,-1.17336458e+01, 2.60296025e+01,
  9.36265518e-03,-1.99836844e+00, 1.25027777e+01,-3.24321783e+01,
 -6.50579179e-01, 1.06961765e+00,-4.61391587e-01, 1.80868681e+00,
 -1.74348619e+00,-3.86624983e-01,-8.96546492e+00,-2.41773291e+01,
 -4.61323214e+01,-9.82375408e-01]

qfrc_actuator:
[ 2.36800817e-03, 2.75549006e-02, 8.70757693e-03, 1.60527600e-03,
 -9.66604437e-05, 2.74514971e-02, 8.62592686e-03, 1.62880813e-03,
 -2.41829240e-03, 2.75458858e-02, 8.75946067e-03, 1.62100976e-03,
  1.69293144e-03,-1.75147308e-03, 0.00000000e+00,-2.08977500e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003883363580365305
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32189838, -0.04656369,  0.04805832])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0022643243209845634
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.33417947,  0.02586904,  0.04886784])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0008059013211185809
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34504494,  0.085142  ,  0.04959705])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26653936e-08,-4.38794234e-05,-4.86751398e-07,-6.67259001e-05,
 -1.33447962e-05, 9.26808580e-06,-8.53347643e-06, 4.13701359e-05,
  1.77210923e-06, 3.15996847e-05, 6.39703219e-06,-5.63573355e-05,
 -4.77176823e-05, 1.05424332e-05, 5.16500986e-06, 1.06055438e-05,
 -5.82673558e-01,-1.29516081e-01,-7.00736148e+00, 1.23428457e-01,
 -5.68746064e-02,-8.77224221e-03]


--- Step 1671 ---
qpos:
[-5.65282927e-04, 8.77210938e-01,-2.02698027e-02,-2.75646132e-02,
  7.61948436e-03, 8.64649348e-01,-2.80086291e-02, 9.45044869e-03,
  2.21950486e-02, 8.72966284e-01,-2.02421866e-02, 2.24762099e-02,
  1.35948813e+00,-9.96228202e-03, 1.03647479e+00, 6.12379772e-02,
 -1.33848218e+00, 9.53023582e-03, 7.36880753e-02,-1.06668502e-01,
 -1.55325144e-02, 6.94226568e-01, 7.11638984e-01]

qacc:
[ 1.33777547e-01,-6.94289507e-01, 2.29549702e+00,-3.40950077e+00,
 -8.22525719e-02,-7.20177522e-01, 1.70281095e+00, 3.94042360e-01,
 -5.41392464e-02, 1.94661434e+00,-4.75753478e+00, 3.06363366e-02,
 -1.32761546e+00, 2.22363216e+00, 1.27657693e+01,-4.34219811e+01,
 -1.80442916e+00,-4.02353935e-01,-9.13387108e+00,-2.15401002e+01,
 -4.78856737e+01,-9.49973697e-01]

qfrc_actuator:
[ 0.0023928 , 0.0275537 , 0.00871694, 0.00160374,-0.0001053 , 0.02743884,
  0.00863921, 0.00163542,-0.00242907, 0.02755986, 0.00871891, 0.00160418,
  0.00164992,-0.00171686, 0.        ,-0.00230017, 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: -0.0033765389847334668
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32172177, -0.04655076,  0.04831173])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.001546222732165578
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.33406145,  0.02586698,  0.04922689])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0011545413456480885
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.33727263,  0.0344007 ,  0.04942273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47776686e-05,-2.86794632e-05,-2.05995373e-06,-4.72822414e-06,
 -1.49871636e-05,-7.47213376e-06, 1.55785072e-05, 7.51590061e-06,
 -9.91916398e-06, 3.05524981e-05,-3.51764007e-05,-1.63481621e-05,
 -6.77144328e-05, 2.60453662e-05,-1.25848417e-06,-2.10248766e-04,
 -6.28527653e-01,-1.39925845e-01,-7.12357173e+00, 1.29564675e-01,
 -4.61329107e-02,-8.97556263e-03]


--- Step 1672 ---
qpos:
[-5.65588453e-04, 8.77210312e-01,-2.02703494e-02,-2.75646025e-02,
  7.61758741e-03, 8.64649544e-01,-2.80087996e-02, 9.44952510e-03,
  2.21945972e-02, 8.72966568e-01,-2.02436950e-02, 2.24747764e-02,
  1.35959920e+00,-9.96180257e-03, 1.03669233e+00, 6.12356072e-02,
 -1.34037358e+00, 9.11706446e-03, 7.39549045e-02,-7.86258673e-02,
 -4.38701191e-02, 6.92044006e-01, 7.16218178e-01]

qacc:
[ 1.44916763e-01, 6.90544439e-01,-3.75705689e+00, 9.08128544e+00,
  3.53768774e-02,-3.70004209e+00, 1.47902181e+01,-2.57483830e+01,
 -5.96469669e-02, 1.17445953e+00,-5.15485989e+00, 9.06254725e+00,
 -1.97200842e-01, 7.55091438e-02, 6.48131722e+00,-2.28108585e+01,
 -1.85098343e+00,-4.14074857e-01,-9.30758876e+00,-1.88045995e+01,
 -4.94520609e+01,-9.07004870e-01]

qfrc_actuator:
[ 2.40775424e-03, 2.75711215e-02, 8.72271389e-03, 1.62072940e-03,
 -9.18464733e-05, 2.73955614e-02, 8.66508423e-03, 1.60392208e-03,
 -2.43533702e-03, 2.75323294e-02, 8.69550181e-03, 1.61267937e-03,
  1.63611826e-03,-1.73228675e-03, 0.00000000e+00,-2.40619696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0027415833276365625
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32158334, -0.04654776,  0.04862921])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007016156057520484
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.33398331,  0.02585408,  0.04964919])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004239001628686123
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.33721   ,  0.03438643,  0.04978805])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.68738092e-05, 7.82607318e-07,-5.55507613e-07, 1.56003278e-05,
  6.31599673e-06,-4.39315238e-05, 2.65154022e-05,-3.11272431e-05,
 -1.10374085e-05,-1.84059154e-05,-2.19916105e-05, 8.27672456e-06,
 -4.65390846e-05,-2.49014983e-05,-2.98258987e-05,-1.19235390e-04,
 -6.63741882e-01,-1.47560108e-01,-7.24332993e+00, 1.34806722e-01,
 -3.49961330e-02,-9.11834775e-03]


--- Step 1673 ---
qpos:
[-5.65851519e-04, 8.77210232e-01,-2.02710955e-02,-2.75644480e-02,
  7.61581423e-03, 8.64649076e-01,-2.80087845e-02, 9.44829092e-03,
  2.21944228e-02, 8.72966106e-01,-2.02443511e-02, 2.24738065e-02,
  1.35971030e+00,-9.96190274e-03, 1.03690930e+00, 6.12349516e-02,
 -1.34227250e+00, 8.70220654e-03, 7.41837926e-02,-5.03860909e-02,
 -7.20627522e-02, 6.88728705e-01, 7.19667265e-01]

qacc:
[ 2.17606200e-02, 1.57495101e+00,-5.17416435e+00, 7.57910075e+00,
  6.53404555e-02,-2.03347776e+00, 7.28942332e+00,-1.24754131e+01,
  1.44742940e-01,-2.41121948e+00, 5.21080197e+00, 2.00024840e+00,
  5.99500621e-01,-1.28400197e+00,-6.05383777e+00, 1.98705412e+01,
 -1.88267271e+00,-4.21643304e-01,-9.48525899e+00,-1.59815187e+01,
 -5.08243107e+01,-8.54091623e-01]

qfrc_actuator:
[ 2.39892915e-03, 2.76350866e-02, 8.72641183e-03, 1.63073524e-03,
 -8.30572721e-05, 2.73342904e-02, 8.66252515e-03, 1.58575006e-03,
 -2.40334382e-03, 2.74802425e-02, 8.73550517e-03, 1.63598891e-03,
  1.65048369e-03,-1.75938612e-03, 0.00000000e+00,-2.30778612e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001982578933137767
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.32149601, -0.0465581 ,  0.04900871])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10597428e-06, 6.49784122e-05, 4.33993272e-06, 1.03254072e-05,
  1.17899876e-05,-8.16950842e-05,-9.44136268e-06,-1.97410896e-05,
  2.66798597e-05,-6.65621597e-05, 3.37903206e-05, 2.19248486e-05,
 -1.85227529e-05,-4.33864871e-05,-3.04164568e-05, 8.71456513e-05,
 -6.88027708e-01,-1.52333220e-01,-7.36566082e+00, 1.39128636e-01,
 -2.35390713e-02,-9.19990866e-03]


--- Step 1674 ---
qpos:
[-5.66332399e-04, 8.77210273e-01,-2.02716435e-02,-2.75641481e-02,
  7.61397578e-03, 8.64648173e-01,-2.80091638e-02, 9.44720555e-03,
  2.21945797e-02, 8.72965754e-01,-2.02454719e-02, 2.24744857e-02,
  1.35982132e+00,-9.96233639e-03, 1.03712627e+00, 6.12337448e-02,
 -1.34417413e+00, 8.28802165e-03, 7.43797301e-02,-2.19551561e-02,
 -1.00225492e-01, 6.84324010e-01, 7.21923452e-01]

qacc:
[-1.13093725e-01,-9.45214024e-02,-4.31256403e-02, 2.14879709e+00,
 -3.43707048e-02, 8.32316463e-01,-4.43127262e+00, 7.95912968e+00,
  1.71888471e-01, 4.83521508e+00,-2.39939192e+01, 5.31997024e+01,
  1.58057068e-01,-5.02810025e-01, 1.64466512e+00,-5.79409674e+00,
 -6.74057669e-01, 1.68260786e-01,-8.23766734e+00, 2.49316012e+01,
 -6.15865081e+00,-6.77450715e+01]

qfrc_actuator:
[ 2.37596121e-03, 2.76199121e-02, 8.72904869e-03, 1.63659062e-03,
 -9.49013684e-05, 2.73158663e-02, 8.64311970e-03, 1.59327950e-03,
 -2.38424437e-03, 2.75206329e-02, 8.72375294e-03, 1.72109494e-03,
  1.64444894e-03,-1.77525791e-03, 0.00000000e+00,-2.33826913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  6.63659124, -5.52652093,  6.63659124,  5.18416481,
       -4.14561581, -5.52652093, -4.14561581,  3.65804945,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014368206033205932
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.3302761 , -0.04817893,  0.04928159])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.09842510e-05, 2.25060270e-05, 1.69536363e-05, 8.98859554e-06,
 -6.24235197e-06,-6.68874731e-05,-3.81189941e-05, 3.32068012e-06,
  3.19263141e-05, 1.11083392e-05,-2.05697484e-05, 8.38521777e-05,
 -2.71437685e-05,-3.00160978e-05,-6.29271976e-06,-3.00152552e-05,
 -7.01181983e-01,-1.54184580e-01,-7.48956082e+00, 1.42510609e-01,
 -1.18381199e-02,-9.21996622e-03]


--- Step 1675 ---
qpos:
[-5.66504799e-04, 8.77209628e-01,-2.02720166e-02,-2.75636737e-02,
  7.61166764e-03, 8.64647246e-01,-2.80099561e-02, 9.44547620e-03,
  2.21948278e-02, 8.72966196e-01,-2.02473346e-02, 2.24757644e-02,
  1.35993210e+00,-9.96270080e-03, 1.03734375e+00, 6.12274809e-02,
 -1.34607353e+00, 7.91514393e-03, 7.46321983e-02, 6.05566297e-03,
 -1.28040187e-01, 6.79799615e-01, 7.22109080e-01]

qacc:
[ 1.60641670e-01,-1.03444274e+00, 1.63861338e+00, 1.60373891e+00,
 -2.46999930e-01,-2.03688347e-01, 3.39902770e+00,-1.38676107e+01,
  4.66780251e-02, 4.35174056e+00,-1.65293763e+01, 2.75082561e+01,
 -5.23441991e-01, 7.46178906e-01, 1.60530647e+01,-5.50022647e+01,
  5.54331379e-01, 1.03267905e+01, 1.41326719e+01, 6.40559362e+02,
  1.23221603e+02, 2.87698872e+02]

qfrc_actuator:
[ 0.00241576, 0.02752196, 0.00871298, 0.0016399 ,-0.00013674, 0.02734094,
  0.00863186, 0.00156264,-0.0023908 , 0.0275982 , 0.00869968, 0.00175314,
  0.00163684,-0.00176665, 0.        ,-0.00260428, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([ 8.63636364,  8.63009925, -0.32888272,  8.63009925,  8.62558985,
       -0.28271124, -0.32888272, -0.28271124,  1.21783447,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018897186750746336
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34496736, -0.05099212,  0.04905514])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.97068379e-05,-8.14849025e-05,-9.01897090e-06, 5.03179966e-06,
 -4.48160591e-05,-2.00337709e-05,-2.96388790e-05,-3.47594832e-05,
  8.80595690e-06, 8.31425154e-05,-2.14047617e-05, 3.34466843e-05,
 -3.04010261e-05,-4.47628494e-06,-1.02461785e-05,-2.69429713e-04,
 -7.66039251e-01,-1.65279458e-01,-7.56034660e+00, 1.41905237e-01,
  2.80080608e-03,-9.10146424e-03]


--- Step 1676 ---
qpos:
[-5.66097996e-04, 8.77208566e-01,-2.02723417e-02,-2.75631874e-02,
  7.60944353e-03, 8.64646750e-01,-2.80109077e-02, 9.44366092e-03,
  2.21950774e-02, 8.72966925e-01,-2.02484090e-02, 2.24759939e-02,
  1.36004246e+00,-9.96218683e-03, 1.03756104e+00, 6.12190796e-02,
 -1.34797875e+00, 7.57179201e-03, 7.49142767e-02, 3.37175642e-02,
 -1.55560773e-01, 6.74906586e-01, 7.20531104e-01]

qacc:
[ 3.01138663e-01,-6.61495085e-01, 1.50840276e+00,-1.07552278e+00,
  4.38813125e-02, 8.36747716e-01,-1.79485141e+00, 2.46236084e-01,
  1.13156102e-03,-3.97941873e+00, 1.91718062e+01,-3.88031114e+01,
 -1.11163858e+00, 2.11637058e+00, 6.25359977e+00,-2.21113106e+01,
 -1.45275957e+00, 7.38145008e+00, 7.40257681e+00, 4.45018771e+02,
  1.24227146e+02, 1.97155602e+02]

qfrc_actuator:
[ 0.00245728, 0.02751711, 0.00872113, 0.00164159,-0.00010738, 0.02740963,
  0.00864343, 0.00156308,-0.00239489, 0.02760858, 0.00873968, 0.00170049,
  0.00163362,-0.00170813, 0.        ,-0.00270509, 0.        , 0.        ,
  0.        , 0.        , 0.        , 0.        ]

Contact:
<MjContact
  H: array([8.63636364, 8.63074277, 0.31153829, 8.63074277, 8.62640127,
       0.27599375, 0.31153829, 0.27599375, 0.99033384, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002426731932320972
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34486565, -0.05100177,  0.04878663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.58009525e-05,-5.20367294e-05,-9.60242373e-06,-2.01194927e-06,
  8.02889970e-06, 4.98999822e-05, 2.58876591e-06,-2.10969653e-06,
  1.59939281e-07, 5.38907319e-05, 5.57047781e-05,-4.91784454e-05,
 -2.22363793e-05, 5.08380147e-05,-3.98646883e-05,-1.18323452e-04,
 -1.58935232e+00,-2.80876051e-01,-7.62417641e+00, 1.32001513e-01,
  5.97865412e-02,-8.45258319e-03]


--- Step 1677 ---
qpos:
[-5.66080657e-04, 8.77207866e-01,-2.02729438e-02,-2.75627636e-02,
  7.60819703e-03, 8.64646930e-01,-2.80119189e-02, 9.44217005e-03,
  2.21951172e-02, 8.72967499e-01,-2.02490490e-02, 2.24760182e-02,
  1.36015257e+00,-9.96100192e-03, 1.03777747e+00, 6.12144953e-02,
 -1.34989459e+00, 7.24768028e-03, 7.52023824e-02, 6.10762613e-02,
 -1.82803110e-01, 6.69428946e-01, 7.17438220e-01]

qacc:
[-2.02670094e-01, 1.12385763e+00,-3.04920138e+00, 2.14688373e+00,
  5.13253245e-01, 1.72691495e+00,-6.23085966e+00, 1.14456060e+01,
 -1.08704746e-01,-1.83919888e+00, 7.12902920e+00,-1.12626751e+01,
 -4.80207033e-01, 1.08592930e+00,-1.27628373e+01, 4.28831101e+01,
 -2.65662297e+00, 4.81004913e+00, 1.50680445e+00, 2.81774216e+02,
  1.10074150e+02, 1.32214712e+02]

qfrc_actuator:
[ 2.39291455e-03, 2.75858864e-02, 8.72612749e-03, 1.64239775e-03,
 -1.79117388e-05, 2.74685316e-02, 8.65084407e-03, 1.58187925e-03,
 -2.41519089e-03, 2.75610884e-02, 8.74588344e-03, 1.68719220e-03,
  1.62773883e-03,-1.67374905e-03, 0.00000000e+00,-2.49464625e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.57549004, 1.02359538, 8.57549004, 8.52539009,
       0.92971556, 1.02359538, 0.92971556, 0.84738113, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002657063505788468
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34471999, -0.05102897,  0.04867147])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.75202312e-05, 3.76438941e-05,-6.99527199e-06,-1.78610270e-06,
  9.32936701e-05, 8.72751994e-05, 1.79805648e-05, 2.09886279e-05,
 -2.02211851e-05,-7.96744690e-06, 2.24994179e-05,-1.00206226e-05,
 -7.30771110e-06, 4.15284496e-05,-3.45255731e-05, 1.98064844e-04,
 -2.16420187e+00,-3.26279517e-01,-7.74723158e+00, 1.21257424e-01,
  1.02101977e-01,-7.82570998e-03]


--- Step 1678 ---
qpos:
[-5.66649060e-04, 8.77207361e-01,-2.02734595e-02,-2.75626836e-02,
  7.60760547e-03, 8.64647470e-01,-2.80126938e-02, 9.44059056e-03,
  2.21949308e-02, 8.72968163e-01,-2.02499681e-02, 2.24765927e-02,
  1.36026259e+00,-9.95964701e-03, 1.03799352e+00, 6.12133961e-02,
 -1.35182361e+00, 6.93806955e-03, 7.54824232e-02, 8.81220532e-02,
 -2.09739514e-01, 6.63230575e-01, 7.13000031e-01]

qacc:
[-3.04393774e-01,-6.91567689e-01, 4.28739713e+00,-1.05111711e+01,
  3.44035870e-01,-3.67374789e-01, 2.37365723e+00,-4.55022063e+00,
 -1.17737624e-01, 2.02894088e+00,-9.38742687e+00, 1.92918989e+01,
  1.31252156e-02, 6.97279326e-02,-1.10737375e+01, 3.79446641e+01,
 -3.29285131e+00, 3.62524740e+00,-2.01621774e+00, 1.72537203e+02,
  9.59656805e+01, 1.07762187e+02]

qfrc_actuator:
[ 2.35452323e-03, 2.75917103e-02, 8.72953098e-03, 1.62500018e-03,
  1.74718421e-07, 2.74678909e-02, 8.65573327e-03, 1.57580675e-03,
 -2.42726415e-03, 2.75679612e-02, 8.73184941e-03, 1.71483045e-03,
  1.62026090e-03,-1.67174915e-03, 0.00000000e+00,-2.31557706e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.46381915, 1.71771423, 8.46381915, 8.32169867,
       1.55047173, 1.71771423, 1.55047173, 0.9966107 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002646360031994914
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34608439, -0.04371055,  0.04867682])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.64366306e-05, 2.53681276e-05, 1.02636473e-05,-1.60614776e-05,
  6.24996009e-05, 5.27915063e-05, 2.58633636e-05,-1.30033540e-06,
 -2.18030986e-05, 6.62432280e-06,-1.32540211e-05, 2.78807233e-05,
 -2.13473441e-06, 1.02069850e-05, 4.65287671e-06, 1.85338828e-04,
 -2.52987318e+00,-3.38346425e-01,-7.90526326e+00, 1.10581948e-01,
  1.32650066e-01,-7.23586936e-03]


--- Step 1679 ---
qpos:
[-5.67363775e-04, 8.77206770e-01,-2.02735207e-02,-2.75628019e-02,
  7.60706566e-03, 8.64648062e-01,-2.80127104e-02, 9.43964520e-03,
  2.21945623e-02, 8.72969404e-01,-2.02506953e-02, 2.24767068e-02,
  1.36037254e+00,-9.95821434e-03, 1.03820928e+00, 6.12164476e-02,
 -1.35376585e+00, 6.63379807e-03, 7.57349939e-02, 1.14870013e-01,
 -2.36348798e-01, 6.56152838e-01, 7.07394925e-01]

qacc:
[-7.57284449e-02,-1.79254207e+00, 7.06019910e+00,-1.11506974e+01,
  2.76764923e-02,-7.43883943e-01, 7.47463894e-02, 9.64960590e+00,
 -9.46751533e-02,-7.19308458e-01, 5.61797493e+00,-1.43196591e+01,
  1.07486732e-01,-1.40013579e-01,-1.29605719e+01, 4.47191133e+01,
 -3.30597465e+00, 1.33481327e+00,-6.86754005e+00, 5.66655926e+01,
  6.57909654e+01, 7.10716051e+01]

qfrc_actuator:
[ 2.36757251e-03, 2.75775368e-02, 8.74948022e-03, 1.61473592e-03,
 -2.46350106e-05, 2.74670746e-02, 8.69434017e-03, 1.60835348e-03,
 -2.43429778e-03, 2.76427764e-02, 8.75946936e-03, 1.69534818e-03,
  1.61181710e-03,-1.67119317e-03, 0.00000000e+00,-2.10327118e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.0255781 , 3.19012117, 8.0255781 , 7.50077402,
       2.85687053, 3.19012117, 2.85687053, 1.44916405, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.002476179361430214
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34590832, -0.04375845,  0.04876191])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40989307e-05, 1.45387074e-06, 2.59053582e-05,-9.13387771e-06,
  4.94295700e-06, 3.39925588e-05, 5.26548863e-05, 3.56801844e-05,
 -1.75228586e-05, 7.69643309e-05, 2.83215261e-05,-1.91145968e-05,
 -7.21712249e-06, 2.49361440e-06, 1.93195442e-05, 2.22431376e-04,
 -2.74936308e+00,-3.36871651e-01,-8.07854081e+00, 9.99795376e-02,
  1.55253625e-01,-6.66718118e-03]


--- Step 1680 ---
qpos:
[-5.67879507e-04, 8.77206232e-01,-2.02739418e-02,-2.75626579e-02,
  7.60658237e-03, 8.64649136e-01,-2.80126710e-02, 9.43909037e-03,
  2.21940653e-02, 8.72970775e-01,-2.02506444e-02, 2.24766027e-02,
  1.36048263e+00,-9.95733810e-03, 1.03842549e+00, 6.12186766e-02,
 -1.35571736e+00, 6.32940567e-03, 7.59468984e-02, 1.41331519e-01,
 -2.62670641e-01, 6.48065963e-01, 7.00742494e-01]

qacc:
[ 1.03169700e-01, 1.61582725e+00,-6.76382309e+00, 1.18340891e+01,
  2.95786502e-02, 1.28243491e+00,-5.29884784e+00, 1.16156367e+01,
 -6.63860960e-02,-2.45117744e+00, 9.90984618e+00,-1.50262392e+01,
  4.88733786e-01,-1.05827298e+00, 3.09616761e+00,-9.97010258e+00,
 -2.31800871e+00,-3.02294272e-02,-1.01665434e+01,-3.06772329e+01,
  5.81328045e+01, 1.62247205e+01]

qfrc_actuator:
[ 2.39352838e-03, 2.75693209e-02, 8.72569620e-03, 1.62649629e-03,
 -2.15833408e-05, 2.75018224e-02, 8.69930337e-03, 1.62787918e-03,
 -2.43826135e-03, 2.76335642e-02, 8.79396967e-03, 1.68388943e-03,
  1.61344905e-03,-1.70698457e-03, 0.00000000e+00,-2.15712497e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 4.57126962, 7.32736453, 4.57126962, 2.43300145,
       3.87004645, 7.32736453, 3.87004645, 6.2219859 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0021514016452027496
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34574204, -0.043812  ,  0.0489243 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.91738673e-05,-2.42988261e-06,-2.06028282e-05, 1.25426551e-05,
  5.40723091e-06, 6.61470712e-05, 1.97030711e-05, 2.34994713e-05,
 -1.23834900e-05, 3.88299109e-05, 5.32205383e-05,-7.55319327e-06,
 -1.63383444e-06,-3.69533820e-05, 2.95893620e-05,-3.99274267e-05,
 -2.81351434e+00,-3.31112339e-01,-8.25035663e+00, 9.04213160e-02,
  1.69669525e-01,-6.15738906e-03]


--- Step 1681 ---
qpos:
[-5.67952691e-04, 8.77205602e-01,-2.02748415e-02,-2.75626917e-02,
  7.60596083e-03, 8.64650505e-01,-2.80124783e-02, 9.43879116e-03,
  2.21934848e-02, 8.72971638e-01,-2.02501489e-02, 2.24775042e-02,
  1.36059280e+00,-9.95711470e-03, 1.03864181e+00, 6.12202846e-02,
 -1.35767835e+00, 6.02330735e-03, 7.61373120e-02, 1.67612328e-01,
 -2.88629814e-01, 6.38759996e-01, 6.93242097e-01]

qacc:
[ 2.29688315e-01, 8.49025413e-01,-2.45406763e+00, 2.11510199e-01,
 -7.26120510e-02, 4.89074475e-01,-2.25507813e+00, 6.21668149e+00,
 -4.28607211e-02, 1.56730015e-01,-5.77825938e+00, 2.28468184e+01,
  5.21628748e-01,-1.20623246e+00, 2.00381883e+00,-6.85488426e+00,
 -2.36977505e+00,-4.26479929e-01,-5.37271442e+00,-1.50506088e+02,
 -4.33076520e+01,-3.92293850e+01]

qfrc_actuator:
[ 2.42694144e-03, 2.75468223e-02, 8.69405756e-03, 1.61558489e-03,
 -3.73455696e-05, 2.75042001e-02, 8.70223193e-03, 1.63958221e-03,
 -2.44036353e-03, 2.75564008e-02, 8.79642999e-03, 1.73044468e-03,
  1.60513046e-03,-1.74622868e-03, 0.00000000e+00,-2.18983534e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.41155937,  8.52022752, -1.41155937,  0.2587128 ,
       -1.38793847,  8.52022752, -1.38793847,  8.40642171,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017321283108275229
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34744144, -0.04113339,  0.04913394])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.11833803,  3.97374029, -1.08170986,  3.97374029,  5.00033543,
        3.24008196, -1.08170986,  3.24008196, 16.02101608,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -7.744786058309222e-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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.3631989 ,  0.04307629,  0.04996128])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.26391141e-05,-2.75562121e-05,-3.42369969e-05,-1.14830438e-05,
 -1.31811480e-05, 4.44172085e-05, 1.98227119e-05, 1.56754396e-05,
 -8.05356715e-06,-4.48159332e-05, 1.67644002e-05, 4.99120902e-05,
 -1.80322697e-05,-4.81310098e-05, 3.47456028e-06,-3.24821639e-05,
 -2.77912024e+00,-3.26994785e-01,-8.38533392e+00, 8.04226146e-02,
  1.78019614e-01,-5.65859143e-03]


--- Step 1682 ---
qpos:
[-5.67607359e-04, 8.77204936e-01,-2.02761611e-02,-2.75628668e-02,
  7.60499191e-03, 8.64651617e-01,-2.80114074e-02, 9.43865611e-03,
  2.21926698e-02, 8.72972119e-01,-2.02495147e-02, 2.24779271e-02,
  1.36070266e+00,-9.95698718e-03, 1.03885778e+00, 6.12241668e-02,
 -1.35964751e+00, 5.72021049e-03, 7.62874065e-02, 1.93635041e-01,
 -3.14243728e-01, 6.28333636e-01, 6.84801572e-01]

qacc:
[ 2.17219540e-01, 8.34102408e-01,-2.44886777e+00, 7.06290598e-01,
 -1.81819126e-01,-2.45355335e+00, 7.56308815e+00,-5.93969324e+00,
 -1.21660927e-01,-1.87664421e+00, 7.97961114e+00,-1.62033037e+01,
 -3.02317380e-02,-1.38805517e-01,-7.38052790e+00, 2.50741744e+01,
 -2.04355058e+00, 7.50365140e-01,-1.00797834e+01,-9.64299922e+01,
  4.53734711e+00,-4.07765344e+01]

qfrc_actuator:
[ 2.44675302e-03, 2.75513828e-02, 8.67572144e-03, 1.60915832e-03,
 -6.42239723e-05, 2.74693958e-02, 8.73932528e-03, 1.64657035e-03,
 -2.45909520e-03, 2.75278143e-02, 8.79744124e-03, 1.70415597e-03,
  1.58019210e-03,-1.75172017e-03, 0.00000000e+00,-2.06771111e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012864660991370042
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34729869, -0.04117347,  0.04935677])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.09359574,  3.29728838,  2.42598752,  3.29728838,  5.70030191,
       -2.18375962,  2.42598752, -2.18375962,  7.06165932,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -2.4304602786379137e-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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.36313342,  0.04302851,  0.04998785])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.03252348e-05,-1.83826964e-05,-2.86301156e-05,-9.01257305e-06,
 -3.31469513e-05,-5.23712291e-06, 4.92399402e-05, 9.88060990e-06,
 -2.26107537e-05,-4.80733024e-05,-4.46523757e-06,-2.66610376e-05,
 -4.67588089e-05,-2.07263534e-05,-6.38687794e-06, 1.19723303e-04,
 -2.55091840e+00,-3.20549669e-01,-8.53055180e+00, 7.58738112e-02,
  1.78048893e-01,-5.34287498e-03]


--- Step 1683 ---
qpos:
[-5.67309883e-04, 8.77204542e-01,-2.02778805e-02,-2.75631591e-02,
  7.60425305e-03, 8.64652745e-01,-2.80107272e-02, 9.43796893e-03,
  2.21919985e-02, 8.72972495e-01,-2.02487081e-02, 2.24779938e-02,
  1.36081199e+00,-9.95636689e-03, 1.03907363e+00, 6.12297916e-02,
 -1.36162392e+00, 5.41665787e-03, 7.63940370e-02, 2.19282382e-01,
 -3.39456160e-01, 6.16914927e-01, 6.75352297e-01]

qacc:
[-2.52103966e-02, 1.23485370e+00,-3.38659247e+00, 1.79814391e+00,
  1.20564011e-01,-2.37547764e-02, 2.44635329e+00,-1.13894647e+01,
  7.48101564e-02,-1.35224467e+00, 6.12498665e+00,-1.24880208e+01,
 -6.83863556e-01, 1.16849964e+00,-5.39800955e+00, 1.87236533e+01,
 -1.80973951e+00,-1.13937961e-01,-1.08660017e+01,-4.29847793e+01,
  4.28924185e+01, 1.07671777e+00]

qfrc_actuator:
[ 2.42274546e-03, 2.75899126e-02, 8.66549955e-03, 1.60545711e-03,
 -2.64971169e-05, 2.74482232e-02, 8.70736807e-03, 1.61521349e-03,
 -2.43436221e-03, 2.75462048e-02, 8.81546369e-03, 1.68850071e-03,
  1.56129117e-03,-1.71950328e-03, 0.00000000e+00,-1.97960126e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007305210053759753
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.34717478, -0.04120312,  0.04963474])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.60578612e-06, 2.19828979e-05,-1.78418028e-05,-5.65157277e-06,
  2.19492472e-05,-1.35471807e-05,-2.66464949e-05,-2.96872823e-05,
  1.38498938e-05,-1.05778656e-05, 6.61080893e-06,-1.83908071e-05,
 -5.03241292e-05, 1.65356973e-05, 6.91547563e-06, 9.31517319e-05,
 -2.41035763e+00,-3.14171230e-01,-8.64602231e+00, 6.75305964e-02,
  1.81158393e-01,-4.87525911e-03]


--- Step 1684 ---
qpos:
[-5.67370078e-04, 8.77204367e-01,-2.02794708e-02,-2.75635242e-02,
  7.60404870e-03, 8.64653814e-01,-2.80107045e-02, 9.43728611e-03,
  2.21921049e-02, 8.72972738e-01,-2.02476977e-02, 2.24778733e-02,
  1.36092106e+00,-9.95568662e-03, 1.03928942e+00, 6.12367611e-02,
 -1.36360724e+00, 5.11266229e-03, 7.64567324e-02, 2.44516487e-01,
 -3.64227499e-01, 6.04519796e-01, 6.64910394e-01]

qacc:
[ -0.18585331, -0.22172189,  1.51596963, -3.14051847,  0.28036491,
   1.76615394, -6.43037163,  7.60321564,  0.4042502 , -1.13109512,
   4.56801436, -8.03790109, -0.18188142,  0.21113228, -4.13162819,
  14.35979061, -1.73096325, -0.11074344,-10.98377205,-45.31788129,
  39.949936  ,  1.03947559]

qfrc_actuator:
[ 2.39049802e-03, 2.76130246e-02, 8.67804665e-03, 1.60342370e-03,
  1.40491301e-05, 2.74350589e-02, 8.67040350e-03, 1.61475815e-03,
 -2.36608226e-03, 2.75393989e-02, 8.82585111e-03, 1.67929454e-03,
  1.55136851e-03,-1.71846955e-03, 0.00000000e+00,-1.91227824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -5.5306690575185335e-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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.3470844 , -0.04123494,  0.04997235])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.44584194e-05, 3.14996528e-05, 1.47100372e-05,-1.81638765e-06,
  5.09920508e-05,-2.75432987e-05,-4.40866549e-05,-2.53786350e-06,
  7.49441571e-05,-1.21585144e-05, 8.37067962e-06,-9.79074127e-06,
 -3.45016031e-05,-6.83394132e-06, 9.01961334e-06, 7.23571988e-05,
 -2.34341899e+00,-3.08361840e-01,-8.75595035e+00, 5.61392145e-02,
  1.87027803e-01,-4.28084492e-03]


--- Step 1685 ---
qpos:
[-5.67247914e-04, 8.77204240e-01,-2.02808681e-02,-2.75632030e-02,
  7.60416518e-03, 8.64654613e-01,-2.80108484e-02, 9.43763239e-03,
  2.21930054e-02, 8.72972933e-01,-2.02474485e-02, 2.24780449e-02,
  1.36103002e+00,-9.95529935e-03, 1.03950542e+00, 6.12428108e-02,
 -1.36559714e+00, 4.80823782e-03, 7.64750424e-02, 2.69300203e-01,
 -3.88518765e-01, 5.91165618e-01, 6.53493522e-01]

qacc:
[  0.09489127,  0.93855356, -6.14377208, 17.66282337,  0.16857776,
   2.22303795,-12.79257466, 31.07273216,  0.41215065,  2.66371858,
 -10.82462897, 17.13607218,  0.09484076, -0.38048924,  3.06833436,
 -10.3199668 , -1.64351118, -0.1072218 ,-11.09634033,-47.48750705,
  36.84520735,  0.9874782 ]

qfrc_actuator:
[ 2.42464613e-03, 2.76090781e-02, 8.68613355e-03, 1.63789863e-03,
  2.03852855e-05, 2.74267679e-02, 8.66636287e-03, 1.66801336e-03,
 -2.32562349e-03, 2.75175459e-02, 8.77829922e-03, 1.69168413e-03,
  1.54682921e-03,-1.73591005e-03, 0.00000000e+00,-1.96424221e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.75746764e-05, 1.66401304e-05, 1.63557497e-05, 3.63004920e-05,
  3.06029588e-05,-3.29248853e-05,-1.52571844e-05, 5.04984837e-05,
  7.65182371e-05,-2.73467472e-05,-4.93812618e-05, 1.19649204e-05,
 -2.57096615e-05,-2.70338358e-05, 7.70889014e-06,-4.78308410e-05,
 -2.26935239e+00,-3.02135497e-01,-8.86074338e+00, 4.42733305e-02,
  1.92033526e-01,-3.65714608e-03]


--- Step 1686 ---
qpos:
[-5.66826930e-04, 8.77203909e-01,-2.02822838e-02,-2.75624237e-02,
  7.60428557e-03, 8.64655525e-01,-2.80117569e-02, 9.43826031e-03,
  2.21941629e-02, 8.72972799e-01,-2.02482013e-02, 2.24780725e-02,
  1.36113877e+00,-9.95485705e-03, 1.03972155e+00, 6.12471956e-02,
 -1.36759324e+00, 4.50339995e-03, 7.64485403e-02, 2.93597134e-01,
 -4.12291672e-01, 5.76871182e-01, 6.41120846e-01]

qacc:
[ 1.55352723e-01, 7.26993505e-01,-4.91089227e+00, 1.30091657e+01,
  1.54265324e-03, 2.86326574e+00,-1.11821965e+01, 1.71992670e+01,
  1.33002319e-01, 2.06782641e+00,-7.39475935e+00, 6.74419565e+00,
 -3.02964701e-01, 4.10557456e-01, 5.24155584e+00,-1.80133682e+01,
 -1.54763349e+00,-1.03348588e-01,-1.12030330e+01,-4.94848837e+01,
  3.35894549e+01, 9.21062016e-01]

qfrc_actuator:
[ 2.44497671e-03, 2.75712269e-02, 8.67367620e-03, 1.65804333e-03,
  6.19524662e-06, 2.74393888e-02, 8.62859067e-03, 1.68145788e-03,
 -2.33769014e-03, 2.74688794e-02, 8.71461992e-03, 1.68112121e-03,
  1.54018814e-03,-1.72860082e-03, 0.00000000e+00,-2.05054654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.87884647e-05,-2.36001428e-05,-5.73902936e-06, 2.21314703e-05,
  3.70820401e-07,-6.79206514e-06,-4.47102475e-05, 1.24867549e-05,
  2.47482300e-05,-7.36413141e-05,-7.50009871e-05,-1.32126564e-05,
 -2.78068914e-05,-4.82720129e-06,-6.63538803e-06,-8.91329908e-05,
 -2.18850329e+00,-2.95496883e-01,-8.95987284e+00, 3.20000037e-02,
  1.96137453e-01,-3.00787794e-03]


--- Step 1687 ---
qpos:
[-5.66139162e-04, 8.77203259e-01,-2.02834282e-02,-2.75621037e-02,
  7.60413206e-03, 8.64656147e-01,-2.80126615e-02, 9.43835294e-03,
  2.21949941e-02, 8.72972073e-01,-2.02490209e-02, 2.24769074e-02,
  1.36124724e+00,-9.95407601e-03, 1.03993774e+00, 6.12494970e-02,
 -1.36959510e+00, 4.19816569e-03, 7.63768255e-02, 3.17371693e-01,
 -4.35508689e-01, 5.61656667e-01, 6.27813013e-01]

qacc:
[  0.13888312, -2.12804853,  8.90769869,-17.04798409, -0.1437943 ,
  -1.49611115,  7.0371181 ,-16.09593144, -0.16943952, -3.04936625,
  14.77338819,-34.8746145 , -0.59274711,  1.01508357,  6.42079477,
 -22.24528693, -1.44363589, -0.09909957,-11.3031724 ,-51.30186777,
  30.19449848,  0.84077986]

qfrc_actuator:
[ 2.45682738e-03, 2.75487705e-02, 8.68453181e-03, 1.63403821e-03,
 -2.01218993e-05, 2.74110226e-02, 8.62450215e-03, 1.65359917e-03,
 -2.38105257e-03, 2.74399296e-02, 8.71281981e-03, 1.62160096e-03,
  1.53230021e-03,-1.70667259e-03, 0.00000000e+00,-2.15634196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.56997228e-05,-3.58707793e-05, 6.05262590e-06,-2.47816742e-05,
 -2.61410949e-05,-4.08786010e-05,-1.05689179e-05,-2.94550928e-05,
 -3.14631299e-05,-8.61729380e-05,-2.66998688e-05,-6.55274844e-05,
 -2.52009269e-05, 1.45899170e-05,-1.74083445e-05,-1.12660076e-04,
 -2.10125868e+00,-2.88451498e-01,-9.05282747e+00, 1.93892392e-02,
  1.99306667e-01,-2.33690566e-03]


--- Step 1688 ---
qpos:
[-5.65438025e-04, 8.77202492e-01,-2.02845112e-02,-2.75620854e-02,
  7.60368516e-03, 8.64655995e-01,-2.80128297e-02, 9.43812252e-03,
  2.21953967e-02, 8.72971216e-01,-2.02498529e-02, 2.24753193e-02,
  1.36135562e+00,-9.95311742e-03, 1.04015369e+00, 6.12514909e-02,
 -1.37160230e+00, 3.89255362e-03, 7.62595264e-02, 3.40589144e-01,
 -4.58133096e-01, 5.45543606e-01, 6.13592108e-01]

qacc:
[ 7.01058891e-03,-9.46642010e-01, 4.42114836e+00,-9.64588934e+00,
 -1.53391407e-01,-3.73909072e+00, 1.32173480e+01,-1.94222145e+01,
 -2.22660136e-01,-1.00739922e+00, 5.12910333e+00,-1.23358886e+01,
 -2.05025200e-01, 3.99267464e-01, 5.81391576e-01,-2.52745075e+00,
 -1.33188322e+00,-9.44511244e-02,-1.13960823e+01,-5.29309752e+01,
  2.66727110e+01, 7.47395357e-01]

qfrc_actuator:
[ 2.44574997e-03, 2.75535016e-02, 8.69134004e-03, 1.61978285e-03,
 -3.56864445e-05, 2.73584240e-02, 8.65791380e-03, 1.63716808e-03,
 -2.40720671e-03, 2.74764641e-02, 8.72986036e-03, 1.60482313e-03,
  1.53965527e-03,-1.69403131e-03, 0.00000000e+00,-2.16623184e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.28519872e-06,-1.51121246e-05,-6.98735827e-07,-1.60619634e-05,
 -2.80108388e-05,-7.89127443e-05, 2.26498397e-05,-1.91209239e-05,
 -4.13040429e-05,-1.99528913e-05,-6.30042145e-06,-2.26653642e-05,
 -4.05006639e-06, 1.05237264e-05,-2.45985243e-05,-1.93513079e-05,
 -2.00804715e+00,-2.81005799e-01,-9.13911675e+00, 6.51358258e-03,
  2.01513667e-01,-1.64822123e-03]


--- Step 1689 ---
qpos:
[-5.64802421e-04, 8.77201676e-01,-2.02855500e-02,-2.75622459e-02,
  7.60300444e-03, 8.64655188e-01,-2.80126105e-02, 9.43805159e-03,
  2.21957995e-02, 8.72970731e-01,-2.02513245e-02, 2.24735199e-02,
  1.36146392e+00,-9.95199622e-03, 1.04036910e+00, 6.12563202e-02,
 -1.37361434e+00, 3.58658402e-03, 7.60963029e-02, 3.63215652e-01,
 -4.80129049e-01, 5.28554848e-01, 5.98481628e-01]

qacc:
[-3.40167245e-02,-5.56074352e-01, 2.64329701e+00,-5.77095963e+00,
 -1.22331661e-01,-1.61893020e+00, 3.84296485e+00,-1.22160833e+00,
 -4.04603800e-04, 1.84141574e+00,-4.96289588e+00, 2.05570256e+00,
 -2.03371545e-02, 1.08774541e-01,-9.35149868e+00, 3.15714689e+01,
 -1.21280253e+00,-8.93807212e-02,-1.14810930e+01,-5.43654095e+01,
  2.30369731e+01, 6.41874199e-01]

qfrc_actuator:
[ 2.43881505e-03, 2.75567171e-02, 8.69582142e-03, 1.61140322e-03,
 -4.46703792e-05, 2.73273892e-02, 8.67758626e-03, 1.64534805e-03,
 -2.38729782e-03, 2.75165583e-02, 8.70491966e-03, 1.59564551e-03,
  1.53484492e-03,-1.68693651e-03, 0.00000000e+00,-2.01300520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.31584969e-06,-6.04134891e-06, 7.32532794e-07,-9.36070962e-06,
 -2.23254013e-05,-7.13005331e-05, 5.50698775e-06, 5.21206279e-06,
  3.06752099e-08, 2.66887510e-05,-3.06062307e-05,-1.06863649e-05,
 -5.17243244e-06, 8.97157136e-06,-1.64506193e-05, 1.48278166e-04,
 -1.90933863e+00,-2.73167330e-01,-9.21827460e+00,-6.55230317e-03,
  2.02736558e-01,-9.45919975e-04]


--- Step 1690 ---
qpos:
[-5.63691094e-04, 8.77200960e-01,-2.02862888e-02,-2.75632335e-02,
  7.60253235e-03, 8.64653979e-01,-2.80125004e-02, 9.43773556e-03,
  2.21963248e-02, 8.72970502e-01,-2.02533847e-02, 2.24716354e-02,
  1.36157198e+00,-9.95091028e-03, 1.04058454e+00, 6.12615660e-02,
 -1.37563073e+00, 3.28027896e-03, 7.58868492e-02, 3.85218320e-01,
 -5.01461629e-01, 5.10714532e-01, 5.82506436e-01]

qacc:
[  0.24731176, -2.41049146, 12.26670822,-27.11362603,  0.10964121,
  -0.72827873,  2.86354049, -6.63694514,  0.0631463 ,  1.80806231,
  -5.59571362,  4.87540651, -0.13713708,  0.09010252, -1.21043206,
   4.30870783, -1.08688557, -0.0838673 ,-11.55754817,-55.59908649,
  19.3006257 ,  0.52537224]

qfrc_actuator:
[ 2.48769707e-03, 2.75767542e-02, 8.71665182e-03, 1.57104175e-03,
 -1.41429019e-05, 2.73094847e-02, 8.67131693e-03, 1.63243608e-03,
 -2.37551378e-03, 2.75228339e-02, 8.67317499e-03, 1.59098546e-03,
  1.50143586e-03,-1.70097831e-03, 0.00000000e+00,-1.99571265e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.58451714e-05, 1.64349904e-05, 1.93633980e-05,-4.07739039e-05,
  1.98927740e-05,-5.63985066e-05,-2.01308819e-05,-1.56733781e-05,
  1.18003196e-05, 1.44464817e-05,-3.03542222e-05,-4.77784795e-06,
 -3.44349326e-05,-1.29687157e-05, 6.37297440e-06, 2.28252160e-05,
 -1.80564379e+00,-2.64944866e-01,-9.28986322e+00,-1.97320736e-02,
  2.02959215e-01,-2.34176658e-04]


--- Step 1691 ---
qpos:
[-5.62791051e-04, 8.77200544e-01,-2.02868975e-02,-2.75643662e-02,
  7.60272431e-03, 8.64652375e-01,-2.80122028e-02, 9.43724615e-03,
  2.21966108e-02, 8.72970907e-01,-2.02558133e-02, 2.24706814e-02,
  1.36167976e+00,-9.95015807e-03, 1.04080047e+00, 6.12629632e-02,
 -1.37765094e+00, 2.97366233e-03, 7.56308963e-02, 4.06565235e-01,
 -5.22096902e-01, 4.92048046e-01, 5.65692722e-01]

qacc:
[ -0.10981826, -0.26659331,  2.13608385, -5.0724634 ,  0.34904993,
  -1.40413726,  4.97835355, -7.98839541, -0.1247144 ,  3.77931479,
 -16.19059432, 32.41827989, -0.17571531, -0.06827464, 12.34851819,
 -42.14236251, -0.95469048, -0.07789175,-11.62481186,-56.62665681,
  15.47742181,  0.39922071]

qfrc_actuator:
[ 2.44528579e-03, 2.76067556e-02, 8.72926566e-03, 1.56546876e-03,
  3.97425093e-05, 2.72994657e-02, 8.68532947e-03, 1.62496237e-03,
 -2.40423216e-03, 2.75975474e-02, 8.67305811e-03, 1.64225215e-03,
  1.47218766e-03,-1.72756924e-03, 0.00000000e+00,-2.20071694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.03501157e-05, 4.14722617e-05, 1.69934946e-05,-4.99073861e-06,
  6.33469512e-05,-4.63539678e-05,-6.49248178e-07,-1.08900098e-05,
 -2.30405280e-05, 7.63439903e-05,-1.01693292e-06, 5.07484340e-05,
 -5.19137522e-05,-3.75660940e-05, 9.08778142e-07,-2.03985318e-04,
 -1.69751299e+00,-2.56348549e-01,-9.35347709e+00,-3.29481509e-02,
  2.02171406e-01, 4.82778648e-04]


--- Step 1692 ---
qpos:
[-5.62996071e-04, 8.77200415e-01,-2.02873945e-02,-2.75648639e-02,
  7.60338013e-03, 8.64650443e-01,-2.80118516e-02, 9.43805212e-03,
  2.21969716e-02, 8.72971691e-01,-2.02581493e-02, 2.24700033e-02,
  1.36178717e+00,-9.94944488e-03, 1.04101672e+00, 6.12592245e-02,
 -1.37967442e+00, 2.66675996e-03, 7.53282142e-02, 4.27225506e-01,
 -5.42001972e-01, 4.72581989e-01, 5.48067964e-01]

qacc:
[-5.74223434e-01, 1.37647439e+00,-7.03013876e+00, 1.76172487e+01,
  2.43873876e-01, 2.08273821e+00,-1.35237347e+01, 3.61019214e+01,
  3.88325475e-02, 8.10881548e-01,-3.32812192e+00, 7.67638240e+00,
 -5.46573658e-01, 6.49768111e-01, 1.60101288e+01,-5.52610745e+01,
 -8.16842731e-01,-7.14372912e-02,-1.16822758e+01,-5.74435260e+01,
  1.15814770e+01, 2.64908628e-01]

qfrc_actuator:
[ 2.34859524e-03, 2.76247430e-02, 8.73699933e-03, 1.59817041e-03,
  5.38459099e-05, 2.72943344e-02, 8.69350533e-03, 1.69178845e-03,
 -2.38592876e-03, 2.76063279e-02, 8.67418042e-03, 1.65508285e-03,
  1.45609885e-03,-1.72587181e-03, 0.00000000e+00,-2.46399030e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.06475066e-04, 4.44850197e-05, 1.82279695e-05, 3.49709143e-05,
  4.42479089e-05,-3.16076107e-05,-1.84415587e-06, 6.46074497e-05,
  7.22482917e-06, 5.34448837e-05, 1.85394536e-05, 1.70595380e-05,
 -5.47932122e-05,-1.89491317e-05,-2.77438722e-05,-2.75794394e-04,
 -1.58553488e+00,-2.47390034e-01,-9.40874705e+00,-4.61221804e-02,
  2.00368889e-01, 1.20068483e-03]


--- Step 1693 ---
qpos:
[-5.63774336e-04, 8.77200429e-01,-2.02876723e-02,-2.75656453e-02,
  7.60396752e-03, 8.64648570e-01,-2.80118240e-02, 9.43928334e-03,
  2.21974807e-02, 8.72972069e-01,-2.02603035e-02, 2.24688901e-02,
  1.36189432e+00,-9.94879832e-03, 1.04123260e+00, 6.12540031e-02,
 -1.38170060e+00, 2.35959962e-03, 7.49786147e-02, 4.47169302e-01,
 -5.61145031e-01, 4.52344139e-01, 5.29660882e-01]

qacc:
[-2.97801790e-01,-1.00866629e+00, 5.06389001e+00,-1.04230743e+01,
 -3.61418683e-02, 1.85380887e+00,-8.29595568e+00, 1.61333739e+01,
  7.72542779e-02,-1.94012269e+00, 7.97538205e+00,-1.54975215e+01,
 -2.08788347e-01, 1.70520097e-01, 3.94732477e+00,-1.45729271e+01,
 -6.74035009e-01,-6.44899471e-02,-1.17293675e+01,-5.80458717e+01,
  7.62721921e+00, 1.24062797e-01]

qfrc_actuator:
[ 2.34458386e-03, 2.76176620e-02, 8.74177132e-03, 1.58210415e-03,
  2.62620429e-05, 2.73099767e-02, 8.68048564e-03, 1.71303186e-03,
 -2.37513598e-03, 2.75222912e-02, 8.65798008e-03, 1.62738169e-03,
  1.45325069e-03,-1.72511522e-03, 0.00000000e+00,-2.52861411e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.52327073e-05, 2.30498235e-05, 1.74212070e-05,-1.28471826e-05,
 -6.52886796e-06, 4.02783810e-07,-1.75279158e-05, 2.10834195e-05,
  1.42748886e-05,-4.95880435e-05,-2.27402695e-06,-2.44340840e-05,
 -3.91601890e-05,-1.60149621e-05,-4.78725356e-05,-8.45670382e-05,
 -1.47033442e+00,-2.38082623e-01,-9.45534436e+00,-5.91754937e-02,
  1.97553465e-01, 1.91527400e-03]


--- Step 1694 ---
qpos:
[-5.64293829e-04, 8.77200278e-01,-2.02869077e-02,-2.75662851e-02,
  7.60434677e-03, 8.64646993e-01,-2.80120299e-02, 9.43968637e-03,
  2.21977568e-02, 8.72971987e-01,-2.02625581e-02, 2.24678276e-02,
  1.36200130e+00,-9.94821328e-03, 1.04144783e+00, 6.12509847e-02,
 -1.38372888e+00, 2.05221113e-03, 7.45819530e-02, 4.66367890e-01,
 -5.79495407e-01, 4.31363412e-01, 5.10501391e-01]

qacc:
[ 1.35167223e-01,-2.83789021e+00, 9.20510706e+00,-8.30109843e+00,
 -1.09630102e-01,-6.59862296e-01, 6.41890503e+00,-2.05992818e+01,
 -1.20926051e-01,-2.23288371e-01,-3.00032416e-01, 1.67531394e+00,
  5.83135983e-02,-1.95424809e-01,-7.62711903e+00, 2.52625507e+01,
 -5.27026187e-01,-5.70389294e-02,-1.17655585e+01,-5.84306584e+01,
  3.62933738e+00,-2.15745040e-02]

qfrc_actuator:
[ 2.39609018e-03, 2.76133225e-02, 8.79787202e-03, 1.59069984e-03,
  9.51782330e-06, 2.73378294e-02, 8.67285698e-03, 1.67177238e-03,
 -2.40445815e-03, 2.74897148e-02, 8.64901241e-03, 1.62921995e-03,
  1.45302383e-03,-1.72487991e-03, 0.00000000e+00,-2.40463654e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.49361484e-05, 1.15950921e-05, 6.25665925e-05, 9.93732204e-06,
 -1.98516682e-05, 2.54030697e-05,-8.96259946e-06,-4.14374947e-05,
 -2.24601606e-05,-6.18104280e-05,-2.03201759e-05,-8.36923968e-07,
 -2.69263846e-05,-1.22176065e-05,-3.36739139e-05, 1.12607319e-04,
 -1.35257052e+00,-2.28441401e-01,-9.49298484e+00,-7.20295760e-02,
  1.93733002e-01, 2.62229566e-03]


--- Step 1695 ---
qpos:
[-5.64551820e-04, 8.77200095e-01,-2.02854635e-02,-2.75668091e-02,
  7.60452135e-03, 8.64645683e-01,-2.80118252e-02, 9.43989567e-03,
  2.21981070e-02, 8.72971648e-01,-2.02649782e-02, 2.24664284e-02,
  1.36210799e+00,-9.94736042e-03, 1.04166262e+00, 6.12510822e-02,
 -1.38575867e+00, 1.74462632e-03, 7.41381298e-02, 4.84793670e-01,
 -5.97023619e-01, 4.09669826e-01, 4.90620556e-01]

qacc:
[ 1.36317182e-01,-1.70245797e+00, 5.52061009e+00,-4.58248664e+00,
 -1.07356038e-01,-1.19089280e+00, 5.57810294e+00,-9.78608078e+00,
  3.84331809e-02,-5.69184963e-01, 2.95855844e+00,-8.33072859e+00,
 -2.43788088e-01, 4.40154915e-01,-1.00312800e+01, 3.42043109e+01,
 -3.76639179e-01,-4.90770409e-02,-1.17903726e+01,-5.85956496e+01,
 -3.97270095e-01,-1.70169678e-01]

qfrc_actuator:
[ 2.40929387e-03, 2.76108781e-02, 8.83060114e-03, 1.59602816e-03,
 -5.55521804e-07, 2.73727465e-02, 8.70400744e-03, 1.66510502e-03,
 -2.38651689e-03, 2.74882306e-02, 8.64459391e-03, 1.61296493e-03,
  1.44372013e-03,-1.70718319e-03, 0.00000000e+00,-2.24160123e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.52011182e-05, 1.73876214e-05, 4.31709516e-05, 8.18304568e-06,
 -1.95178832e-05, 4.55318059e-05, 3.38721293e-05,-6.69335092e-06,
  7.12549489e-06,-4.02624243e-05,-1.96974949e-05,-1.96179643e-05,
 -2.77807843e-05, 8.79296909e-06,-4.84880584e-06, 1.64551407e-04,
 -1.23293307e+00,-2.18483371e-01,-9.52143281e+00,-8.46065340e-02,
  1.88921422e-01, 3.31754061e-03]


--- Step 1696 ---
qpos:
[-5.64786532e-04, 8.77199973e-01,-2.02846696e-02,-2.75682199e-02,
  7.60453566e-03, 8.64644914e-01,-2.80116939e-02, 9.44071143e-03,
  2.21986028e-02, 8.72970184e-01,-2.02674349e-02, 2.24666757e-02,
  1.36221431e+00,-9.94623391e-03, 1.04187754e+00, 6.12514330e-02,
 -1.38778935e+00, 1.43687912e-03, 7.36470930e-02, 5.02420211e-01,
 -6.13701416e-01, 3.87294455e-01, 4.70050538e-01]

qacc:
[ 1.16366258e-02, 7.03320005e-02, 3.60032679e+00,-1.79336516e+01,
 -8.43816978e-02, 2.16602940e+00,-9.24781971e+00, 1.94662586e+01,
  7.61119990e-02, 2.00185115e+00,-1.62488085e+01, 4.56320619e+01,
 -4.88396691e-01, 7.78685301e-01,-5.48565578e-01, 2.25852559e+00,
 -2.23757697e-01,-4.06010487e-02,-1.18033943e+01,-5.85394177e+01,
 -4.43754779e+00,-3.19823550e-01]

qfrc_actuator:
[ 2.39940975e-03, 2.75739987e-02, 8.77824265e-03, 1.54610743e-03,
 -6.54655504e-06, 2.74118130e-02, 8.70461689e-03, 1.69664238e-03,
 -2.37593663e-03, 2.73811140e-02, 8.62525753e-03, 1.69273667e-03,
  1.41833526e-03,-1.69706700e-03, 0.00000000e+00,-2.23445176e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.24132848e-06,-1.78939820e-05,-4.31757809e-05,-4.75246758e-05,
 -1.52752928e-05, 7.12624480e-05, 1.39634825e-05, 3.45318389e-05,
  1.40019064e-05,-1.34510018e-04,-3.07344011e-05, 7.69889551e-05,
 -3.90489336e-05, 5.74978423e-06, 1.28188885e-05, 1.49472746e-05,
 -1.11213959e+00,-2.08227568e-01,-9.54050498e+00,-9.68295631e-02,
  1.83138653e-01, 3.99686455e-03]


--- Step 1697 ---
qpos:
[-5.64886455e-04, 8.77199583e-01,-2.02841133e-02,-2.75698572e-02,
  7.60462300e-03, 8.64644921e-01,-2.80122626e-02, 9.44260250e-03,
  2.21988632e-02, 8.72967342e-01,-2.02696690e-02, 2.24685834e-02,
  1.36232039e+00,-9.94500744e-03, 1.04209297e+00, 6.12478611e-02,
 -1.38982032e+00, 1.12900547e-03, 7.31088390e-02, 5.19222281e-01,
 -6.29501828e-01, 3.64269399e-01, 4.48824550e-01]

qacc:
[ 6.99759647e-02,-1.56646809e-01, 9.99836824e-01,-4.33990217e+00,
  3.77097728e-02, 5.18778775e+00,-2.15547783e+01, 4.07213168e+01,
 -1.21643597e-01, 9.73393190e-01,-1.31255036e+01, 4.25242521e+01,
 -4.92214820e-01, 7.14804518e-01, 1.26384213e+01,-4.30409254e+01,
 -6.93218690e-02,-3.16120299e-02,-1.18042771e+01,-5.82613514e+01,
 -8.47633607e+00,-4.68598294e-01]

qfrc_actuator:
[ 2.41131183e-03, 2.75518831e-02, 8.76465286e-03, 1.53500402e-03,
  7.70188918e-06, 2.74529883e-02, 8.66946883e-03, 1.75037989e-03,
 -2.40537945e-03, 2.73003520e-02, 8.63241297e-03, 1.77501827e-03,
  1.40994846e-03,-1.69161208e-03, 0.00000000e+00,-2.44348605e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.29794069e-05,-4.30718115e-05,-2.42511737e-05,-1.42878896e-05,
  6.98625413e-06, 8.54011584e-05,-1.75107545e-05, 5.79460303e-05,
 -2.27272482e-05,-1.58972385e-04,-2.17194511e-05, 7.69573293e-05,
 -2.91814026e-05,-2.25415328e-06, 2.51182670e-06,-2.07713278e-04,
 -9.90931237e-01,-1.97695181e-01,-9.55007404e+00,-1.08623410e-01,
  1.76410542e-01, 4.65621124e-03]


--- Step 1698 ---
qpos:
[-5.64663683e-04, 8.77199150e-01,-2.02835714e-02,-2.75716597e-02,
  7.60483395e-03, 8.64645394e-01,-2.80131143e-02, 9.44478872e-03,
  2.21988269e-02, 8.72964500e-01,-2.02714339e-02, 2.24691946e-02,
  1.36242632e+00,-9.94352837e-03, 1.04230802e+00, 6.12448369e-02,
 -1.39179217e+00, 7.03398843e-04, 7.25350350e-02, 5.36238324e-01,
 -6.41325064e-01, 3.41854487e-01, 4.29285607e-01]

qacc:
[ 1.67680155e-01,-3.57522138e-01, 1.88566312e+00,-4.68325744e+00,
  6.46022909e-02, 2.01146793e+00,-7.52716754e+00, 1.27484311e+01,
 -1.53942225e-01,-3.97769271e+00, 1.96577131e+01,-4.28475880e+01,
 -2.65365503e-01, 5.13669971e-01,-2.19821113e+00, 6.91351497e+00,
  1.47767450e+01,-2.94332420e+01,-8.88752199e+00, 9.29728543e+02,
 -1.30442227e+03, 1.30731323e+03]

qfrc_actuator:
[ 2.43616480e-03, 2.75744352e-02, 8.77417156e-03, 1.52913284e-03,
  1.61722038e-05, 2.74594727e-02, 8.64902742e-03, 1.76346815e-03,
 -2.42300803e-03, 2.73958791e-02, 8.69072424e-03, 1.71611207e-03,
  1.41708773e-03,-1.67113706e-03, 0.00000000e+00,-2.40535053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -6.32197515, -5.88382589, -6.32197515,  5.77213685,
        3.07751638, -5.88382589,  3.07751638,  5.32967468,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017316976111279095
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4201594 ,  0.07123288,  0.04913415])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.10935393e-05,-7.14282352e-06,-2.85665013e-06,-8.82999674e-06,
  1.18052295e-05, 5.31072882e-05,-2.95420804e-06, 1.72668444e-05,
 -2.85908700e-05, 5.52159645e-06, 2.54999503e-05,-6.49676764e-05,
 -1.04223137e-05, 1.34424415e-05,-2.74652529e-05, 2.56171210e-05,
 -8.70068409e-01,-1.86909643e-01,-9.55007203e+00,-1.19914828e-01,
  1.68768739e-01, 5.29163508e-03]


--- Step 1699 ---
qpos:
[-5.64133831e-04, 8.77198642e-01,-2.02829187e-02,-2.75738691e-02,
  7.60515530e-03, 8.64646444e-01,-2.80144550e-02, 9.44573389e-03,
  2.21987242e-02, 8.72961502e-01,-2.02724641e-02, 2.24684042e-02,
  1.36253203e+00,-9.94176924e-03, 1.04252284e+00, 6.12425743e-02,
 -1.39356276e+00, 3.06751297e-04, 7.21873535e-02, 5.51560044e-01,
 -6.51273247e-01, 3.20588700e-01, 4.10910648e-01]

qacc:
[ 1.59642867e-01,-1.24747295e+00, 6.01714372e+00,-1.31743914e+01,
  5.74138224e-02,-4.24224346e-01, 7.86136455e+00,-2.89858871e+01,
 -3.40352778e-02,-5.13883457e+00, 2.39463619e+01,-4.92679263e+01,
 -3.36275196e-01, 6.11448552e-01,-2.61966134e+00, 8.71811718e+00,
  5.03159145e+01, 7.23976876e+00, 5.65306096e+01, 7.10202706e+00,
 -1.78034538e+02, 1.36556847e+03]

qfrc_actuator:
[ 2.45079386e-03, 2.75704132e-02, 8.77967471e-03, 1.50867749e-03,
  2.10958511e-05, 2.74806476e-02, 8.61952051e-03, 1.69925899e-03,
 -2.41563998e-03, 2.73833225e-02, 8.72613533e-03, 1.64579646e-03,
  1.40158855e-03,-1.65959524e-03, 0.00000000e+00,-2.36383548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.51048736, -4.26372566, -7.51048736, 11.12955589,
       -4.39171991, -4.26372566, -4.39171991, 16.3723109 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003339877008246575
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42042184,  0.07115123,  0.04833006])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.53290775, -0.27990564, -4.52425746, -0.27990564, 11.50388646,
       -0.43127878, -4.52425746, -0.43127878,  4.55959   ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00029769467077261913
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41071125,  0.01343631,  0.04985115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.95886327e-05,-8.97184409e-06, 3.37200824e-06,-2.10297591e-05,
  1.05485860e-05, 5.09945302e-05,-1.83056240e-05,-6.17029167e-05,
 -6.39418239e-06,-6.91004988e-06, 3.74798150e-05,-7.04547179e-05,
 -1.87133971e-05, 1.25711796e-05,-1.24198846e-05, 3.88059090e-05,
  1.07040661e+00, 1.91915641e-01,-9.80567808e+00,-5.00184046e-02,
  2.20372516e-01, 4.46938430e-03]


--- Step 1700 ---
qpos:
[-5.63737633e-04, 8.77197821e-01,-2.02823902e-02,-2.75759138e-02,
  7.60518602e-03, 8.64647924e-01,-2.80158849e-02, 9.44658463e-03,
  2.21988205e-02, 8.72958356e-01,-2.02730948e-02, 2.24678357e-02,
  1.36263766e+00,-9.94035816e-03, 1.04273796e+00, 6.12374489e-02,
 -1.39517498e+00,-5.80792298e-05, 7.20430854e-02, 5.65381259e-01,
 -6.59823283e-01, 3.00347921e-01, 3.93406144e-01]

qacc:
[-6.94122617e-02, 2.72666780e-01,-2.26577179e+00, 5.54150003e+00,
 -1.52876281e-01, 6.21666036e-01,-9.94687505e-01,-8.12501125e-01,
  1.03683258e-01,-8.54644691e-01, 1.82654217e+00, 1.48552328e+00,
  4.11770820e-02,-3.30717023e-01, 9.07630917e+00,-3.11330775e+01,
  3.95934179e+01, 7.95425498e+00, 5.08533775e+01,-3.19982201e+01,
 -4.75100027e+01, 1.10681722e+03]

qfrc_actuator:
[ 2.42366984e-03, 2.75327431e-02, 8.76489646e-03, 1.51528493e-03,
 -1.16500147e-05, 2.75103381e-02, 8.62039863e-03, 1.69660533e-03,
 -2.39338564e-03, 2.73770809e-02, 8.74735335e-03, 1.65802217e-03,
  1.38316972e-03,-1.68904709e-03, 0.00000000e+00,-2.51600469e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.71435771, -3.88271323, -7.71435771, 10.20002271,
       -3.10675157, -3.88271323, -3.10675157, 14.80900414,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004470149001942925
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42055983,  0.07110648,  0.04776493])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.36594043,  8.52765991, -1.36594043, 52.31555834,
        6.99643029,  8.52765991,  6.99643029,  9.75703532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016444524131151508
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41097092,  0.01336022,  0.04917777])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28884648e-05,-4.28778754e-05,-1.69418493e-05, 5.93322758e-06,
 -2.77179125e-05, 5.17666616e-05, 7.01954612e-06,-2.30456469e-06,
  1.91705398e-05,-5.30484899e-06, 2.20021477e-05, 1.18624969e-05,
 -2.63461136e-05,-3.06713176e-05,-4.82724726e-06,-1.52390595e-04,
  1.22979566e+00, 2.46594768e-01,-9.43079842e+00,-5.14436101e-02,
  2.09022491e-01, 4.77107959e-03]


--- Step 1701 ---
qpos:
[-5.63759666e-04, 8.77196740e-01,-2.02821283e-02,-2.75764786e-02,
  7.60487426e-03, 8.64649508e-01,-2.80169287e-02, 9.44809594e-03,
  2.21993334e-02, 8.72955634e-01,-2.02731292e-02, 2.24669844e-02,
  1.36274316e+00,-9.93927511e-03, 1.04295307e+00, 6.12302015e-02,
 -1.39666910e+00,-3.93362243e-04, 7.20703179e-02, 5.77935082e-01,
 -6.67334889e-01, 2.80914904e-01, 3.76486394e-01]

qacc:
[-2.17334203e-01, 3.45195185e+00,-1.90341372e+01, 4.52287303e+01,
 -1.79651974e-01, 4.17913996e-01,-4.08037639e+00, 1.48201215e+01,
  2.16680030e-01,-1.68649849e+00, 8.02170937e+00,-1.41818259e+01,
  4.24390414e-02,-3.36312911e-01, 6.38186539e+00,-2.23718151e+01,
  2.95232208e+01, 7.38687847e+00, 4.28751454e+01,-5.35201957e+01,
  2.15055562e+01, 8.37428075e+02]

qfrc_actuator:
[ 2.38956451e-03, 2.75284101e-02, 8.75589257e-03, 1.59097893e-03,
 -3.11354380e-05, 2.75095501e-02, 8.63930355e-03, 1.73023475e-03,
 -2.36243829e-03, 2.74456935e-02, 8.79560199e-03, 1.64769919e-03,
  1.37364593e-03,-1.70707381e-03, 0.00000000e+00,-2.62129105e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -6.2068025 ,  -6.00519605,  -6.2068025 ,
        31.29902364, -23.42349085,  -6.00519605, -23.42349085,
        32.84622793,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.005221998049171964
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42060983,  0.07108789,  0.047389  ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 4.29266591,  3.57769988, -2.37213915,  3.57769988, 13.64563684,
       14.10630693, -2.37213915, 14.10630693, 25.56803356,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00020615545248654082
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.40141133, -0.03972843,  0.04989692])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.13922743,  8.36722671, -2.13922743, 21.89091627,
        3.38875753,  8.36722671,  3.38875753,  9.5027586 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026218887716379577
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41111843,  0.01331493,  0.04868906])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.03095162e-05,-3.15378349e-05,-1.97348400e-05, 7.33919210e-05,
 -3.26713602e-05, 2.94809940e-05, 3.03799648e-05, 3.60444470e-05,
  4.01631902e-05, 7.07812639e-05, 5.03036591e-05,-9.55200842e-06,
 -3.21595938e-05,-3.10755658e-05,-2.38372417e-05,-1.15473533e-04,
  1.22190267e+00, 2.54989736e-01,-9.14269365e+00,-5.95082970e-02,
  1.96797381e-01, 5.20693427e-03]


--- Step 1702 ---
qpos:
[-5.63824245e-04, 8.77195812e-01,-2.02816153e-02,-2.75762219e-02,
  7.60483861e-03, 8.64651213e-01,-2.80176624e-02, 9.44931069e-03,
  2.22000505e-02, 8.72953153e-01,-2.02727468e-02, 2.24653609e-02,
  1.36284839e+00,-9.93814466e-03, 1.04316777e+00, 6.12237207e-02,
 -1.39807795e+00,-7.05430634e-04, 7.22311924e-02, 5.89452849e-01,
 -6.74022454e-01, 2.62071187e-01, 3.59941334e-01]

qacc:
[-2.19697097e-02, 1.19250524e+00,-7.41811373e+00, 2.11033996e+01,
  1.45170676e-01,-1.31466451e+00, 6.17394808e+00,-1.18936050e+01,
  1.06239891e-01,-2.43477656e+00, 1.24039845e+01,-2.66138067e+01,
 -1.87084428e-01, 2.09979603e-01,-2.90133791e+00, 9.30589077e+00,
  2.13197590e+01, 5.80365536e+00, 3.34104808e+01,-4.92889153e+01,
  3.56763973e+01, 6.15936585e+02]

qfrc_actuator:
[ 2.40486633e-03, 2.75796559e-02, 8.78605071e-03, 1.63573331e-03,
  1.07614006e-05, 2.75083816e-02, 8.65083244e-03, 1.71390628e-03,
 -2.36207764e-03, 2.74344372e-02, 8.80645446e-03, 1.60651032e-03,
  1.36414046e-03,-1.70037362e-03, 0.00000000e+00,-2.57377490e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([  8.63636364,  -5.93224605,  -6.27656224,  -5.93224605,
        32.13924392, -22.21357224,  -6.27656224, -22.21357224,
        29.63135598,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0056791117632745
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42059646,  0.07108752,  0.04716044])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  6.94966799, -5.12726941,  6.94966799, 18.36705701,
       13.18929879, -5.12726941, 13.18929879, 26.51356888,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010220153969658918
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.40155021, -0.03977073,  0.04948899])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.21974349,  8.34622763, -2.21974349, 16.51243704,
        2.09470235,  8.34622763,  2.09470235,  9.19346585,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0032958856340819104
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41118271,  0.0132925 ,  0.04835206])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.09405864e-06, 3.26958117e-05, 2.37618755e-05, 4.41538724e-05,
  2.63497307e-05, 2.30993829e-05, 2.26021031e-05,-1.33149605e-05,
  1.96873046e-05, 3.83764382e-05, 3.13609736e-05,-3.65960490e-05,
 -3.56236531e-05,-7.74941327e-06,-2.73242422e-05, 3.72186439e-05,
  1.15104313e+00, 2.41529592e-01,-8.93219294e+00,-6.99251847e-02,
  1.84919743e-01, 5.68286285e-03]


--- Step 1703 ---
qpos:
[-5.63813502e-04, 8.77195196e-01,-2.02810479e-02,-2.75764749e-02,
  7.60519628e-03, 8.64653078e-01,-2.80185181e-02, 9.45034611e-03,
  2.22008638e-02, 8.72950918e-01,-2.02727894e-02, 2.24640060e-02,
  1.36295351e+00,-9.93725976e-03, 1.04338245e+00, 6.12164663e-02,
 -1.39941802e+00,-1.00039026e-03, 7.24942408e-02, 6.00076344e-01,
 -6.79958786e-01, 2.43739424e-01, 3.43737580e-01]

qacc:
[ 3.90436548e-02,-7.89398240e-01, 5.55893867e+00,-1.46838435e+01,
  2.06453656e-01, 1.81862932e-01, 4.13646326e-01,-3.43923923e+00,
  4.96730189e-02, 2.06535801e+00,-8.02579163e+00, 1.31726253e+01,
  6.09203644e-02,-3.02708711e-01, 2.28203370e+00,-8.06831489e+00,
  1.71943438e+01, 4.27719182e+00, 2.55434777e+01,-3.25688000e+01,
  1.78499705e+01, 5.32714126e+02]

qfrc_actuator:
[ 2.41409878e-03, 2.75929306e-02, 8.78603711e-03, 1.60873251e-03,
  3.57480919e-05, 2.75069255e-02, 8.64010452e-03, 1.70380123e-03,
 -2.36227061e-03, 2.74285319e-02, 8.77705767e-03, 1.61841503e-03,
  1.35998933e-03,-1.71458675e-03, 0.00000000e+00,-2.61414334e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.26470508, -4.67020738, -7.26470508, 11.86079225,
       -5.01573506, -4.67020738, -5.01573506, 16.43855162,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005948296824316371
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42172466,  0.07091059,  0.04702585])
  solimp: array([9.0e-01, 9.5e-01, 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([  8.63636364,   3.16481053,   8.03559277,   3.16481053,
        75.15617577, -26.19876441,   8.03559277, -26.19876441,
        18.95472195,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.003655274104453196
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41137237,  0.01191687,  0.04817236])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  2.89364046, -8.13717529,  2.89364046, 41.78726472,
       11.78870865, -8.13717529, 11.78870865, 12.8285167 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003201155645115146
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41188556,  0.01008789,  0.04839942])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.26723521e-06, 3.83709491e-05, 1.11963391e-05,-2.39188847e-05,
  3.75304874e-05, 1.55244395e-05,-3.64311654e-06,-8.59596902e-06,
  9.27914065e-06, 2.05255494e-05,-1.88543806e-05, 1.39275407e-05,
 -2.65161440e-05,-2.41102919e-05,-1.11155533e-05,-4.24053963e-05,
  1.08461003e+00, 2.26867518e-01,-8.77951847e+00,-7.98923787e-02,
  1.74403314e-01, 6.13471471e-03]


--- Step 1704 ---
qpos:
[-5.63893756e-04, 8.77194904e-01,-2.02807651e-02,-2.75770267e-02,
  7.60570835e-03, 8.64654743e-01,-2.80196455e-02, 9.45200032e-03,
  2.22015340e-02, 8.72948938e-01,-2.02726586e-02, 2.24631072e-02,
  1.36305869e+00,-9.93712557e-03, 1.04359681e+00, 6.12104365e-02,
 -1.40071002e+00,-1.28186802e-03, 7.28303104e-02, 6.09938517e-01,
 -6.85270978e-01, 2.25764879e-01, 3.27732988e-01]

qacc:
[-4.75821435e-02, 6.06214388e-01,-2.84230451e-01,-4.66213883e+00,
  8.10411703e-02, 1.76756383e+00,-9.29849294e+00, 2.05920786e+01,
 -7.43533252e-02, 7.89226197e-01,-4.25384968e+00, 1.16863230e+01,
  7.12721947e-01,-1.55222201e+00,-4.20940803e+00, 1.39415781e+01,
  1.20164833e+01, 3.37046554e+00, 1.82553198e+01,-3.44535318e+01,
  2.49837135e+01, 3.88254896e+02]

qfrc_actuator:
[ 2.40183613e-03, 2.76009542e-02, 8.76801670e-03, 1.59293902e-03,
  3.26084170e-05, 2.74697052e-02, 8.61633065e-03, 1.73293690e-03,
 -2.38052210e-03, 2.74612397e-02, 8.79519696e-03, 1.64369132e-03,
  1.35904651e-03,-1.75882651e-03, 0.00000000e+00,-2.54623538e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -7.61451192, -4.07504419, -7.61451192,  9.63812462,
       -1.87186215, -4.07504419, -1.87186215, 12.13407211,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006044257227915462
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42162978,  0.07093219,  0.04697787])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.33208969,  8.31553573, -2.33208969, 19.34955764,
        3.00451229,  8.31553573,  3.00451229,  9.47897828,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003910574657012569
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41133216,  0.01192293,  0.04804471])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.1454278 ,  8.36563903, -2.1454278 , 16.59469432,
        2.04097067,  8.36563903,  2.04097067,  9.15978512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003506413493774646
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41186626,  0.01008823,  0.04824679])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.76060184e-06, 3.07791913e-05,-9.54438011e-06,-1.42293647e-05,
  1.47249143e-05,-2.96947677e-05,-2.13240546e-05, 2.95037432e-05,
 -1.37892100e-05, 4.09457128e-05, 2.05581425e-05, 2.57797936e-05,
 -2.20107720e-05,-5.58429027e-05,-1.36153187e-05, 6.32553412e-05,
  1.04048834e+00, 2.18574158e-01,-8.65301076e+00,-8.82358677e-02,
  1.65101692e-01, 6.53187052e-03]


--- Step 1705 ---
qpos:
[-5.64277516e-04, 8.77195097e-01,-2.02808342e-02,-2.75770890e-02,
  7.60645709e-03, 8.64656325e-01,-2.80210065e-02, 9.45259246e-03,
  2.22018354e-02, 8.72947595e-01,-2.02730278e-02, 2.24621698e-02,
  1.36316373e+00,-9.93724707e-03, 1.04381022e+00, 6.12119298e-02,
 -1.40196978e+00,-1.55286125e-03, 7.32138580e-02, 6.19128925e-01,
 -6.90042726e-01, 2.08047249e-01, 3.11828082e-01]

qacc:
[-1.58071225e-01, 2.63314423e+00,-1.05172798e+01, 1.91828104e+01,
  1.24128351e-01,-1.64183907e+00, 1.01799200e+01,-2.81296124e+01,
 -1.92135863e-01, 2.15920665e+00,-6.31333229e+00, 5.97367564e+00,
  5.24185621e-01,-1.01457754e+00,-2.41522191e+01, 8.23855520e+01,
  8.05932336e+00, 2.62113264e+00, 1.18695012e+01,-3.45120341e+01,
  3.14707734e+01, 2.89616306e+02]

qfrc_actuator:
[ 2.37681260e-03, 2.76411969e-02, 8.75726214e-03, 1.61936817e-03,
  4.81797679e-05, 2.74645789e-02, 8.60268032e-03, 1.67837481e-03,
 -2.40940778e-03, 2.74992569e-02, 8.77041881e-03, 1.64119020e-03,
  1.35469026e-03,-1.76722100e-03, 0.00000000e+00,-2.14876076e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.02253298, -3.19777131, -8.02253298,  8.85169787,
       -0.54022813, -3.19777131, -0.54022813,  9.99168194,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0059866513744656485
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42151124,  0.07096075,  0.04700667])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.39272769,  8.29829085, -2.39272769,  9.36365097,
        0.2097059 ,  8.29829085,  0.2097059 ,  8.6968302 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004004881216335562
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41125852,  0.01193838,  0.04799756])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.21667231,  8.34704383, -2.21667231, 12.11026321,
        0.92254182,  8.34704383,  0.92254182,  8.88135731,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003650157378186983
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41181036,  0.01009871,  0.04817492])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.92338598e-05, 5.48781537e-05,-6.06547077e-06, 2.71399846e-05,
  2.25758408e-05,-2.49024221e-05,-2.13962883e-05,-5.60016531e-05,
 -3.55201457e-05, 6.63113803e-05,-1.28799930e-05, 4.70987244e-07,
 -3.02233317e-05,-2.64522826e-05,-2.13832188e-06, 3.98575517e-04,
  1.00037479e+00, 2.09624200e-01,-8.55381840e+00,-9.61357791e-02,
  1.56262216e-01, 6.90479087e-03]


--- Step 1706 ---
qpos:
[-5.64959540e-04, 8.77195345e-01,-2.02805893e-02,-2.75768255e-02,
  7.60741166e-03, 8.64658137e-01,-2.80226664e-02, 9.45179974e-03,
  2.22019647e-02, 8.72947299e-01,-2.02747558e-02, 2.24612168e-02,
  1.36326864e+00,-9.93753171e-03, 1.04402432e+00, 6.12117720e-02,
 -1.40320889e+00,-1.81563856e-03, 7.36227968e-02, 6.27709320e-01,
 -6.94330229e-01, 1.90517478e-01, 2.95955457e-01]

qacc:
[-1.54798746e-01,-1.31957073e-01,-7.95289698e-01, 5.88599649e+00,
  1.07771411e-01,-1.71051817e+00, 1.23872563e+01,-3.60493324e+01,
 -9.06287828e-02, 5.14610443e+00,-1.62753178e+01, 1.74062568e+01,
 -9.06073161e-02,-2.52647808e-02, 5.99807097e+00,-1.95114216e+01,
  5.16429828e+00, 2.05398183e+00, 6.34777723e+00,-3.46365961e+01,
  3.49758889e+01, 2.20364200e+02]

qfrc_actuator:
[ 2.36213410e-03, 2.76294686e-02, 8.76880074e-03, 1.63495693e-03,
  5.70810909e-05, 2.74964254e-02, 8.59517466e-03, 1.61053268e-03,
 -2.40888586e-03, 2.75577271e-02, 8.70274181e-03, 1.64008771e-03,
  1.35362923e-03,-1.77205567e-03, 0.00000000e+00,-2.25268723e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.47286171, -1.67254035, -8.47286171,  8.57276092,
        0.3222027 , -1.67254035,  0.3222027 ,  7.00412864,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005810957856627164
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42137778,  0.07099364,  0.04709452])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.48227377,  8.27194619, -2.48227377,  0.84448618,
       -2.33821311,  8.27194619, -2.33821311,  7.93470469,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003971981197322144
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4111622 ,  0.0119602 ,  0.04801401])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.19282454,  8.35334049, -2.19282454, 10.44200311,
        0.47399607,  8.35334049,  0.47399607,  8.76079173,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036662639380327378
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41172893,  0.01011626,  0.04816687])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.87373247e-05, 1.88602619e-05, 2.30631732e-05, 1.82565000e-05,
  1.96443219e-05, 1.10783030e-05,-1.72261830e-05,-7.07411648e-05,
 -1.65633699e-05, 9.29431920e-05,-5.55355275e-05, 1.30712304e-06,
 -2.39964077e-05,-1.82451968e-05, 4.13278538e-05,-8.24654646e-05,
  9.62898966e-01, 2.00368020e-01,-8.47530283e+00,-1.03685531e-01,
  1.47721821e-01, 7.25608197e-03]


--- Step 1707 ---
qpos:
[-5.65134759e-04, 8.77195338e-01,-2.02799598e-02,-2.75773773e-02,
  7.60851498e-03, 8.64659822e-01,-2.80243536e-02, 9.45091746e-03,
  2.22018307e-02, 8.72947702e-01,-2.02769521e-02, 2.24602413e-02,
  1.36337353e+00,-9.93842236e-03, 1.04423872e+00, 6.12094302e-02,
 -1.40443573e+00,-2.07160566e-03, 7.40392566e-02, 6.35718332e-01,
 -6.98174814e-01, 1.73132771e-01, 2.80069948e-01]

qacc:
[ 2.63638280e-01,-3.09331341e+00, 1.39696819e+01,-2.84889638e+01,
  7.81512409e-02,-2.75031222e-01, 1.11613859e+00,-2.52971748e+00,
 -1.37295449e-01, 2.18326217e+00,-6.35152678e+00, 6.19618509e+00,
  3.28163358e-01,-9.09685598e-01, 7.01475823e+00,-2.39538924e+01,
  3.06649442e+00, 1.70255099e+00, 1.88026756e+00,-3.66644266e+01,
  3.88939130e+01, 1.73117290e+02]

qfrc_actuator:
[ 2.42478929e-03, 2.75867937e-02, 8.77543761e-03, 1.59075132e-03,
  6.19165513e-05, 2.74791658e-02, 8.59151452e-03, 1.60648066e-03,
 -2.42627378e-03, 2.75922988e-02, 8.68139469e-03, 1.63981677e-03,
  1.34389718e-03,-1.81025000e-03, 0.00000000e+00,-2.36724717e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -8.37865823,  2.0940065 , -8.37865823,  8.26293448,
       -1.49418606,  2.0940065 , -1.49418606,  2.65774115,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005545737597658695
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42123637,  0.07102879,  0.04722713])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0038394636029085924
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41105186,  0.01198601,  0.04808027])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.16579614,  8.36038898, -2.16579614,  8.1271791 ,
       -0.13190653,  8.36038898, -0.13190653,  8.60219266,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035823680512048067
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41163083,  0.01013845,  0.04820882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.88303485e-05,-2.65949399e-05, 1.40010706e-05,-4.22453774e-05,
  1.41877835e-05,-1.76798925e-05,-5.94331074e-06,-5.54981726e-06,
 -2.53472940e-05, 7.51501019e-05,-8.92853457e-06, 1.82037265e-06,
 -2.75792847e-05,-4.80293311e-05, 3.05075362e-06,-1.15418986e-04,
  9.27983295e-01, 1.91184964e-01,-8.41113550e+00,-1.10840955e-01,
  1.39322845e-01, 7.58459687e-03]


--- Step 1708 ---
qpos:
[-5.64494183e-04, 8.77195072e-01,-2.02795034e-02,-2.75780690e-02,
  7.60952792e-03, 8.64661197e-01,-2.80259674e-02, 9.44966491e-03,
  2.22014641e-02, 8.72948648e-01,-2.02787887e-02, 2.24588867e-02,
  1.36347824e+00,-9.93971815e-03, 1.04445240e+00, 6.12114299e-02,
 -1.40565657e+00,-2.32300123e-03, 7.44475908e-02, 6.43201207e-01,
 -7.01589268e-01, 1.55874661e-01, 2.64135943e-01]

qacc:
[ 4.23887000e-01,-1.45308481e-01, 6.13503381e-01,-2.56681709e+00,
 -4.73365869e-02,-1.37577503e+00, 5.87479114e+00,-1.21743058e+01,
 -1.20904073e-01,-1.06642179e+00, 6.44589063e+00,-1.39826807e+01,
  4.32181756e-01,-9.92351038e-01,-1.42039050e+01, 4.80782823e+01,
  1.50001934e+00, 1.14288026e+00,-2.03141590e+00,-2.50242726e+01,
  4.24867150e+01, 1.39734693e+02]

qfrc_actuator:
[ 2.47990104e-03, 2.75613456e-02, 8.76118454e-03, 1.58269053e-03,
  4.65346240e-05, 2.74504594e-02, 8.59000972e-03, 1.58670347e-03,
 -2.43649503e-03, 2.76302146e-02, 8.70525117e-03, 1.62230532e-03,
  1.32895663e-03,-1.83244673e-03, 0.00000000e+00,-2.13194125e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.34812314,  8.31102248, -2.34812314,  0.6571896 ,
       -2.2543656 ,  8.31102248, -2.2543656 ,  7.99943502,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00521397806470518
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42109261,  0.07106458,  0.04739301])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0036291040694295465
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4109346 ,  0.01201384,  0.04818545])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.12758759,  8.37019402, -2.12758759,  5.40956348,
       -0.82020799,  8.37019402, -0.82020799,  8.42787811,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034202311762714724
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41152333,  0.0101633 ,  0.04828988])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.86014764e-05,-3.92335287e-05,-1.94868605e-05,-9.53808566e-06,
 -8.63125830e-06,-4.00816677e-05,-6.07937755e-06,-2.08472605e-05,
 -2.24085230e-05, 7.81787807e-05, 3.83573155e-05,-1.45600947e-05,
 -4.22230331e-05,-3.96602405e-05,-1.62548704e-05, 2.28143228e-04,
  8.92786179e-01, 1.81519663e-01,-8.35766857e+00,-1.17676946e-01,
  1.30877979e-01, 7.89171533e-03]


--- Step 1709 ---
qpos:
[-5.63678427e-04, 8.77194744e-01,-2.02796096e-02,-2.75785042e-02,
  7.60983930e-03, 8.64662096e-01,-2.80275006e-02, 9.44820639e-03,
  2.22009247e-02, 8.72950238e-01,-2.02803915e-02, 2.24576733e-02,
  1.36358265e+00,-9.94103299e-03, 1.04466614e+00, 6.12145092e-02,
 -1.40687492e+00,-2.57206208e-03, 7.48341499e-02, 6.50197500e-01,
 -7.04571373e-01, 1.38726480e-01, 2.48147850e-01]

qacc:
[ 9.07173837e-02, 2.01591545e+00,-8.38927915e+00, 1.37688500e+01,
 -3.68302851e-01,-1.27543924e+00, 4.50766801e+00,-7.85379927e+00,
 -8.97832147e-02, 4.89040634e-01,-1.10415581e+00, 2.70047017e+00,
 -1.55931939e-01, 1.08919427e-01,-3.17114390e+00, 1.12297897e+01,
  6.24952121e-01, 5.83683014e-01,-5.44374718e+00,-1.29153381e+01,
  3.51540768e+01, 1.19162988e+02]

qfrc_actuator:
[ 2.45896449e-03, 2.75640899e-02, 8.73480134e-03, 1.59596736e-03,
 -1.63033807e-05, 2.74151193e-02, 8.58970834e-03, 1.57556035e-03,
 -2.44234149e-03, 2.76700124e-02, 8.72008382e-03, 1.63032039e-03,
  1.32155871e-03,-1.82725074e-03, 0.00000000e+00,-2.08292570e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.004831911055934543
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42094871,  0.0711002 ,  0.04758404])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0033587610807352536
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41081615,  0.0120422 ,  0.04832062])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.06030074,  8.38701006, -2.06030074,  3.21013681,
       -1.33297315,  8.38701006, -1.33297315,  8.30891374,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003197746728133423
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41141234,  0.01018926,  0.04840113])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.68755316e-05,-2.36144435e-05,-3.72176351e-05, 1.07371388e-05,
 -6.69505521e-05,-5.99208303e-05,-1.00460486e-05,-1.34741721e-05,
 -1.66184279e-05, 9.08041173e-05, 3.52106855e-05, 1.24128573e-05,
 -4.05855033e-05,-1.39327371e-05, 1.56896730e-05, 5.91198832e-05,
  8.65412158e-01, 1.74247265e-01,-8.31955474e+00,-1.24217900e-01,
  1.22925658e-01, 8.18067168e-03]


--- Step 1710 ---
qpos:
[-5.62913275e-04, 8.77194503e-01,-2.02801465e-02,-2.75788061e-02,
  7.60961069e-03, 8.64662778e-01,-2.80288778e-02, 9.44693251e-03,
  2.22002694e-02, 8.72952199e-01,-2.02817240e-02, 2.24576341e-02,
  1.36368685e+00,-9.94235172e-03, 1.04488045e+00, 6.12138137e-02,
 -1.40809260e+00,-2.82043733e-03, 7.51875431e-02, 6.56737152e-01,
 -7.07117490e-01, 1.21680118e-01, 2.32110144e-01]

qacc:
[-2.65842493e-02, 1.59570184e+00,-6.08021447e+00, 9.00855557e+00,
 -2.83449702e-01,-3.42603451e-01, 2.54561200e-02, 3.08025701e+00,
 -6.02085703e-02, 2.14959475e+00,-1.19134907e+01, 3.15331510e+01,
 -3.83044978e-01, 4.90517032e-01, 1.22654052e+01,-4.16351574e+01,
  1.65544814e-01, 1.71398599e-01,-8.29151128e+00,-3.05550903e+00,
  2.81613123e+01, 1.06670527e+02]

qfrc_actuator:
[ 2.44597115e-03, 2.75836589e-02, 8.71935141e-03, 1.60395362e-03,
 -3.59571614e-05, 2.74293457e-02, 8.60784503e-03, 1.58733409e-03,
 -2.44553004e-03, 2.76751156e-02, 8.72948426e-03, 1.68878795e-03,
  1.31870278e-03,-1.82359578e-03, 0.00000000e+00,-2.28618007e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0044106766392770225
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42080834,  0.07113482,  0.04779466])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.003043168761108772
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41070128,  0.01206991,  0.04847842])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.00535035,  8.40031826, -2.00535035,  1.59285566,
       -1.68144834,  8.40031826, -1.68144834,  8.23496301,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002929703994118245
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41130275,  0.01021516,  0.04853515])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.87601421e-06,-8.52117808e-07,-2.45362690e-05, 5.89777737e-06,
 -5.15259227e-05,-2.19473871e-05, 4.06529670e-06, 8.60069745e-06,
 -1.11719849e-05, 6.36586771e-05, 3.29247903e-05, 6.38208568e-05,
 -2.90279471e-05,-9.05525991e-06, 8.90764242e-06,-1.99078535e-04,
  8.50561835e-01, 1.70631411e-01,-8.28699643e+00,-1.30050690e-01,
  1.15426821e-01, 8.44158571e-03]


--- Step 1711 ---
qpos:
[-5.62256323e-04, 8.77194606e-01,-2.02807552e-02,-2.75790683e-02,
  7.60919186e-03, 8.64663296e-01,-2.80298284e-02, 9.44647368e-03,
  2.21999102e-02, 8.72954608e-01,-2.02828939e-02, 2.24579482e-02,
  1.36379088e+00,-9.94364824e-03, 1.04509462e+00, 6.12120485e-02,
 -1.40930928e+00,-3.06847350e-03, 7.55024948e-02, 6.62850625e-01,
 -7.09235789e-01, 1.04691938e-01, 2.15993617e-01]

qacc:
[-5.63822425e-02, 7.33948654e-01,-2.12743147e+00, 2.67538242e+00,
 -9.95391057e-02, 2.68135976e-01,-4.71308632e+00, 1.82592873e+01,
  1.53873546e-01, 8.64735711e-01,-3.71559100e+00, 9.24060682e+00,
 -2.07321186e-01, 2.56577574e-01, 3.03516584e+00,-1.08929903e+01,
  2.50195045e-01, 8.47726031e-02,-9.61035311e+00, 1.35000716e+00,
  2.32536571e+01, 7.01983073e+01]

qfrc_actuator:
[ 2.43789944e-03, 2.76309484e-02, 8.72830738e-03, 1.60878609e-03,
 -2.95813632e-05, 2.74377393e-02, 8.63693696e-03, 1.63030236e-03,
 -2.41160612e-03, 2.76949235e-02, 8.73549541e-03, 1.70542700e-03,
  1.31324900e-03,-1.82087298e-03, 0.00000000e+00,-2.33457900e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003959398406713638
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.420675  ,  0.07116769,  0.0480203 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0026946184200965784
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41059393,  0.01209605,  0.04865269])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.97756416,  8.40690293, -1.97756416,  0.76780228,
       -1.85092953,  8.40690293, -1.85092953,  8.20096764,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026284154716142774
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41119853,  0.01024003,  0.04868579])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04165828e-05, 4.20065499e-05, 5.96765687e-06, 4.06339721e-06,
 -1.81508769e-05,-2.68060291e-06, 2.53658512e-05, 4.23398157e-05,
  2.85581073e-05, 6.49025516e-05, 2.54191119e-05, 2.17476798e-05,
 -2.44404102e-05,-5.87257348e-06,-2.38199609e-05,-5.96843765e-05,
  8.45721375e-01, 1.69905673e-01,-8.25679492e+00,-1.35211580e-01,
  1.08255234e-01, 8.67510919e-03]


--- Step 1712 ---
qpos:
[-5.61888036e-04, 8.77195206e-01,-2.02810692e-02,-2.75796628e-02,
  7.60872565e-03, 8.64663250e-01,-2.80299306e-02, 9.44655501e-03,
  2.21997203e-02, 8.72957220e-01,-2.02843959e-02, 2.24585263e-02,
  1.36389455e+00,-9.94458696e-03, 1.04530843e+00, 6.12113502e-02,
 -1.41052362e+00,-3.31588802e-03, 7.57773615e-02, 6.68565146e-01,
 -7.10937817e-01, 8.76937358e-02, 1.99744521e-01]

qacc:
[ -0.15000416, -0.84848778,  5.37959877,-11.95795826, -0.02412938,
  -2.00014168,  3.7732503 ,  4.63090051,  0.08771115,  1.73672702,
  -6.92064439, 11.87239302, -0.47413381,  0.81940834, -3.72858538,
  12.33271159,  0.58418315,  0.15541056,-10.02124069,  2.34429083,
  19.61905809, 17.39002798]

qfrc_actuator:
[ 2.41510593e-03, 2.76768285e-02, 8.75172004e-03, 1.59401408e-03,
 -2.54742270e-05, 2.73894094e-02, 8.67226905e-03, 1.65577783e-03,
 -2.40903846e-03, 2.76700701e-02, 8.70396725e-03, 1.71507282e-03,
  1.29558996e-03,-1.80098138e-03, 0.00000000e+00,-2.27350734e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003482564942634242
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42054799,  0.07119903,  0.04825872])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00231937917426802
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41049313,  0.01212084,  0.04884031])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.89879577,  8.42504311, -1.89879577,  0.44705363,
       -1.84566737,  8.42504311, -1.84566737,  8.22039599,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023002244976759734
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41109878,  0.01026407,  0.04884989])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.77999458e-05, 7.07752800e-05, 3.29670994e-05,-1.26873261e-05,
 -4.53307143e-06,-4.27824569e-05, 3.93736394e-05, 2.70642762e-05,
  1.63194774e-05, 1.75766080e-05,-1.42493350e-05, 1.37272706e-05,
 -3.33986303e-05, 1.31738098e-05,-2.08914554e-05, 5.39223421e-05,
  8.49053581e-01, 1.71117539e-01,-8.22793253e+00,-1.39790488e-01,
  1.01249344e-01, 8.88321535e-03]


--- Step 1713 ---
qpos:
[-5.61800339e-04, 8.77196461e-01,-2.02812013e-02,-2.75800972e-02,
  7.60826491e-03, 8.64662850e-01,-2.80292917e-02, 9.44623126e-03,
  2.21990754e-02, 8.72958704e-01,-2.02856418e-02, 2.24596935e-02,
  1.36399783e+00,-9.94521741e-03, 1.04552237e+00, 6.12090022e-02,
 -1.41173511e+00,-3.56257635e-03, 7.60116587e-02, 6.73886232e-01,
 -7.12225709e-01, 7.06696702e-02, 1.83351256e-01]

qacc:
[-1.45907109e-01, 6.85427777e-01,-1.86378640e+00, 3.85898662e+00,
  3.43819785e-03,-3.36764773e+00, 1.30424679e+01,-2.09823407e+01,
 -2.35882579e-01,-9.91819018e-01,-1.11203630e+00, 1.17286810e+01,
 -6.33070039e-01, 1.00728100e+00, 5.22137956e+00,-1.78875613e+01,
  7.12081647e-01, 1.81545756e-01,-1.01423862e+01, 2.32296268e+00,
  1.84941390e+01, 6.49050188e-02]

qfrc_actuator:
[ 2.40145570e-03, 2.77215695e-02, 8.76571652e-03, 1.60334062e-03,
 -2.27950282e-05, 2.73785201e-02, 8.71075277e-03, 1.63520122e-03,
 -2.46078140e-03, 2.75297238e-02, 8.68585032e-03, 1.73822330e-03,
  1.27062978e-03,-1.78888562e-03, 0.00000000e+00,-2.36149362e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0029813944897407393
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42042415,  0.07122952,  0.0485093 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0019195122478469911
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41039511,  0.01214503,  0.04904024])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0019473030614733794
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41099971,  0.01028803,  0.04902635])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.70178208e-05, 9.05666035e-05, 3.22328699e-05, 1.32501161e-05,
  5.15518957e-07,-2.55197244e-05, 3.54370977e-05,-2.05198618e-05,
 -4.38844595e-05,-1.32921514e-04,-1.57765951e-05, 2.36750570e-05,
 -4.10412577e-05, 7.63566436e-06,-6.64973645e-06,-8.83597268e-05,
  8.59615672e-01, 1.73730875e-01,-8.19960267e+00,-1.43852756e-01,
  9.43047095e-02, 9.06742000e-03]


--- Step 1714 ---
qpos:
[-5.61746988e-04, 8.77198174e-01,-2.02810495e-02,-2.75807439e-02,
  7.60801151e-03, 8.64662452e-01,-2.80286316e-02, 9.44635846e-03,
  2.21980791e-02, 8.72958910e-01,-2.02860171e-02, 2.24600719e-02,
  1.36410068e+00,-9.94539177e-03, 1.04573628e+00, 6.12052736e-02,
 -1.41294370e+00,-3.80852526e-03, 7.62055106e-02, 6.78810459e-01,
 -7.13098968e-01, 5.36298100e-02, 1.66823456e-01]

qacc:
[-1.78391114e-02,-6.24978417e-01, 3.99951180e+00,-8.45704337e+00,
  1.08951132e-01, 8.68508880e-01,-5.00016230e+00, 1.27717621e+01,
 -1.81625120e-01,-5.74307967e+00, 2.13569017e+01,-3.54600710e+01,
 -7.56625530e-01, 1.27735795e+00, 4.18634996e+00,-1.45824895e+01,
  7.25176454e-01, 1.84858516e-01,-1.01113432e+01, 1.68718463e+00,
  1.86007951e+01, 7.80136997e-02]

qfrc_actuator:
[ 2.41115148e-03, 2.77297671e-02, 8.77405801e-03, 1.59126169e-03,
 -3.25386136e-06, 2.73901113e-02, 8.71539021e-03, 1.65873307e-03,
 -2.47354352e-03, 2.74633510e-02, 8.72858279e-03, 1.69803534e-03,
  1.25195670e-03,-1.76380830e-03, 0.00000000e+00,-2.43010899e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002477846918289464
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42105574,  0.07116692,  0.04876108])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0015660431297452176
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41148921,  0.01177609,  0.04921698])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0016126237561941148
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41165757,  0.01346125,  0.04919369])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.29500053e-06, 6.60319268e-05, 3.14655500e-05,-6.83005165e-06,
  1.97832448e-05, 3.76570604e-06, 3.02157723e-06, 2.32657184e-05,
 -3.38904873e-05,-1.42979406e-04, 1.41499492e-05,-4.59708669e-05,
 -4.04434024e-05, 1.75481312e-05,-1.74469989e-05,-7.54318474e-05,
  8.71828006e-01, 1.76611980e-01,-8.17090132e+00,-1.47518538e-01,
  8.72663286e-02, 9.22965419e-03]


--- Step 1715 ---
qpos:
[-5.61465478e-04, 8.77199858e-01,-2.02802210e-02,-2.75821847e-02,
  7.60853772e-03, 8.64661848e-01,-2.80281373e-02, 9.44749695e-03,
  2.21973930e-02, 8.72958954e-01,-2.02857360e-02, 2.24587995e-02,
  1.36420333e+00,-9.94533314e-03, 1.04595003e+00, 6.12010568e-02,
 -1.41414935e+00,-4.05372302e-03, 7.63590433e-02, 6.83334641e-01,
 -7.13557341e-01, 3.65842246e-02, 1.50170847e-01]

qacc:
[  0.11894784, -3.56620748, 16.00059247,-30.78559312,  0.40952352,
   2.27046416,-12.76206222, 30.68568243,  0.1615358 , -5.44013089,
  26.06251928,-55.5674449 , -0.35248089,  0.60933836,  1.2452098 ,
  -4.67116634,  0.73696677,  0.18778418,-10.07977107,  1.04795937,
  18.680096  ,  0.09131279]

qfrc_actuator:
[ 2.43472084e-03, 2.76982203e-02, 8.79658456e-03, 1.54889509e-03,
  6.17056848e-05, 2.73617197e-02, 8.70014318e-03, 1.70803599e-03,
 -2.42733357e-03, 2.75307288e-02, 8.78935531e-03, 1.62098656e-03,
  1.25305095e-03,-1.74896583e-03, 0.00000000e+00,-2.45120578e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001965483043729746
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42094109,  0.07119455,  0.04901726])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0011786613626583453
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41139625,  0.01179844,  0.04941067])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0012167735353512052
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41156313,  0.01348396,  0.04939161])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19881583e-05, 1.15409860e-05, 3.97888809e-05,-3.85865565e-05,
  7.43754790e-05,-2.46584956e-05,-1.32942798e-05, 5.00207998e-05,
  2.98873143e-05,-1.16314313e-05, 3.13930904e-05,-8.35809976e-05,
 -1.80802683e-05, 9.82335109e-06,-2.03765117e-05,-2.84351872e-05,
  8.82865704e-01, 1.79178951e-01,-8.14170032e+00,-1.50837657e-01,
  8.00669469e-02, 9.37047519e-03]


--- Step 1716 ---
qpos:
[-5.60929942e-04, 8.77201113e-01,-2.02788743e-02,-2.75840584e-02,
  7.60965024e-03, 8.64661353e-01,-2.80284430e-02, 9.44818546e-03,
  2.21973289e-02, 8.72959220e-01,-2.02849701e-02, 2.24565741e-02,
  1.36430607e+00,-9.94568120e-03, 1.04616367e+00, 6.11962469e-02,
 -1.41535200e+00,-4.29815952e-03, 7.64723852e-02, 6.87455830e-01,
 -7.13600819e-01, 1.95429771e-02, 1.33403240e-01]

qacc:
[  0.1324437 , -2.90578244, 11.36019838,-19.35483165,  0.3074074 ,
   1.45208387, -3.06871568, -3.51907081,  0.32335547, -3.02068425,
  15.22141255,-32.65528965,  0.35078735, -0.76903833,  1.59837011,
  -5.89326207,  0.74743572,  0.19031813,-10.0477249 ,  0.40622982,
  18.73188276,  0.10471597]

qfrc_actuator:
[ 2.44861296e-03, 2.76431313e-02, 8.80936299e-03, 1.52452792e-03,
  8.22505389e-05, 2.73628024e-02, 8.65539151e-03, 1.68329767e-03,
 -2.38176661e-03, 2.75712341e-02, 8.82531252e-03, 1.57625676e-03,
  1.25534873e-03,-1.77572885e-03, 0.00000000e+00,-2.47963686e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014295874585460444
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42083467,  0.07121993,  0.04928521])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007676319443875382
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41130989,  0.01181908,  0.04961618])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007972410585965761
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41147556,  0.01350489,  0.04960138])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.44684580e-05,-4.21119013e-05, 1.87100166e-05,-2.32498670e-05,
  5.59403419e-05,-1.32903830e-05,-4.97528805e-05,-2.52839715e-05,
  5.99465919e-05, 3.69043139e-05, 3.45282877e-05,-4.57677055e-05,
 -6.08123198e-06,-2.83506436e-05,-1.58529422e-05,-3.33914447e-05,
  8.92709903e-01, 1.81427019e-01,-8.11205287e+00,-1.53802928e-01,
  7.27236253e-02, 9.48955809e-03]


--- Step 1717 ---
qpos:
[-5.60189545e-04, 8.77202062e-01,-2.02773743e-02,-2.75861992e-02,
  7.61060436e-03, 8.64661291e-01,-2.80291776e-02, 9.44781429e-03,
  2.21976599e-02, 8.72959547e-01,-2.02840350e-02, 2.24545626e-02,
  1.36440857e+00,-9.94597972e-03, 1.04637693e+00, 6.11931133e-02,
 -1.41655163e+00,-4.54182618e-03, 7.65456660e-02, 6.91171318e-01,
 -7.13229637e-01, 2.51611836e-03, 1.16530525e-01]

qacc:
[  0.10663758, -1.38196055,  5.46701118,-10.10594182, -0.08368834,
  -0.41200118,  6.77173578,-24.74548439,  0.20544867,  0.04699468,
  -0.9556292 ,  4.344681  , -0.10674947,  0.10791776, -5.59731739,
  18.80937937,  0.75656802,  0.19245631,-10.01525985, -0.23705585,
  18.75603742,  0.11813513]

qfrc_actuator:
[ 2.45658160e-03, 2.76275859e-02, 8.81618050e-03, 1.51091678e-03,
  4.05227519e-05, 2.74168418e-02, 8.64689547e-03, 1.63294401e-03,
 -2.37252660e-03, 2.75597924e-02, 8.82853703e-03, 1.58638615e-03,
  1.23704707e-03,-1.77365080e-03, 0.00000000e+00,-2.38789983e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008705917947354341
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42073942,  0.0712423 ,  0.0495647 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00033336390574563446
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41123308,  0.01183724,  0.04983332])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0003544477819270031
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.41139783,  0.01352327,  0.04982278])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.97325315e-05,-3.62595154e-05,-3.96713928e-07,-1.52203327e-05,
 -1.51035228e-05, 3.52691500e-05,-1.82415587e-05,-5.31378533e-05,
  3.80883302e-05, 1.43636255e-05, 1.35112851e-05, 1.20158476e-05,
 -2.89009873e-05,-5.68615477e-06,-1.42852685e-05, 8.70741334e-05,
  9.01343795e-01, 1.83352057e-01,-8.08201280e+00,-1.56408006e-01,
  6.52537421e-02, 9.58662910e-03]


--- Step 1718 ---
qpos:
[-5.59121211e-04, 8.77203141e-01,-2.02762941e-02,-2.75881573e-02,
  7.61103179e-03, 8.64660919e-01,-2.80295369e-02, 9.44791762e-03,
  2.21978664e-02, 8.72960039e-01,-2.02836195e-02, 2.24523777e-02,
  1.36451074e+00,-9.94595126e-03, 1.04658983e+00, 6.11930764e-02,
 -1.41774821e+00,-4.78471607e-03, 7.65790171e-02, 6.94478639e-01,
 -7.12444273e-01,-1.44863192e-02, 9.95626647e-02]

qacc:
[ 0.17011174, 1.71926105,-6.65219365,10.38659592,-0.27628124,-0.4798971 ,
 -0.88516987, 8.72471808,-0.0651123 , 1.31392916,-3.63426513, 1.34023484,
 -0.33306133, 0.59096511,-9.8780433 ,33.8110735 , 0.76434992, 0.1941953 ,
 -9.9824314 ,-0.88094568,18.7524831 , 0.13148094]

qfrc_actuator:
[ 2.47869634e-03, 2.76535671e-02, 8.80182637e-03, 1.52151935e-03,
 -2.55315578e-06, 2.73780207e-02, 8.66010156e-03, 1.65677398e-03,
 -2.40285741e-03, 2.75527605e-02, 8.79449084e-03, 1.57538734e-03,
  1.22238805e-03,-1.75456165e-03, 0.00000000e+00,-2.22609422e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028907338629559354
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42065824,  0.07126092,  0.04985546])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.16015302e-05, 4.94290182e-06,-2.24340630e-05, 8.73971068e-06,
 -5.02591070e-05,-2.51373510e-05, 1.64104506e-05, 2.36773952e-05,
 -1.20024889e-05, 4.29913259e-06,-2.90062412e-05,-9.68129177e-06,
 -3.25345715e-05, 1.11741723e-05, 5.33308301e-08, 1.64123687e-04,
  9.08752637e-01, 1.84950581e-01,-8.05163453e+00,-1.58647397e-01,
  5.76749513e-02, 9.66146625e-03]


--- Step 1719 ---
qpos:
[-5.57763798e-04, 8.77203964e-01,-2.02755579e-02,-2.75895837e-02,
  7.61112525e-03, 8.64660283e-01,-2.80299984e-02, 9.44867859e-03,
  2.21978242e-02, 8.72960415e-01,-2.02838601e-02, 2.24515063e-02,
  1.36461287e+00,-9.94650614e-03, 1.04680294e+00, 6.11926151e-02,
 -1.41894169e+00,-5.02682383e-03, 7.65725710e-02, 6.97375569e-01,
 -7.11245451e-01,-3.14543279e-02, 8.25096914e-02]

qacc:
[  0.15011357,  1.71902413, -8.85669155, 18.78375906, -0.17535471,
   1.28883503, -7.87920588, 19.62077331, -0.12955721,  4.37826175,
 -21.38453651, 45.25524556,  0.39564197, -0.99810137,  1.57785617,
  -5.11457059,  0.77076921,  0.19553224, -9.94929529, -1.52448529,
  18.72118425,  0.14466333]

qfrc_actuator:
[ 2.49134109e-03, 2.76153894e-02, 8.77528111e-03, 1.54630714e-03,
 -1.05010239e-05, 2.73550627e-02, 8.65019119e-03, 1.68849856e-03,
 -2.42106376e-03, 2.75304921e-02, 8.75645616e-03, 1.64077664e-03,
  1.20993327e-03,-1.79657362e-03, 0.00000000e+00,-2.25512252e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.78467265e-05,-3.97016125e-05,-2.80004419e-05, 2.43923070e-05,
 -3.18723594e-05,-3.26052619e-05,-1.22541899e-05, 3.16781357e-05,
 -2.39792266e-05,-2.62831433e-05,-4.10584736e-05, 6.43834632e-05,
 -2.81436536e-05,-4.69465327e-05, 1.47373422e-05,-2.06862960e-05,
  9.14923757e-01, 1.86219752e-01,-8.02097298e+00,-1.60516470e-01,
  5.00051410e-02, 9.71389992e-03]


--- Step 1720 ---
qpos:
[-5.56380225e-04, 8.77204357e-01,-2.02747954e-02,-2.75903593e-02,
  7.61101121e-03, 8.64660234e-01,-2.80303421e-02, 9.44865221e-03,
  2.21977349e-02, 8.72960583e-01,-2.02848959e-02, 2.24531735e-02,
  1.36471479e+00,-9.94725495e-03, 1.04701626e+00, 6.11904883e-02,
 -1.42013208e+00,-5.26814573e-03, 7.65264613e-02, 6.99860127e-01,
 -7.09634140e-01,-4.83779311e-02, 6.53816967e-02]

qacc:
[ 1.37846740e-02, 6.99689345e-01,-6.05868608e+00, 1.75809687e+01,
 -1.09169616e-01,-1.17149914e+00, 8.62971312e+00,-2.28798230e+01,
 -2.47504973e-02, 7.16750260e+00,-3.66769333e+01, 8.20411744e+01,
 -1.16257541e-01,-4.12616059e-02, 5.33377297e+00,-1.82158920e+01,
  7.75815195e-01, 1.96464879e-01,-9.91590757e+00,-2.16671943e+00,
  1.86621467e+01, 1.57592075e-01]

qfrc_actuator:
[ 2.48045889e-03, 2.75923068e-02, 8.77701846e-03, 1.57918398e-03,
 -1.51067476e-05, 2.74482164e-02, 8.67999612e-03, 1.65357644e-03,
 -2.41406878e-03, 2.75170512e-02, 8.71637255e-03, 1.76833380e-03,
  1.19878496e-03,-1.80345623e-03, 0.00000000e+00,-2.34311088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.50854103e-06,-5.00431915e-05,-9.07760844e-06, 3.06830331e-05,
 -1.97796958e-05, 7.37617401e-05, 2.26655228e-05,-3.61256211e-05,
 -4.54551929e-06,-3.38684761e-05,-4.83418879e-05, 1.26264479e-04,
 -3.82229207e-05,-2.44038404e-05,-4.66924125e-07,-8.84024395e-05,
  9.19846566e-01, 1.87157379e-01,-7.99008353e+00,-1.62011472e-01,
  4.22623906e-02, 9.74381330e-03]


--- Step 1721 ---
qpos:
[-5.54689393e-04, 8.77204846e-01,-2.02748218e-02,-2.75904008e-02,
  7.61058521e-03, 8.64660610e-01,-2.80303433e-02, 9.44855686e-03,
  2.21976669e-02, 8.72960852e-01,-2.02856459e-02, 2.24548595e-02,
  1.36481645e+00,-9.94763873e-03, 1.04722975e+00, 6.11856473e-02,
 -1.42131935e+00,-5.50867966e-03, 7.64408222e-02, 7.01930577e-01,
 -7.07611550e-01,-6.52471894e-02, 4.81888277e-02]

qacc:
[ 1.59176269e-01, 3.84312487e+00,-1.66077815e+01, 3.04852096e+01,
 -1.63803982e-01,-5.37270286e-01, 3.02131079e+00,-5.07589513e+00,
  1.12717217e-02,-6.26752067e-01, 2.34840940e+00,-2.55461249e+00,
 -6.40328747e-01, 1.10143263e+00, 8.48908111e+00,-2.92410634e+01,
  7.79478689e-01, 1.96991531e-01,-9.88232456e+00,-2.80669338e+00,
  1.85754179e+01, 1.70177347e-01]

qfrc_actuator:
[ 2.50886571e-03, 2.76140632e-02, 8.74223485e-03, 1.61658245e-03,
 -3.54527004e-05, 2.74682701e-02, 8.69794589e-03, 1.65085876e-03,
 -2.40980782e-03, 2.75623014e-02, 8.74647172e-03, 1.77166751e-03,
  1.20441597e-03,-1.77166465e-03, 0.00000000e+00,-2.48281702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.96062230e-05,-6.80407867e-06,-4.51830579e-05, 3.55394189e-05,
 -2.97508128e-05, 6.44343039e-05, 3.47293061e-05, 5.24813749e-07,
  2.06849770e-06, 2.17380443e-05, 2.15219799e-05, 2.66569097e-06,
 -2.20354047e-05, 1.73387792e-05,-1.47411683e-05,-1.45772976e-04,
  9.23512570e-01, 1.87761920e-01,-7.95902194e+00,-1.63129530e-01,
  3.44649282e-02, 9.75114264e-03]


--- Step 1722 ---
qpos:
[-5.52867043e-04, 8.77205420e-01,-2.02753380e-02,-2.75896682e-02,
  7.60988672e-03, 8.64660783e-01,-2.80301091e-02, 9.44886379e-03,
  2.21974518e-02, 8.72961027e-01,-2.02856625e-02, 2.24562201e-02,
  1.36491807e+00,-9.94777703e-03, 1.04744293e+00, 6.11808229e-02,
 -1.42250349e+00,-5.74842515e-03, 7.63157888e-02, 7.03585430e-01,
 -7.05179137e-01,-8.20522065e-02, 3.09412801e-02]

qacc:
[  0.06804569,  3.0760897 ,-14.06277689, 28.16315288, -0.14288348,
  -0.09756653, -1.73923033,  8.47430251, -0.07601723, -2.84082728,
  11.32521258,-18.06152904, -0.19166708,  0.44460473, -0.50316696,
   1.11344109,  0.78175201,  0.19711111, -9.84860294, -3.44345444,
  18.46108645,  0.18233025]

qfrc_actuator:
[ 2.50729649e-03, 2.76268637e-02, 8.72184852e-03, 1.65635034e-03,
 -4.73026896e-05, 2.74088868e-02, 8.69075811e-03, 1.66706031e-03,
 -2.42498956e-03, 2.75537785e-02, 8.78241240e-03, 1.75522945e-03,
  1.22012697e-03,-1.75265519e-03, 0.00000000e+00,-2.47431260e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.26730531e-05, 1.17515701e-06,-2.61324184e-05, 3.86039976e-05,
 -2.60024198e-05,-1.61705135e-05, 1.04144802e-05, 2.01744080e-05,
 -1.41839415e-05, 8.18959645e-06, 4.31753436e-05,-1.47116739e-05,
  6.75724693e-06, 1.83386566e-05,-2.72833595e-05,-2.48909620e-06,
  9.25915382e-01, 1.88032485e-01,-7.92784429e+00,-1.63868660e-01,
  2.66310869e-02, 9.73587746e-03]


--- Step 1723 ---
qpos:
[-5.51183855e-04, 8.77206020e-01,-2.02752494e-02,-2.75888792e-02,
  7.60898863e-03, 8.64660934e-01,-2.80299475e-02, 9.44901656e-03,
  2.21970733e-02, 8.72960826e-01,-2.02856353e-02, 2.24578035e-02,
  1.36501965e+00,-9.94743682e-03, 1.04765554e+00, 6.11791005e-02,
 -1.42368450e+00,-5.98738334e-03, 7.61514962e-02, 7.04823440e-01,
 -7.02338599e-01,-9.87831354e-02, 1.36492921e-02]

qacc:
[ -0.07194772, -1.53958987,  5.29974067, -5.30934043, -0.10489161,
  -0.14361907,  1.12050784, -3.65652384, -0.08474197, -0.16094999,
  -1.08943954,  5.15440845, -0.21726004,  0.63081827,-10.17220711,
  34.43316055,  0.78262902,  0.19682311, -9.8147997 , -4.0760534 ,
  18.31928266,  0.19396335]

qfrc_actuator:
[ 2.48779447e-03, 2.76520158e-02, 8.76337499e-03, 1.66170093e-03,
 -5.39697979e-05, 2.74088145e-02, 8.68621048e-03, 1.65866447e-03,
 -2.43392425e-03, 2.74953929e-02, 8.76803807e-03, 1.76277026e-03,
  1.22589612e-03,-1.72358887e-03, 0.00000000e+00,-2.30751652e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.34058310e-05, 2.20520025e-05, 3.98830158e-05, 5.24679753e-06,
 -1.90453675e-05,-6.10886293e-06,-5.90917995e-06,-8.33621170e-06,
 -1.57580215e-05,-4.55268093e-05,-7.87632154e-06, 9.09744213e-06,
  1.33292736e-05, 3.53722949e-05,-1.54517596e-05, 1.62544469e-04,
  9.27050729e-01, 1.87968841e-01,-7.89660690e+00,-1.64227770e-01,
  1.87792618e-02, 9.69806060e-03]


--- Step 1724 ---
qpos:
[-5.49879423e-04, 8.77206793e-01,-2.02752497e-02,-2.75883490e-02,
  7.60795846e-03, 8.64661735e-01,-2.80304783e-02, 9.44971438e-03,
  2.21967474e-02, 8.72960086e-01,-2.02853727e-02, 2.24594738e-02,
  1.36512117e+00,-9.94692344e-03, 1.04786789e+00, 6.11803511e-02,
 -1.42486238e+00,-6.22555703e-03, 7.59480796e-02, 7.05643610e-01,
 -6.99091875e-01,-1.15430185e-01,-3.67686180e-03]

qacc:
[-1.96936822e-01,-5.58841897e-02, 1.62228906e+00,-6.08235103e+00,
 -7.00066197e-02, 3.91070015e+00,-1.50026232e+01, 2.50705379e+01,
  2.76598480e-02,-1.19114511e+00, 2.84716626e+00,-1.32411335e+00,
 -9.89554666e-03, 1.09731027e-01,-9.36670331e+00, 3.22070154e+01,
  7.82105093e-01, 1.96127627e-01,-9.78097221e+00,-4.70354596e+00,
  1.81501779e+01, 2.04991289e-01]

qfrc_actuator:
[ 2.45775085e-03, 2.76490994e-02, 8.75238739e-03, 1.64680919e-03,
 -5.74910640e-05, 2.74797346e-02, 8.66570820e-03, 1.68916362e-03,
 -2.42128297e-03, 2.74606680e-02, 8.77712907e-03, 1.76652764e-03,
  1.20972628e-03,-1.72432489e-03, 0.00000000e+00,-2.15535318e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-3.64927634e-05, 1.78541011e-05,-1.34669154e-06,-1.24678762e-05,
 -1.25864563e-05, 6.59192218e-05,-2.27829838e-05, 2.98702235e-05,
  5.05372587e-06,-6.14206793e-05,-9.69021079e-07, 1.70899222e-06,
 -5.36928419e-07, 1.09463988e-05, 8.54680603e-06, 1.58668941e-04,
  9.26916471e-01, 1.87571408e-01,-7.86536630e+00,-1.64206662e-01,
  1.09278662e-02, 9.63778811e-03]


--- Step 1725 ---
qpos:
[-5.49131528e-04, 8.77207567e-01,-2.02755715e-02,-2.75879620e-02,
  7.60703452e-03, 8.64663083e-01,-2.80315815e-02, 9.45112153e-03,
  2.21965263e-02, 8.72959375e-01,-2.02846863e-02, 2.24610892e-02,
  1.36522257e+00,-9.94632746e-03, 1.04808022e+00, 6.11834105e-02,
 -1.42603714e+00,-6.46295061e-03, 7.57056744e-02, 7.06045188e-01,
 -6.95441145e-01,-1.31983624e-01,-2.10268777e-02]

qacc:
[ -0.2893934 ,  0.60356243, -1.54848346, -0.4128782 ,  0.05529084,
   3.7774184 ,-15.41790216, 28.212286  ,  0.05472544, -1.25739661,
   4.77207272, -6.42173366, -0.0511902 ,  0.090803  , -5.4780161 ,
  19.14487899,  0.7801772 ,  0.19502536, -9.74717821, -5.3249942 ,
  17.95398446,  0.21533122]

qfrc_actuator:
[ 2.42167752e-03, 2.76291834e-02, 8.72809553e-03, 1.63781741e-03,
 -4.13598779e-05, 2.75038240e-02, 8.63628204e-03, 1.72460957e-03,
 -2.41359938e-03, 2.75114630e-02, 8.81784254e-03, 1.76806186e-03,
  1.19637326e-03,-1.72507575e-03, 0.00000000e+00,-2.06633924e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.36298989e-05,-1.07702865e-05,-2.12094482e-05,-8.51877049e-06,
  1.01486293e-05, 5.75068362e-05,-1.75883547e-05, 3.80617584e-05,
  1.01066416e-05, 1.63349422e-05, 2.79677900e-05,-1.10004105e-06,
 -1.10491872e-05, 1.77247763e-06, 1.78562260e-05, 9.80795831e-05,
  9.25512611e-01, 1.86841267e-01,-7.83417914e+00,-1.63806033e-01,
  3.09528778e-03, 9.55520906e-03]


--- Step 1726 ---
qpos:
[-5.48322969e-04, 8.77208233e-01,-2.02755840e-02,-2.75877155e-02,
  7.60645210e-03, 8.64664068e-01,-2.80325924e-02, 9.45232359e-03,
  2.21962196e-02, 8.72958582e-01,-2.02831691e-02, 2.24620043e-02,
  1.36532384e+00,-9.94547150e-03, 1.04829284e+00, 6.11855172e-02,
 -1.42720879e+00,-6.69957013e-03, 7.54244153e-02, 7.06027670e-01,
 -6.91388830e-01,-1.48433789e-01,-3.83904280e-02]

qacc:
[  0.03174229, -1.29523963,  5.00318162, -7.8462744 ,  0.17955864,
  -1.15745359,  4.29893856, -7.73067154, -0.04400677, -3.86814435,
  16.59314859,-29.9805498 , -0.36407597,  0.66941522,  3.32740361,
 -10.96605475,  0.77684391,  0.19351762, -9.71347582, -5.93946804,
  17.73095554,  0.22490341]

qfrc_actuator:
[ 2.45332619e-03, 2.76346770e-02, 8.74934734e-03, 1.63235345e-03,
 -1.36227002e-05, 2.74286472e-02, 8.61941100e-03, 1.70938343e-03,
 -2.42671634e-03, 2.75067015e-02, 8.85949445e-03, 1.73286394e-03,
  1.19536857e-03,-1.70806159e-03, 0.00000000e+00,-2.12175563e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 5.84417213e-06,-5.29752024e-06, 1.61162615e-05,-6.82541588e-06,
  3.25741541e-05,-4.50464033e-05,-5.84824043e-06,-1.26329006e-05,
 -8.25336519e-06, 1.01122949e-05, 4.84306746e-05,-3.35540208e-05,
 -6.77429461e-06, 1.48900486e-05, 1.45375901e-05,-4.87327704e-05,
  9.22841308e-01, 1.85780158e-01,-7.80310214e+00,-1.63027466e-01,
 -4.70015447e-03, 9.45052519e-03]


--- Step 1727 ---
qpos:
[-5.47476159e-04, 8.77208874e-01,-2.02753757e-02,-2.75875416e-02,
  7.60602089e-03, 8.64664566e-01,-2.80330655e-02, 9.45228449e-03,
  2.21959760e-02, 8.72957684e-01,-2.02813975e-02, 2.24628792e-02,
  1.36542505e+00,-9.94465785e-03, 1.04850530e+00, 6.11886364e-02,
 -1.42837656e+00,-6.90435820e-03, 7.51778333e-02, 7.04902828e-01,
 -6.87681925e-01,-1.64723558e-01,-5.54231274e-02]

qacc:
[ 2.00163579e-02,-7.98714392e-01, 3.10667900e+00,-4.69612589e+00,
  7.98632561e-02,-4.69648345e+00, 2.10549580e+01,-4.30441986e+01,
  3.30155569e-02,-9.32515352e-01, 3.29351039e+00,-4.32016934e+00,
  4.68472215e-02,-1.21487975e-01,-3.31001654e+00, 1.12099028e+01,
  9.71296002e-01, 7.95785959e+00, 8.66929328e+00,-4.83300953e+02,
 -1.46578338e+02, 1.76676168e+02]

qfrc_actuator:
[ 2.45420293e-03, 2.76377712e-02, 8.76191793e-03, 1.62906075e-03,
 -1.47049656e-05, 2.74011170e-02, 8.64514264e-03, 1.64663208e-03,
 -2.41665978e-03, 2.74864585e-02, 8.86562767e-03, 1.72955189e-03,
  1.18580126e-03,-1.71610410e-03, 0.00000000e+00,-2.06651349e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([6.15706668, 6.14789343, 0.33597093, 6.14789343, 6.14241582,
       0.26809435, 0.33597093, 0.26809435, 1.25123899, 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0005669923271029303
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42288285, -0.06601816,  0.0497165 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.68633513e-06, 3.15120027e-06, 1.32195980e-05,-3.09621395e-06,
  1.44161249e-05,-5.44816080e-05, 1.52684646e-05,-6.51318812e-05,
  6.08611308e-06,-6.01894652e-06, 1.30198808e-05,-1.85815324e-06,
 -1.01043175e-05,-5.92704206e-06,-3.92900148e-06, 5.31799349e-05,
  9.18906891e-01, 1.84390487e-01,-7.77219199e+00,-1.61873433e-01,
 -1.24402538e-02, 9.32399046e-03]


--- Step 1728 ---
qpos:
[-5.46977697e-04, 8.77209478e-01,-2.02752379e-02,-2.75880769e-02,
  7.60565574e-03, 8.64664427e-01,-2.80328817e-02, 9.45185006e-03,
  2.21961943e-02, 8.72957541e-01,-2.02807211e-02, 2.24630000e-02,
  1.36552594e+00,-9.94332901e-03, 1.04871748e+00, 6.11940502e-02,
 -1.42954267e+00,-7.08269837e-03, 7.49537997e-02, 7.02810663e-01,
 -6.84198704e-01,-1.80893874e-01,-7.21575452e-02]

qacc:
[-1.81071763e-01,-1.31478912e+00, 7.60101517e+00,-1.97206787e+01,
  3.53111409e-02,-3.48541648e+00, 1.28795006e+01,-2.03082019e+01,
  2.39023531e-01, 2.50522379e+00,-4.30040431e+00,-7.55666901e+00,
 -5.09645092e-01, 9.87686664e-01,-7.28959333e+00, 2.50073045e+01,
  4.15512691e-01, 6.61197729e+00, 5.63708372e+00,-3.90222971e+02,
 -1.46342871e+02, 1.37857356e+02]

qfrc_actuator:
[ 2.41886204e-03, 2.76216329e-02, 8.75149172e-03, 1.59155383e-03,
 -1.52725697e-05, 2.73669397e-02, 8.67820075e-03, 1.62749424e-03,
 -2.37506105e-03, 2.75457457e-02, 8.81518837e-03, 1.69173362e-03,
  1.17109485e-03,-1.68572442e-03, 0.00000000e+00,-1.94646017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([8.63636364, 8.60459617, 0.74006863, 8.60459617, 8.58047368,
       0.64981885, 0.74006863, 0.64981885, 1.0810795 , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        , 0.        , 0.        , 0.        , 0.        ,
       0.        ])
  dim: 3
  dist: -0.0010268962456737585
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42323246, -0.06467448,  0.04948655])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.35685712e-05,-1.17970304e-05,-8.26164641e-06,-3.69766269e-05,
  6.28783590e-06,-6.42856377e-05, 2.14328137e-05,-2.22114994e-05,
  4.45256314e-05, 5.85374164e-05,-5.01511731e-05,-3.76645059e-05,
 -2.20319177e-05, 2.67968545e-05, 4.83767771e-07, 1.21652389e-04,
  5.12005786e-01, 8.00700832e-02,-7.74047324e+00,-1.53878773e-01,
 -4.05512022e-02, 8.89409869e-03]


--- Step 1729 ---
qpos:
[-5.46498394e-04, 8.77210212e-01,-2.02750304e-02,-2.75890888e-02,
  7.60513359e-03, 8.64663577e-01,-2.80328571e-02, 9.45263764e-03,
  2.21967059e-02, 8.72957989e-01,-2.02812652e-02, 2.24630419e-02,
  1.36562652e+00,-9.94160195e-03, 1.04892982e+00, 6.11991717e-02,
 -1.43069491e+00,-7.25712531e-03, 7.48049893e-02, 7.00440488e-01,
 -6.80323629e-01,-1.96714401e-01,-8.85794935e-02]

qacc:
[-9.97853208e-03,-1.00393706e+00, 5.83564468e+00,-1.42786881e+01,
 -8.22494062e-02, 2.01691894e+00,-1.37176645e+01, 3.56491580e+01,
  1.51435338e-01, 4.02714293e+00,-1.28933818e+01, 1.30449378e+01,
 -5.58707962e-01, 9.89332480e-01, 1.15400837e+00,-3.61294760e+00,
  3.46566501e+00, 9.78304217e-01, 1.88058185e+01, 5.82411357e+01,
  5.01525723e+00, 1.84044803e+02]

qfrc_actuator:
[ 2.43317240e-03, 2.76472366e-02, 8.76297585e-03, 1.56968942e-03,
 -3.32593400e-05, 2.73113652e-02, 8.66206281e-03, 1.68743303e-03,
 -2.36821890e-03, 2.75631692e-02, 8.74980609e-03, 1.68719943e-03,
  1.15333080e-03,-1.66833726e-03, 0.00000000e+00,-1.96673355e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -2.40643173, -8.29432717, -2.40643173, 31.5150312 ,
       -6.63778394, -8.29432717, -6.63778394, 10.56218276,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0013134659399740081
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42319326, -0.06470433,  0.04934327])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00044681137281471495
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44377769,  0.06593105,  0.04977659])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000328241310907057
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44205767,  0.06340302,  0.04983588])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84207154e-06, 1.56991298e-05, 6.74578626e-06,-2.33753021e-05,
 -1.50019082e-05,-8.80434000e-05,-2.75424477e-05, 5.74945378e-05,
  2.82737577e-05, 3.81883278e-05,-6.07775272e-05,-4.49563362e-06,
 -2.39187590e-05, 1.86387164e-05, 9.97397807e-06,-1.43169758e-05,
  1.79748793e-01, 2.08738530e-02,-7.72085065e+00,-1.45730352e-01,
 -6.40599147e-02, 8.50606120e-03]


--- Step 1730 ---
qpos:
[-5.45572645e-04, 8.77211128e-01,-2.02747386e-02,-2.75903632e-02,
  7.60461268e-03, 8.64662540e-01,-2.80332347e-02, 9.45408662e-03,
  2.21972131e-02, 8.72958627e-01,-2.02822883e-02, 2.24644110e-02,
  1.36572695e+00,-9.93990678e-03, 1.04914221e+00, 6.12036860e-02,
 -1.43183883e+00,-7.42993104e-03, 7.47096923e-02, 6.97795652e-01,
 -6.76049396e-01,-2.12270874e-01,-1.04783199e-01]

qacc:
[ 2.31961813e-01,-5.36792066e-01, 3.36661119e+00,-8.17101326e+00,
  5.10990593e-04, 2.23604883e+00,-1.11247276e+01, 2.33554552e+01,
 -2.56661269e-03, 4.31658093e+00,-2.06346321e+01, 4.42319703e+01,
 -1.34758512e-01, 1.17859565e-01, 1.92229001e+00,-6.59099539e+00,
  2.08173952e+00, 4.05305331e-01, 1.33783482e+01, 5.61404931e+01,
  8.90361334e+00, 1.14860069e+02]

qfrc_actuator:
[ 2.47708365e-03, 2.76622268e-02, 8.76974157e-03, 1.55726143e-03,
 -2.59957021e-05, 2.73320455e-02, 8.65246568e-03, 1.72234807e-03,
 -2.38224685e-03, 2.75730890e-02, 8.72927924e-03, 1.75551995e-03,
  1.13906742e-03,-1.67658735e-03, 0.00000000e+00,-1.99852350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.95679298,  8.58320011, -0.95679298,  6.36785823,
       -0.25287655,  8.58320011, -0.25287655,  8.60817479,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001479258811937001
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42315472, -0.0647273 ,  0.04926037])
  solimp: array([9.0e-01, 9.5e-01, 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([ 7.93835652,  1.25913577, -7.83786204,  1.25913577, 58.26415418,
        8.08473176, -7.83786204,  8.08473176,  9.23715139,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007960804560213086
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44372599,  0.06591124,  0.04960196])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006131605306311794
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44201387,  0.06338169,  0.04969342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30256078e-05, 2.41428699e-05, 1.00237038e-05,-1.19778775e-05,
  1.12141763e-07,-3.17594371e-05,-2.91786038e-05, 3.13089995e-05,
 -4.18257875e-07, 1.85262752e-05,-2.02810816e-05, 6.77661594e-05,
 -2.35243157e-05,-9.31640556e-06,-1.96453753e-06,-3.24651106e-05,
  2.05190317e-01, 2.49112739e-02,-7.70457024e+00,-1.43246127e-01,
 -6.86023622e-02, 8.33026984e-03]


--- Step 1731 ---
qpos:
[-5.44349428e-04, 8.77211805e-01,-2.02744739e-02,-2.75913691e-02,
  7.60432615e-03, 8.64661734e-01,-2.80336495e-02, 9.45517186e-03,
  2.21979973e-02, 8.72959066e-01,-2.02830325e-02, 2.24652038e-02,
  1.36582733e+00,-9.93857944e-03, 1.04935485e+00, 6.12054323e-02,
 -1.43297532e+00,-7.60270188e-03, 7.46568184e-02, 6.94885748e-01,
 -6.71377601e-01,-2.27582205e-01,-1.20798404e-01]

qacc:
[ 1.54647872e-01, 3.13136345e-01,-2.70490237e+00, 7.56403195e+00,
  1.22980086e-01,-3.39887447e-01, 3.18977091e+00,-9.59581244e+00,
  1.44140806e-01,-2.22650505e+00, 9.99196471e+00,-2.02663243e+01,
  8.67936771e-02,-3.97588201e-01, 8.70162363e+00,-2.99536329e+01,
  1.85622248e+00, 8.72185583e-03, 1.06057658e+01, 5.62771975e+01,
  1.45083466e+01, 9.25732305e+01]

qfrc_actuator:
[ 2.48503960e-03, 2.76174878e-02, 8.75588102e-03, 1.56822450e-03,
 -3.67727949e-06, 2.73804854e-02, 8.66485234e-03, 1.70681539e-03,
 -2.35535863e-03, 2.75431671e-02, 8.73541246e-03, 1.72415785e-03,
  1.13222857e-03,-1.69994897e-03, 0.00000000e+00,-2.14330730e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.20846209, -8.55139733,  1.20846209, 29.3349683 ,
        2.92507507, -8.55139733,  2.92507507,  9.04972793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015571935004104476
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42379864, -0.06484051,  0.0492214 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.55576069, -1.05613781, -8.49032472, -1.05613781, 15.22852363,
       -0.83004567, -8.49032472, -0.83004567,  8.65901264,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009331208590277612
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44478833,  0.06586784,  0.04953344])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.37525859, -8.52616213, -1.37525859, 20.31836755,
       -1.88429167, -8.52616213, -1.88429167,  8.94029737,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010009898902100245
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44159822,  0.04476603,  0.04949951])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86573173e-05,-2.97002573e-05,-8.06318359e-06, 1.21092718e-05,
  2.23678022e-05, 2.60214703e-05, 3.32493287e-06,-1.72939324e-05,
  2.66892459e-05,-2.08552111e-05, 9.80770104e-06,-2.99524993e-05,
 -2.26081296e-05,-3.08744167e-05,-8.79451099e-06,-1.47855224e-04,
  2.32297920e-01, 2.94529684e-02,-7.68689914e+00,-1.40581515e-01,
 -7.30582980e-02, 8.13988096e-03]


--- Step 1732 ---
qpos:
[-5.43308968e-04, 8.77212170e-01,-2.02737318e-02,-2.75926062e-02,
  7.60429120e-03, 8.64661342e-01,-2.80343256e-02, 9.45605355e-03,
  2.21992616e-02, 8.72958844e-01,-2.02833923e-02, 2.24646320e-02,
  1.36592765e+00,-9.93733350e-03, 1.04956750e+00, 6.12047504e-02,
 -1.43410797e+00,-7.77601813e-03, 7.46277820e-02, 6.91696857e-01,
 -6.66312386e-01,-2.42698824e-01,-1.36676783e-01]

qacc:
[ -0.09457565, -2.22169338,  8.29706239,-12.82773253,  0.13182716,
   0.85690623, -1.40357906, -2.00481121,  0.24983912, -4.75250506,
  21.44241518,-45.18892776, -0.11383516,  0.09152919,  7.35548705,
 -25.69607169,  0.96054812, -0.13635313,  5.95936349, 46.85184048,
  13.73789995, 51.29767507]

qfrc_actuator:
[ 2.45364014e-03, 2.76082696e-02, 8.78298034e-03, 1.55729098e-03,
  9.68776634e-06, 2.74097335e-02, 8.65471993e-03, 1.69727993e-03,
 -2.32195296e-03, 2.74718997e-02, 8.73922276e-03, 1.65211137e-03,
  1.14049151e-03,-1.69652355e-03, 0.00000000e+00,-2.26472049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.31100188,  8.53627852, -1.31100188, 12.6652424 ,
        0.61875531,  8.53627852,  0.61875531,  8.73139209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015739002421221934
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42376316, -0.0648535 ,  0.04921305])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  4.44793706, -7.40288003,  4.44793706, 25.0094704 ,
        9.83759672, -7.40288003,  9.83759672, 14.54717278,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010918888181898484
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44474196,  0.0658572 ,  0.04945406])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  5.44277348, -6.70544508,  5.44277348, 43.54648293,
       28.33635487, -6.70544508, 28.33635487, 31.6368295 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011458349880807198
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44155489,  0.04475488,  0.04942708])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.76169629e-05,-2.69879176e-05, 2.03848370e-05,-1.22482759e-05,
  2.40144361e-05, 4.37680531e-05,-4.93943378e-06,-8.64225688e-06,
  4.62453000e-05,-8.21881781e-05,-3.24211787e-07,-7.31847567e-05,
 -1.23186304e-05,-8.84059614e-06,-2.48836990e-05,-1.31818446e-04,
  2.60850559e-01, 3.45275965e-02,-7.66946063e+00,-1.37832096e-01,
 -7.73337735e-02, 7.93783387e-03]


--- Step 1733 ---
qpos:
[-5.42555040e-04, 8.77211887e-01,-2.02724694e-02,-2.75942695e-02,
  7.60464474e-03, 8.64661098e-01,-2.80350862e-02, 9.45787181e-03,
  2.22005881e-02, 8.72958603e-01,-2.02848121e-02, 2.24635655e-02,
  1.36602770e+00,-9.93553056e-03, 1.04978003e+00, 6.12022478e-02,
 -1.43523898e+00,-7.95019293e-03, 7.46068699e-02, 6.88215949e-01,
 -6.60858010e-01,-2.57651734e-01,-1.52450260e-01]

qacc:
[-1.48368108e-01,-3.18784567e+00, 1.19179743e+01,-1.96414218e+01,
  2.04009645e-01, 2.35745198e+00,-1.20768822e+01, 2.83159059e+01,
  3.16369198e-02, 1.91699876e+00,-4.78451215e+00,-2.06856764e+00,
 -7.25745440e-01, 1.35718690e+00, 5.38340708e+00,-1.89616079e+01,
  4.09821842e-01,-2.14636697e-01, 2.03109540e+00, 3.88489033e+01,
  1.28291501e+01, 2.36458722e+01]

qfrc_actuator:
[ 2.43449393e-03, 2.75495217e-02, 8.79865664e-03, 1.53361179e-03,
  3.53224550e-05, 2.74094385e-02, 8.64906781e-03, 1.74458601e-03,
 -2.33820858e-03, 2.74828823e-02, 8.68816425e-03, 1.62768353e-03,
  1.13651505e-03,-1.65941257e-03, 0.00000000e+00,-2.35359140e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.44316637, -8.51493087,  1.44316637, 24.52609721,
        2.69309633, -8.51493087,  2.69309633,  9.09280728,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015241330777360368
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42373017, -0.06486321,  0.04923793])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  5.31532264, -6.80691722,  5.31532264, 19.02637111,
        8.11325306, -6.80691722,  8.11325306, 14.97176573,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011582711278546737
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44469742,  0.06584973,  0.04942086])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  6.51517705, -5.66914851,  6.51517705, 32.42575842,
       27.33957642, -5.66914851, 27.33957642, 40.05592876,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001202480536399278
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44151309,  0.04474697,  0.04939876])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.76264325e-05,-7.01699694e-05, 1.21831308e-05,-2.43670107e-05,
  3.70699343e-05, 2.28050347e-05, 2.48626162e-06, 4.88420257e-05,
  5.98543355e-06,-3.81628286e-05,-7.06012346e-05,-2.93842727e-05,
 -1.37121496e-05, 3.25557105e-05,-2.95756922e-05,-1.00228200e-04,
  2.83969592e-01, 3.89305375e-02,-7.65061847e+00,-1.34753513e-01,
 -8.17942172e-02, 7.71740931e-03]


--- Step 1734 ---
qpos:
[-5.42059521e-04, 8.77211044e-01,-2.02713241e-02,-2.75954790e-02,
  7.60515440e-03, 8.64660979e-01,-2.80358407e-02, 9.45954902e-03,
  2.22016530e-02, 8.72958758e-01,-2.02871500e-02, 2.24624959e-02,
  1.36612759e+00,-9.93420788e-03, 1.04999226e+00, 6.11996583e-02,
 -1.43636947e+00,-8.12533909e-03, 7.45808838e-02, 6.84431654e-01,
 -6.55019232e-01,-2.72457856e-01,-1.68136355e-01]

qacc:
[ -0.1341351 ,  0.52174038, -4.84497902, 13.28648824,  0.08195632,
  -0.1429241 ,  1.34358412, -3.88624445, -0.1366062 ,  3.0799465 ,
 -10.20976249, 11.32991916,  0.24663893, -0.75672264, -0.21787224,
   0.04556008,  0.13028712, -0.24283928, -1.26852238, 32.09889314,
  11.85558164,  5.92733359]

qfrc_actuator:
[ 2.42287655e-03, 2.75147749e-02, 8.78949263e-03, 1.55583061e-03,
  3.25761268e-05, 2.74092696e-02, 8.64603140e-03, 1.73617515e-03,
 -2.36628248e-03, 2.75428380e-02, 8.65873314e-03, 1.63150285e-03,
  1.09326100e-03,-1.70921189e-03, 0.00000000e+00,-2.35156265e-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, -1.62819415e-03, -8.63636348e+00, -1.62819415e-03,
        2.77210794e+01, -3.59799847e-03, -8.63636348e+00, -3.59799847e-03,
        8.63636431e+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: -0.0014222980945007568
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42370107, -0.06487056,  0.04928885])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.60997814,  8.23254462, -2.60997814, 49.24984743,
       12.87576441,  8.23254462, 12.87576441, 12.71838994,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011508704357441751
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4446567 ,  0.06584447,  0.04942456])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  6.39179632, -5.80790123,  6.39179632, 25.78296362,
       18.87042673, -5.80790123, 18.87042673, 29.40392137,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011888555066175976
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44147471,  0.04474135,  0.04940557])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.49171749e-05,-7.25161037e-05,-2.30023465e-05, 1.91640696e-05,
  1.48991472e-05, 1.52028832e-05, 3.67497495e-06,-6.39888501e-06,
 -2.51988938e-05, 2.27950706e-05,-4.70124746e-05,-8.26982048e-07,
 -4.40010678e-05,-4.48962239e-05,-2.80187423e-05,-8.10476146e-06,
  3.02061734e-01, 4.26191971e-02,-7.63084092e+00,-1.31353163e-01,
 -8.63762590e-02, 7.47908737e-03]


--- Step 1735 ---
qpos:
[-5.41577022e-04, 8.77210260e-01,-2.02708539e-02,-2.75964541e-02,
  7.60534589e-03, 8.64660808e-01,-2.80364980e-02, 9.46043860e-03,
  2.22027830e-02, 8.72958848e-01,-2.02891949e-02, 2.24617994e-02,
  1.36622710e+00,-9.93332885e-03, 1.05020443e+00, 6.11960591e-02,
 -1.43749973e+00,-8.30148948e-03, 7.45389199e-02, 6.80335398e-01,
 -6.48800442e-01,-2.87124202e-01,-1.83742825e-01]

qacc:
[-7.18959852e-03, 2.44765566e+00,-9.59922715e+00, 1.46861937e+01,
 -1.67089069e-01,-1.95807141e+00, 1.02107960e+01,-2.39635188e+01,
  3.40265335e-02,-1.35627211e-01,-1.21572676e+00, 7.25434319e+00,
 -1.77797488e-03,-4.40990699e-01, 2.95270607e+00,-1.04763782e+01,
  5.60402431e-02,-2.51057625e-01,-3.99442993e+00, 2.69750087e+01,
  1.12057544e+01,-4.96928074e+00]

qfrc_actuator:
[ 2.43361560e-03, 2.75478586e-02, 8.76585376e-03, 1.56937343e-03,
 -4.87446954e-06, 2.73913888e-02, 8.64450770e-03, 1.69503711e-03,
 -2.34789059e-03, 2.75430067e-02, 8.67806569e-03, 1.65197687e-03,
  1.05839602e-03,-1.73933239e-03, 0.00000000e+00,-2.40251526e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.52099691,  8.50137314, -1.52099691,  2.7539204 ,
       -1.05243916,  8.50137314, -1.05243916,  8.44806974,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0012802935563690915
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42367728, -0.06487634,  0.04935985])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -8.26154194,  2.51668464, -8.26154194,  9.74932698,
        3.65353418,  2.51668464,  3.65353418, 20.62985117,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010851356080966018
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44462161,  0.06584063,  0.04945743])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  5.67983218, -6.50586529,  5.67983218, 20.35163635,
       10.22781444, -6.50586529, 10.22781444, 17.56557858,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0011198318073197197
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44144151,  0.04473722,  0.04944008])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.25658640e-06,-1.13864033e-05,-4.07848413e-05, 1.00182377e-05,
 -3.03574422e-05,-8.88676466e-06, 1.85162091e-06,-4.04854749e-05,
  6.26950450e-06, 3.18492818e-06, 1.82403199e-05, 1.98132415e-05,
 -7.07057001e-05,-5.07876434e-05,-1.65476522e-05,-5.56402922e-05,
  3.15501396e-01, 4.55801504e-02,-7.61053549e+00,-1.27638548e-01,
 -9.10259766e-02, 7.22336098e-03]


--- Step 1736 ---
qpos:
[-5.41220057e-04, 8.77209525e-01,-2.02710184e-02,-2.75972612e-02,
  7.60496566e-03, 8.64660266e-01,-2.80367726e-02, 9.46154105e-03,
  2.22040538e-02, 8.72958492e-01,-2.02911139e-02, 2.24621053e-02,
  1.36632621e+00,-9.93260401e-03, 1.05041636e+00, 6.11928540e-02,
 -1.43862945e+00,-8.47858232e-03, 7.44719867e-02, 6.75920657e-01,
 -6.42206339e-01,-3.01651259e-01,-1.99270672e-01]

qacc:
[-6.56282585e-02, 2.18335966e+00,-8.39735653e+00, 1.22777920e+01,
 -2.99926798e-01,-1.12144198e+00, 2.38739202e+00, 9.57109137e-01,
  7.34540981e-02, 1.12052262e+00,-9.08457855e+00, 2.65612840e+01,
 -1.53917544e-01,-2.44951479e-02,-1.54470685e+00, 4.89214390e+00,
  1.36619402e-01,-2.35613504e-01,-6.24231959e+00, 2.28448763e+01,
  1.06346541e+01,-1.12127610e+01]

qfrc_actuator:
[ 2.42212121e-03, 2.75502340e-02, 8.73413481e-03, 1.57774849e-03,
 -4.49831566e-05, 2.73630067e-02, 8.66155071e-03, 1.70597630e-03,
 -2.33734648e-03, 2.74898525e-02, 8.67255474e-03, 1.69982122e-03,
  1.04989242e-03,-1.73973748e-03, 0.00000000e+00,-2.37778353e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.88027805,  8.42919518, -1.88027805, 13.48169409,
        1.08083492,  8.42919518,  1.08083492,  8.8774626 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001108018950689106
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42366016, -0.06488125,  0.04944599])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0009736176165314747
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44459379,  0.06583752,  0.04951319])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  4.88652537, -7.1210004 ,  4.88652537, 13.44401367,
        3.29907352, -7.1210004 ,  3.29907352, 10.90023185,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0010075231015339858
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44141507,  0.0447339 ,  0.04949624])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.20985176e-05,-1.19699984e-05,-3.87440582e-05, 6.67340959e-06,
 -5.45578122e-05,-3.46993862e-05, 1.40401353e-05, 9.83487914e-06,
  1.35591511e-05,-4.67388418e-05,-1.90368763e-06, 4.90015448e-05,
 -6.06750171e-05,-2.87894852e-05,-1.76186586e-05, 1.86412899e-05,
  3.25127416e-01, 4.79152141e-02,-7.58998098e+00,-1.23630285e-01,
 -9.56742448e-02, 6.95115740e-03]


--- Step 1737 ---
qpos:
[-5.41364311e-04, 8.77209088e-01,-2.02711912e-02,-2.75976927e-02,
  7.60462440e-03, 8.64659597e-01,-2.80368766e-02, 9.46205823e-03,
  2.22052676e-02, 8.72957715e-01,-2.02918868e-02, 2.24622176e-02,
  1.36642495e+00,-9.93171908e-03, 1.05062752e+00, 6.11949568e-02,
 -1.43975783e+00,-8.65643800e-03, 7.43726523e-02, 6.71182130e-01,
 -6.35242482e-01,-3.16035479e-01,-2.14716357e-01]

qacc:
[-2.60535351e-01, 1.19213042e+00,-5.25963269e+00, 1.15477373e+01,
  2.05926349e-02,-1.84580064e+00, 8.81203768e+00,-1.91242033e+01,
 -2.88013259e-02,-4.15482527e+00, 1.48257890e+01,-1.96983834e+01,
 -9.75793333e-02, 1.11530376e-01,-1.71347328e+01, 5.83439625e+01,
  3.34987786e-01,-1.90709252e-01,-8.10032238e+00, 1.91559011e+01,
  9.89726024e+00,-1.43993947e+01]

qfrc_actuator:
[ 2.37965184e-03, 2.76051820e-02, 8.75105525e-03, 1.60074827e-03,
 -1.52953410e-05, 2.73641704e-02, 8.67165673e-03, 1.67646584e-03,
 -2.34936547e-03, 2.74938753e-02, 8.74095085e-03, 1.69229881e-03,
  1.04656924e-03,-1.72242533e-03, 0.00000000e+00,-2.09560937e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.50295534,  1.54458464, -8.36148957,  1.54458464,  5.67169079,
       -0.52300822, -8.36148957, -0.52300822,  8.40634212,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009137055253368165
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42365099, -0.06488586,  0.04954315])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0008266742214013065
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44457472,  0.06583453,  0.04958666])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.30249075,  3.92330655, -7.31703617,  3.92330655,  6.24858961,
       -1.10127702, -7.31703617, -1.10127702,  7.71199929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0008619307368983517
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44139685,  0.04473079,  0.04956903])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.82894872e-05, 4.05569563e-05, 9.91496379e-06, 2.12794369e-05,
  3.71646121e-06,-1.49115243e-05, 5.01544641e-06,-3.03193600e-05,
 -5.50341634e-06,-2.03795580e-05, 6.02211865e-05,-8.63473587e-06,
 -4.45713680e-05,-3.54589964e-06,-9.42476432e-06, 2.80184153e-04,
  3.31372354e-01, 4.96728901e-02,-7.56939123e+00,-1.19339709e-01,
 -1.00275737e-01, 6.66315254e-03]


--- Step 1738 ---
qpos:
[-5.41642047e-04, 8.77209357e-01,-2.02719649e-02,-2.75975125e-02,
  7.60448952e-03, 8.64658981e-01,-2.80366303e-02, 9.46149126e-03,
  2.22065584e-02, 8.72957021e-01,-2.02913831e-02, 2.24607824e-02,
  1.36652335e+00,-9.93067671e-03, 1.05083853e+00, 6.12007173e-02,
 -1.44088439e+00,-8.83370679e-03, 7.42389727e-02, 6.66096938e-01,
 -6.27926065e-01,-3.30286452e-01,-2.30075174e-01]

qacc:
[-6.99418835e-02, 3.87153802e+00,-1.50250326e+01, 2.60392734e+01,
  1.08536785e-01,-3.13720342e+00, 1.58670884e+01,-3.52344056e+01,
  4.07322221e-02,-6.63803638e+00, 3.03642673e+01,-5.92511888e+01,
 -1.66805468e-01, 2.32967849e-01,-1.12717892e+01, 3.91141520e+01,
  4.54723080e-01, 1.46721385e-01,-8.58628452e+00, 7.62970354e+00,
  1.96256484e-01,-2.14595669e+01]

qfrc_actuator:
[ 2.39003392e-03, 2.76558990e-02, 8.72577641e-03, 1.63224792e-03,
  2.63046168e-06, 2.73829646e-02, 8.69541227e-03, 1.62339860e-03,
 -2.33927551e-03, 2.75323577e-02, 8.81711521e-03, 1.61684603e-03,
  1.03571580e-03,-1.71248806e-03, 0.00000000e+00,-1.91257813e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.29018105,  1.10013787, -7.20669387,  1.10013787,  3.45707341,
       -0.58514305, -7.20669387, -0.58514305,  7.20085604,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007051956124599426
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44180491,  0.04624784,  0.0496474 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007041890883122681
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42365092, -0.06489066,  0.04964791])
  solimp: array([9.0e-01, 9.5e-01, 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([ 6.92871851, -0.4393022 , -6.91477793, -0.4393022 , 17.83632043,
       -0.69296997, -6.91477793, -0.69296997,  6.97274353,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0006599368166748526
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42444358, -0.06504565,  0.04967003])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.28454026e-05, 7.63601932e-05,-1.49396495e-05, 3.39952853e-05,
  1.96932053e-05, 1.02093161e-05, 2.02497636e-05,-5.41223162e-05,
  7.43676768e-06, 3.91807210e-05, 7.90874367e-05,-7.44079528e-05,
 -3.66296858e-05,-1.38976353e-06, 2.43653893e-05, 1.96868484e-04,
  3.34309740e-01, 5.08424553e-02,-7.54898473e+00,-1.14769380e-01,
 -1.04805580e-01, 6.35977938e-03]


--- Step 1739 ---
qpos:
[-5.41917277e-04, 8.77209918e-01,-2.02728895e-02,-2.75969341e-02,
  7.60456489e-03, 8.64658288e-01,-2.80361124e-02, 9.46135052e-03,
  2.22079433e-02, 8.72956671e-01,-2.02903762e-02, 2.24591641e-02,
  1.36662159e+00,-9.92981322e-03, 1.05105002e+00, 6.12052957e-02,
 -1.44200902e+00,-9.01056774e-03, 7.40678066e-02, 6.60661932e-01,
 -6.20274355e-01,-3.44381074e-01,-2.45330820e-01]

qacc:
[ 1.12835160e-03, 1.62692572e+00,-6.91838286e+00, 1.38283560e+01,
  1.10665359e-01, 1.77641131e-02,-2.00957619e+00, 9.00902675e+00,
  4.90356617e-02,-1.32635499e+00, 6.16415418e+00,-1.03914909e+01,
 -7.97243711e-02,-6.84073738e-02, 4.27695783e+00,-1.39332428e+01,
  4.81873593e-01, 1.01960099e-01,-9.37162007e+00, 8.92279749e-01,
  4.82981374e-01,-1.21672336e+01]

qfrc_actuator:
[ 2.39645435e-03, 2.76502928e-02, 8.71127913e-03, 1.65070865e-03,
  1.33160763e-05, 2.73767034e-02, 8.70935683e-03, 1.64569342e-03,
 -2.33378411e-03, 2.75556754e-02, 8.84409379e-03, 1.60858221e-03,
  1.02567871e-03,-1.72478974e-03, 0.00000000e+00,-1.98478445e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 5.79711871,  3.12948528, -4.87984705,  3.12948528,  1.7950228 ,
       -2.56657639, -4.87984705, -2.56657639,  4.15115257,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0005234717945191009
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4418059 ,  0.04624389,  0.04973826])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00047800777231842007
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42366082, -0.06489607,  0.049761  ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 5.38348195,  1.8073718 , -5.07102406,  1.8073718 ,  0.60721974,
       -1.70231525, -5.07102406, -1.70231525,  4.77675704,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.000470537727828263
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42445465, -0.06505118,  0.04976473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49062674e-07, 3.54602541e-05, 6.11797540e-07, 2.18746105e-05,
  2.00603778e-05, 1.32695484e-06, 1.66783719e-05, 2.23807858e-05,
  9.07292589e-06, 5.83921863e-05, 4.22435654e-05,-5.29371232e-06,
 -3.06683230e-05,-2.13423561e-05, 2.84784009e-05,-5.91840954e-05,
  3.25590129e-01, 4.97746261e-02,-7.52855509e+00,-1.09592341e-01,
 -1.09563731e-01, 6.03249215e-03]


--- Step 1740 ---
qpos:
[-5.42518618e-04, 8.77210487e-01,-2.02732600e-02,-2.75964965e-02,
  7.60480586e-03, 8.64657752e-01,-2.80358261e-02, 9.46217339e-03,
  2.22092170e-02, 8.72956784e-01,-2.02891358e-02, 2.24584987e-02,
  1.36671951e+00,-9.92880659e-03, 1.05126174e+00, 6.12080115e-02,
 -1.44313184e+00,-9.18712492e-03, 7.38592775e-02, 6.54879107e-01,
 -6.12295276e-01,-3.58307830e-01,-2.60467560e-01]

qacc:
[ -0.16912521, -1.82577386,  7.11965363,-10.44539317,  0.08683542,
   2.83379058,-13.87497066, 30.81181956, -0.05772296,  1.91799767,
  -9.97670761, 25.75538123, -0.4632772 ,  0.6658803 ,  6.01040529,
 -20.44495961,  0.45274183,  0.07594205, -9.34077969,  0.15163671,
  -1.16072073, -7.69701211]

qfrc_actuator:
[ 2.36490993e-03, 2.76465300e-02, 8.73854638e-03, 1.64356218e-03,
  1.95711385e-05, 2.73910222e-02, 8.69960089e-03, 1.69437614e-03,
 -2.34885226e-03, 2.75873516e-02, 8.85957623e-03, 1.65763898e-03,
  1.01080355e-03,-1.71465619e-03, 0.00000000e+00,-2.08248832e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 4.65496286,  1.61151644, -4.36711506,  1.61151644,  0.58613477,
       -1.50144506, -4.36711506, -1.50144506,  4.1009121 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00033225436584478907
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44250668,  0.04923157,  0.04983387])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002673740406386599
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42447823, -0.0650585 ,  0.04986631])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.14212678e-05, 1.71217490e-05, 3.54245447e-05,-5.18192065e-06,
  1.58023938e-05, 1.94793647e-05,-6.65094675e-06, 4.97526196e-05,
 -1.06966132e-05, 7.28340652e-05, 3.25621604e-05, 5.29193279e-05,
 -3.72336427e-05,-2.04013379e-06, 5.01688013e-07,-9.87510282e-05,
  3.12205056e-01, 4.77220020e-02,-7.51281930e+00,-1.04194531e-01,
 -1.14366688e-01, 5.69099399e-03]


--- Step 1741 ---
qpos:
[-5.42731875e-04, 8.77211315e-01,-2.02736528e-02,-2.75961399e-02,
  7.60479068e-03, 8.64657775e-01,-2.80361062e-02, 9.46319899e-03,
  2.22103388e-02, 8.72957525e-01,-2.02882819e-02, 2.24577572e-02,
  1.36681711e+00,-9.92744611e-03, 1.05147332e+00, 6.12105403e-02,
 -1.44425297e+00,-9.36344143e-03, 7.36135131e-02, 6.48752878e-01,
 -6.03999598e-01,-3.72053619e-01,-2.75463779e-01]

qacc:
[ 2.01552329e-01, 2.36341261e-01,-7.23045408e-03,-1.54597912e+00,
 -1.35081399e-01, 2.73572151e+00,-9.53991496e+00, 1.35460439e+01,
 -7.93836844e-02, 1.75342888e+00,-4.72571258e+00, 3.56452657e+00,
 -5.20470200e-01, 8.92713917e-01, 3.77369925e-01,-1.56570429e+00,
  4.23788082e-01, 6.01679599e-02,-9.30880688e+00, 1.41188213e-01,
 -4.05496348e+00,-2.81820722e-02]

qfrc_actuator:
[ 2.41743001e-03, 2.76617915e-02, 8.73696985e-03, 1.63918375e-03,
 -1.23768286e-05, 2.74352393e-02, 8.67601909e-03, 1.70492583e-03,
 -2.35833594e-03, 2.76060349e-02, 8.83272416e-03, 1.65126226e-03,
  1.00369614e-03,-1.69131196e-03, 0.00000000e+00,-2.08782149e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00013240410903318095
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4425347 ,  0.04922349,  0.0499338 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -5.070277251735533e-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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.42451704, -0.06506827,  0.04997465])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.74034616e-05, 3.19155384e-05, 6.14226037e-06,-2.52113084e-06,
 -2.44251057e-05, 5.58787267e-05,-1.86557418e-05, 1.21213428e-05,
 -1.46218527e-05, 6.83952616e-05,-5.97424612e-06,-1.09949350e-06,
 -2.89126516e-05, 1.43623070e-05,-1.56498236e-05,-1.19083156e-05,
  2.96561976e-01, 4.52895715e-02,-7.49762973e+00,-9.85170260e-02,
 -1.18956785e-01, 5.33604358e-03]


--- Step 1742 ---
qpos:
[-5.42064378e-04, 8.77212017e-01,-2.02739234e-02,-2.75951082e-02,
  7.60426830e-03, 8.64658374e-01,-2.80369848e-02, 9.46399776e-03,
  2.22116934e-02, 8.72958102e-01,-2.02873562e-02, 2.24563262e-02,
  1.36691456e+00,-9.92610355e-03, 1.05168473e+00, 6.12132891e-02,
 -1.44537250e+00,-9.53953211e-03, 7.33305921e-02, 6.42286479e-01,
 -5.95391589e-01,-3.85611310e-01,-2.90311646e-01]

qacc:
[  0.4578082 ,  0.88348562, -6.23319616, 17.79931229, -0.26701314,
   1.96406305, -4.94294445,  1.55269573,  0.12104572, -1.83584459,
   9.14246631,-21.06966317, -0.0807208 ,  0.05236208, -0.90287726,
   2.81516124,  0.39990048,  0.05645866, -9.2891385 ,  0.27209354,
  -4.05062289, -0.02685304]

qfrc_actuator:
[ 2.48429977e-03, 2.76349572e-02, 8.73619449e-03, 1.67196792e-03,
 -4.91384883e-05, 2.74614247e-02, 8.64456919e-03, 1.69297113e-03,
 -2.32887847e-03, 2.75455607e-02, 8.81650329e-03, 1.61227321e-03,
  9.95935305e-04,-1.69581456e-03, 0.00000000e+00,-2.07416805e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 8.48675236e-05,-7.83957421e-06, 6.48056190e-06, 3.43118033e-05,
 -4.83798396e-05, 5.40949421e-05,-2.17876902e-05,-9.97120588e-06,
  2.24325093e-05,-2.35315071e-05,-2.87818115e-06,-3.62870656e-05,
 -2.10447165e-05,-7.62525718e-06,-1.21217833e-05, 1.01429762e-05,
  2.78100631e-01, 4.24235104e-02,-7.48248699e+00,-9.25294320e-02,
 -1.23296689e-01, 4.96778290e-03]


--- Step 1743 ---
qpos:
[-5.40933439e-04, 8.77212404e-01,-2.02740491e-02,-2.75940135e-02,
  7.60346481e-03, 8.64659376e-01,-2.80382020e-02, 9.46465140e-03,
  2.22133364e-02, 8.72958559e-01,-2.02861503e-02, 2.24561466e-02,
  1.36701177e+00,-9.92475653e-03, 1.05189621e+00, 6.12148150e-02,
 -1.44649052e+00,-9.71541223e-03, 7.30105886e-02, 6.35483322e-01,
 -5.86475677e-01,-3.98973868e-01,-3.05003410e-01]

qacc:
[ 2.41013902e-01,-6.91756545e-01, 1.59613130e+00,-5.07124769e-01,
 -1.48016848e-01, 1.17835067e+00,-2.81668095e+00, 5.50711474e-01,
  1.50101596e-01, 1.63244838e+00,-1.13360404e+01, 3.26359549e+01,
 -2.56516034e-01, 2.93316858e-01, 3.80175150e+00,-1.31315775e+01,
  3.75125260e-01, 5.26401166e-02,-9.27062214e+00, 4.02814205e-01,
 -4.04097881e+00,-2.54886141e-02]

qfrc_actuator:
[ 2.48812092e-03, 2.76008984e-02, 8.73576411e-03, 1.67306804e-03,
 -5.29295710e-05, 2.74765510e-02, 8.62640989e-03, 1.68561490e-03,
 -2.31188554e-03, 2.75624020e-02, 8.84186262e-03, 1.67862898e-03,
  9.77126856e-04,-1.69904239e-03, 0.00000000e+00,-2.13821807e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.46494931e-05,-3.56429326e-05,-7.00780195e-08, 1.65360978e-06,
 -2.68103053e-05, 4.04335266e-05,-1.00152055e-05,-5.98683477e-06,
  2.77854504e-05, 1.52001770e-06, 1.88798011e-05, 6.45412952e-05,
 -3.28011956e-05,-9.74388789e-06,-7.93475414e-06,-6.58641717e-05,
  2.58948317e-01, 3.94671280e-02,-7.46824304e+00,-8.63499013e-02,
 -1.27360629e-01, 4.58931459e-03]


--- Step 1744 ---
qpos:
[-5.39563356e-04, 8.77212552e-01,-2.02739030e-02,-2.75929323e-02,
  7.60269493e-03, 8.64660574e-01,-2.80392818e-02, 9.46520535e-03,
  2.22148466e-02, 8.72959773e-01,-2.02842106e-02, 2.24566165e-02,
  1.36710871e+00,-9.92296532e-03, 1.05210799e+00, 6.12125342e-02,
 -1.44760715e+00,-9.89109746e-03, 7.26535720e-02, 6.28346997e-01,
 -5.77256450e-01,-4.12134356e-01,-3.19531399e-01]

qacc:
[ 1.24512298e-01,-1.10349011e+00, 3.53193098e+00,-4.02379857e+00,
  1.76640620e-02,-3.29089518e-01, 1.97079244e+00,-4.06054895e+00,
 -6.87721785e-02, 2.87570899e-01,-2.31499231e+00, 1.18266945e+01,
 -7.72241891e-01, 1.34168369e+00, 1.19886813e+01,-4.11854939e+01,
  3.49517308e-01, 4.87207858e-02,-9.25329881e+00, 5.33178975e-01,
 -4.02603688e+00,-2.40936347e-02]

qfrc_actuator:
[ 2.48968316e-03, 2.75982502e-02, 8.75322190e-03, 1.67325243e-03,
 -3.69615315e-05, 2.74849842e-02, 8.63395690e-03, 1.68102678e-03,
 -2.33802526e-03, 2.76789119e-02, 8.90968568e-03, 1.71776349e-03,
  9.78332355e-04,-1.66601531e-03, 0.00000000e+00,-2.33629834e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.30387966e-05,-2.25290115e-05, 1.01407987e-05,-1.31413069e-06,
  3.21291784e-06, 2.86992440e-05, 1.44574999e-05,-3.31921915e-06,
 -1.27703434e-05, 1.24012281e-04, 7.26843405e-05, 4.11066766e-05,
 -1.99535436e-05, 2.32701195e-05,-1.51693995e-05,-2.03745587e-04,
  2.39147331e-01, 3.64269398e-02,-7.45492950e+00,-7.99911751e-02,
 -1.31140138e-01, 4.20142329e-03]


--- Step 1745 ---
qpos:
[-5.38075687e-04, 8.77212477e-01,-2.02732882e-02,-2.75915284e-02,
  7.60185864e-03, 8.64661160e-01,-2.80398596e-02, 9.46543407e-03,
  2.22159405e-02, 8.72961954e-01,-2.02823728e-02, 2.24568906e-02,
  1.36720565e+00,-9.92114646e-03, 1.05231904e+00, 6.12129037e-02,
 -1.44872249e+00,-1.00666039e-02, 7.22596065e-02, 6.20881266e-01,
 -5.67738652e-01,-4.25085943e-01,-3.33888031e-01]

qacc:
[ 6.14778986e-02,-9.38108345e-01, 1.55964948e+00, 3.43286912e+00,
 -3.43726651e-02,-2.87764623e+00, 1.04624428e+01,-1.64476121e+01,
 -2.16701926e-01, 1.15789041e+00,-1.44960189e+00,-2.48786416e+00,
  1.56079828e-01,-2.10284857e-01,-9.07735325e+00, 3.01884870e+01,
  3.23133422e-01, 4.47093372e-02,-9.23720676e+00, 6.63016867e-01,
 -4.00580972e+00,-2.26729670e-02]

qfrc_actuator:
[ 2.48992899e-03, 2.75967460e-02, 8.78122768e-03, 1.69069132e-03,
 -4.48455515e-05, 2.74006841e-02, 8.63883469e-03, 1.66035951e-03,
 -2.37198613e-03, 2.77123720e-02, 8.89590541e-03, 1.70516123e-03,
  9.86232394e-04,-1.66493469e-03, 0.00000000e+00,-2.18566075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 1.13268718e-05,-1.20700948e-05, 2.45519287e-05, 1.67974110e-05,
 -6.35144183e-06,-6.54290112e-05, 1.24696121e-05,-1.90029648e-05,
 -4.00882073e-05, 1.19538854e-04, 2.21868217e-05,-3.97758785e-06,
  1.44606556e-06, 2.33616710e-06,-3.41996761e-05, 1.36287880e-04,
  2.18741412e-01, 3.33096263e-02,-7.44257594e+00,-7.34663684e-02,
 -1.34627340e-01, 3.80491328e-03]


--- Step 1746 ---
qpos:
[-5.36536997e-04, 8.77212880e-01,-2.02728753e-02,-2.75906613e-02,
  7.60113118e-03, 8.64661135e-01,-2.80405452e-02, 9.46511187e-03,
  2.22168052e-02, 8.72964660e-01,-2.02816213e-02, 2.24574838e-02,
  1.36730269e+00,-9.91959085e-03, 1.05252982e+00, 6.12153378e-02,
 -1.44983664e+00,-1.02419478e-02, 7.18287515e-02, 6.13090066e-01,
 -5.57927183e-01,-4.37821903e-01,-3.48065814e-01]

qacc:
[ 2.62008037e-02, 8.88895616e-02, 2.85864254e+00,-1.21654756e+01,
  5.72820987e-02,-1.63734343e+00, 6.99534524e+00,-1.59112593e+01,
 -1.19937059e-01, 4.38444398e+00,-1.59724685e+01, 2.28435048e+01,
  3.98857904e-01,-7.33398474e-01,-6.67639765e+00, 2.26949035e+01,
  2.96032169e-01, 4.06146302e-02,-9.22238139e+00, 7.92157364e-01,
 -3.98031685e+00,-2.12314853e-02]

qfrc_actuator:
[ 2.48941087e-03, 2.76492647e-02, 8.77975131e-03, 1.66489415e-03,
 -3.14489675e-05, 2.73502369e-02, 8.62393860e-03, 1.63031017e-03,
 -2.37479782e-03, 2.76777386e-02, 8.81595282e-03, 1.71536037e-03,
  9.87482319e-04,-1.68278309e-03, 0.00000000e+00,-2.07926345e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 4.92898658e-06, 5.15516049e-05,-3.70735477e-07,-2.51402646e-05,
  1.03656980e-05,-8.52830033e-05,-2.75306047e-05,-3.27911222e-05,
 -2.20800637e-05, 3.65557566e-05,-5.26966058e-05, 1.60066410e-05,
  2.20411137e-06,-1.66896544e-05,-2.07098172e-06, 1.09233037e-04,
  1.97775635e-01, 3.01220178e-02,-7.43120982e+00,-6.67889423e-02,
 -1.37814961e-01, 3.40060684e-03]


--- Step 1747 ---
qpos:
[-5.35167914e-04, 8.77213650e-01,-2.02724434e-02,-2.75908023e-02,
  7.60054191e-03, 8.64661382e-01,-2.80420699e-02, 9.46402419e-03,
  2.22173560e-02, 8.72967290e-01,-2.02815580e-02, 2.24582468e-02,
  1.36739979e+00,-9.91825551e-03, 1.05274090e+00, 6.12159972e-02,
 -1.45094972e+00,-1.04171459e-02, 7.13610611e-02, 6.04977502e-01,
 -5.47827093e-01,-4.50335621e-01,-3.62057352e-01]

qacc:
[-8.82897691e-02,-1.64557093e+00, 1.08147536e+01,-2.85386573e+01,
  7.19169064e-02, 1.12545773e+00,-2.62183705e-01,-1.18431382e+01,
 -1.63518803e-01, 2.16982890e+00,-8.60263362e+00, 1.27005994e+01,
  1.11099984e-01,-2.89318164e-01, 5.80575255e+00,-1.96705607e+01,
  2.68273740e-01, 3.64456935e-02,-9.20885522e+00, 9.20430639e-01,
 -3.94958473e+00,-1.97740497e-02]

qfrc_actuator:
[ 2.47070127e-03, 2.76625756e-02, 8.77882156e-03, 1.61388589e-03,
 -2.31853353e-05, 2.74091074e-02, 8.59758724e-03, 1.59498737e-03,
 -2.39444581e-03, 2.76378075e-02, 8.76833237e-03, 1.72105117e-03,
  9.90059596e-04,-1.69395642e-03, 0.00000000e+00,-2.17741129e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.63329092e-05, 4.09679837e-05, 8.79161400e-06,-4.93073341e-05,
  1.31875199e-05, 4.09928090e-06,-4.84857201e-05,-4.05663545e-05,
 -3.02607208e-05,-2.97590741e-05,-4.60343493e-05, 5.73988861e-06,
 -2.76909840e-07,-1.44858671e-05, 7.96181787e-06,-9.31037024e-05,
  1.76296311e-01, 2.68710790e-02,-7.42085637e+00,-5.99726765e-02,
 -1.40696348e-01, 2.98934251e-03]


--- Step 1748 ---
qpos:
[-5.34001453e-04, 8.77214352e-01,-2.02718570e-02,-2.75911612e-02,
  7.60007203e-03, 8.64661619e-01,-2.80439347e-02, 9.46321300e-03,
  2.22174489e-02, 8.72969488e-01,-2.02813603e-02, 2.24590614e-02,
  1.36749690e+00,-9.91705510e-03, 1.05295236e+00, 6.12124742e-02,
 -1.45206183e+00,-1.05922153e-02, 7.08565841e-02, 5.96547850e-01,
 -5.37443583e-01,-4.62620597e-01,-3.75855345e-01]

qacc:
[-1.05178872e-01,-9.69928164e-01, 4.24512750e+00,-8.20720453e+00,
  6.25202311e-02, 1.50339103e+00,-6.54979369e+00, 1.18889953e+01,
 -2.37648960e-01,-8.39242468e-01, 1.94847282e+00,-9.55627386e-01,
 -1.35367160e-01, 1.10066217e-01, 1.31982734e+01,-4.53439199e+01,
  2.39919802e-01, 3.22117023e-02,-9.19665772e+00, 1.04766778e+00,
 -3.91364669e+00,-1.83054839e-02]

qfrc_actuator:
[ 2.45902965e-03, 2.76345287e-02, 8.77807948e-03, 1.60169484e-03,
 -1.80743571e-05, 2.74086630e-02, 8.58288974e-03, 1.61019331e-03,
 -2.42401916e-03, 2.76128432e-02, 8.77565305e-03, 1.72405848e-03,
  9.88106571e-04,-1.70106239e-03, 0.00000000e+00,-2.39527253e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.95260875e-05,-5.45953267e-06, 7.08494357e-06,-1.10954365e-05,
  1.13892912e-05,-9.89442815e-06,-2.12173808e-05, 1.29172336e-05,
 -4.41306383e-05,-5.09337511e-05,-4.31948891e-06, 2.46210571e-07,
 -5.90221523e-06,-1.03633070e-05,-1.15348640e-05,-2.23167957e-04,
  1.54350878e-01, 2.35638925e-02,-7.41153860e+00,-5.30316405e-02,
 -1.43265478e-01, 2.57197336e-03]


--- Step 1749 ---
qpos:
[-5.33377215e-04, 8.77215096e-01,-2.02716206e-02,-2.75909514e-02,
  7.59969234e-03, 8.64661724e-01,-2.80456778e-02, 9.46291864e-03,
  2.22173241e-02, 8.72971114e-01,-2.02801496e-02, 2.24595168e-02,
  1.36759405e+00,-9.91620181e-03, 1.05316383e+00, 6.12056880e-02,
 -1.45317311e+00,-1.07671729e-02, 7.03153637e-02, 5.87805551e-01,
 -5.26782001e-01,-4.74670446e-01,-3.89452597e-01]

qacc:
[-2.81954258e-01, 2.20612571e+00,-1.01770306e+01, 2.05328515e+01,
  4.75297764e-02, 5.49342564e-01,-4.39352760e+00, 1.32418802e+01,
 -1.12303350e-01,-4.32352425e+00, 1.58354160e+01,-2.32478176e+01,
  1.15663914e-01,-3.94284107e-01, 9.84071789e+00,-3.44569668e+01,
  2.11033349e-01, 2.79219558e-02,-9.18581533e+00, 1.17370100e+00,
 -3.87254294e+00,-1.68305527e-02]

qfrc_actuator:
[ 2.41617640e-03, 2.76352130e-02, 8.75955435e-03, 1.63015970e-03,
 -1.48914550e-05, 2.74083083e-02, 8.59277388e-03, 1.63722809e-03,
 -2.42377301e-03, 2.75972441e-02, 8.83314359e-03, 1.70775355e-03,
  9.83438457e-04,-1.72347781e-03, 0.00000000e+00,-2.55757588e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-5.22499932e-05,-1.40538423e-06,-1.91737701e-05, 2.82589770e-05,
  8.60248893e-06,-9.70431922e-06, 5.68745975e-06, 2.61314564e-05,
 -2.09884010e-05,-4.50221576e-05, 4.64275285e-05,-1.86363710e-05,
 -1.11807133e-05,-2.58200533e-05,-3.46747922e-05,-1.77279669e-04,
  1.31987792e-01, 2.02076432e-02,-7.40327722e+00,-4.59801649e-02,
 -1.45516977e-01, 2.14936522e-03]


--- Step 1750 ---
qpos:
[-5.33464135e-04, 8.77215717e-01,-2.02709687e-02,-2.75907794e-02,
  7.59919045e-03, 8.64662088e-01,-2.80474448e-02, 9.46256433e-03,
  2.22174664e-02, 8.72972569e-01,-2.02783735e-02, 2.24594064e-02,
  1.36769104e+00,-9.91554175e-03, 1.05337476e+00, 6.11996390e-02,
 -1.45428366e+00,-1.09420362e-02, 6.97374380e-02, 5.78755211e-01,
 -5.15847835e-01,-4.86478906e-01,-4.02842017e-01]

qacc:
[-3.69236814e-01,-1.40164821e+00, 4.91969044e+00,-6.14675284e+00,
 -6.43013585e-02, 2.86336501e-01,-2.69840910e-01,-9.20495406e-01,
  1.39138517e-01,-2.96677273e+00, 1.26430399e+01,-2.32163075e+01,
  8.98100678e-02,-3.22500030e-01,-3.02526651e+00, 9.41477355e+00,
  1.81678538e-01, 2.35858545e-02,-9.17635134e+00, 1.29836390e+00,
 -3.82632050e+00,-1.53539413e-02]

qfrc_actuator:
[ 2.37278746e-03, 2.76353001e-02, 8.78405999e-03, 1.62906089e-03,
 -3.06365897e-05, 2.74436376e-02, 8.59932856e-03, 1.63550397e-03,
 -2.38793954e-03, 2.76053306e-02, 8.86654579e-03, 1.68025118e-03,
  9.66486848e-04,-1.73706011e-03, 0.00000000e+00,-2.50826451e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.85294635e-05,-3.47605378e-06, 2.28237364e-05,-1.27323546e-06,
 -1.16524415e-05, 3.22098839e-05, 6.16895295e-06,-1.43162471e-06,
  2.57334590e-05,-8.34970900e-06, 2.91549473e-05,-2.81924099e-05,
 -3.02093561e-05,-2.18278835e-05,-3.87154594e-05, 3.42730295e-05,
  1.09256415e-01, 1.68096011e-02,-7.39609058e+00,-3.88328110e-02,
 -1.47446126e-01, 1.72239491e-03]


--- Step 1751 ---
qpos:
[-5.33974437e-04, 8.77216481e-01,-2.02700914e-02,-2.75913341e-02,
  7.59890650e-03, 8.64662170e-01,-2.80482998e-02, 9.46150606e-03,
  2.22181424e-02, 8.72973716e-01,-2.02769952e-02, 2.24597431e-02,
  1.36778775e+00,-9.91499274e-03, 1.05358520e+00, 6.11961664e-02,
 -1.45539360e+00,-1.11168226e-02, 6.91228392e-02, 5.69401595e-01,
 -5.04646718e-01,-4.98039838e-01,-4.16016626e-01]

qacc:
[-2.19941359e-01,-1.93846277e+00, 1.02440849e+01,-2.32692046e+01,
  1.15105489e-01,-4.36469498e+00, 1.79972632e+01,-3.14373997e+01,
  2.77188783e-01, 1.62144915e+00,-8.26282558e+00, 1.68643163e+01,
  3.61543816e-02,-2.30182702e-01,-8.51663825e+00, 2.87212641e+01,
  1.51920539e-01, 1.92128773e-02,-9.16828586e+00, 1.42149162e+00,
 -3.77503312e+00,-1.38802336e-02]

qfrc_actuator:
[ 2.36496818e-03, 2.76529308e-02, 8.79825334e-03, 1.59285024e-03,
 -4.30432615e-06, 2.74112756e-02, 8.63948774e-03, 1.59914193e-03,
 -2.34890397e-03, 2.75564443e-02, 8.83227963e-03, 1.69963871e-03,
  9.47506960e-04,-1.74535757e-03, 0.00000000e+00,-2.37018457e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-4.07925675e-05, 2.03178189e-05, 1.62337747e-05,-3.55955947e-05,
  2.07901992e-05,-1.31338439e-05, 4.75337197e-05,-3.47935684e-05,
  5.14203423e-05,-4.87860338e-05,-3.33998452e-05, 1.94849903e-05,
 -4.16530498e-05,-2.02414707e-05,-1.59274022e-05, 1.34581162e-04,
  8.62069015e-02, 1.33771056e-02,-7.38999467e+00,-3.16043414e-02,
 -1.49048874e-01, 1.29194835e-03]


--- Step 1752 ---
qpos:
[-5.34548208e-04, 8.77217629e-01,-2.02694658e-02,-2.75919713e-02,
  7.59889177e-03, 8.64661720e-01,-2.80484408e-02, 9.45937644e-03,
  2.22191280e-02, 8.72974301e-01,-2.02758802e-02, 2.24599885e-02,
  1.36788430e+00,-9.91482879e-03, 1.05379504e+00, 6.11980171e-02,
 -1.45650305e+00,-1.12915498e-02, 6.84715938e-02, 5.59749631e-01,
 -4.93184418e-01,-5.09347229e-01,-4.28969556e-01]

qacc:
[-3.32682937e-02, 1.04073321e+00,-2.62671118e+00, 1.32181609e+00,
  1.41989650e-01,-4.89904638e+00, 2.09732680e+01,-4.02717118e+01,
  1.60883939e-01,-1.94044211e-01,-9.56445305e-05,-7.44316507e-01,
  4.80790942e-01,-1.03359019e+00,-1.69885884e+01, 5.80798881e+01,
  1.21825369e-01, 1.48125580e-02,-9.16163579e+00, 1.54292112e+00,
 -3.71874128e+00,-1.24138925e-02]

qfrc_actuator:
[ 2.37848740e-03, 2.76808707e-02, 8.78853058e-03, 1.58953438e-03,
  1.14778513e-05, 2.73564897e-02, 8.66337816e-03, 1.54266513e-03,
 -2.34382589e-03, 2.75090866e-02, 8.81140717e-03, 1.69311570e-03,
  9.37977739e-04,-1.76824166e-03, 0.00000000e+00,-2.09221448e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-6.10624208e-06, 4.11023565e-05,-4.77005601e-06,-2.57883755e-06,
  2.56755337e-05,-5.37947825e-05, 2.58378464e-05,-5.60690661e-05,
  2.98164959e-05,-8.07328275e-05,-3.44096242e-05,-9.39509024e-06,
 -3.78627175e-05,-3.73484540e-05, 4.91214023e-06, 2.82805953e-04,
  6.28900810e-02, 9.91754786e-03,-7.38500302e+00,-2.43096890e-02,
 -1.50321845e-01, 8.58918806e-04]


--- Step 1753 ---
qpos:
[-5.34881254e-04, 8.77218703e-01,-2.02685183e-02,-2.75922788e-02,
  7.59873055e-03, 8.64661416e-01,-2.80494184e-02, 9.45729827e-03,
  2.22201039e-02, 8.72974351e-01,-2.02749973e-02, 2.24594582e-02,
  1.36798065e+00,-9.91495330e-03, 1.05400483e+00, 6.12031645e-02,
 -1.45761213e+00,-1.14662354e-02, 6.77837227e-02, 5.49804401e-01,
 -4.81466839e-01,-5.20395200e-01,-4.41694055e-01]

qacc:
[ 1.25322843e-01,-3.18549221e-01,-3.95865945e-01, 5.63505678e+00,
 -7.75233429e-02, 2.63506328e+00,-9.33223821e+00, 1.14551844e+01,
 -5.01147588e-03,-1.65406336e+00, 8.14778541e+00,-2.08100516e+01,
  2.42889839e-01,-6.31439960e-01,-1.00425720e+01, 3.49926219e+01,
  9.14597306e-02, 1.03944623e-02,-9.15641475e+00, 1.66249136e+00,
 -3.65751208e+00,-1.09592400e-02]

qfrc_actuator:
[ 2.40461916e-03, 2.76614396e-02, 8.80035028e-03, 1.60560183e-03,
 -1.47137526e-05, 2.73773762e-02, 8.62408244e-03, 1.54577896e-03,
 -2.35911165e-03, 2.74807749e-02, 8.79859573e-03, 1.65365319e-03,
  9.28793425e-04,-1.78180665e-03, 0.00000000e+00,-1.92936664e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.31962487e-05, 2.42632150e-06, 1.96185035e-05, 1.76096512e-05,
 -1.39774753e-05,-6.24206194e-06,-4.91553212e-05, 6.15749013e-07,
 -9.46707931e-07,-8.09840456e-05,-3.40639384e-05,-4.42989402e-05,
 -3.90038090e-05,-3.14205185e-05, 3.07585660e-05, 1.78547332e-04,
  3.93573432e-02, 6.43835470e-03,-7.38112676e+00,-1.69639260e-02,
 -1.51262344e-01, 4.24204966e-04]


--- Step 1754 ---
qpos:
[-5.34935855e-04, 8.77219443e-01,-2.02669933e-02,-2.75923756e-02,
  7.59833643e-03, 8.64661317e-01,-2.80505037e-02, 9.45694152e-03,
  2.22211603e-02, 8.72973895e-01,-2.02743589e-02, 2.24591469e-02,
  1.36807678e+00,-9.91505486e-03, 1.05421547e+00, 6.12042251e-02,
 -1.45872098e+00,-1.16408971e-02, 6.70592411e-02, 5.39571142e-01,
 -4.69500016e-01,-5.31178002e-01,-4.54183495e-01]

qacc:
[ 1.45162000e-01,-1.61889575e+00, 4.24717817e+00,-1.28518635e+00,
 -1.22371706e-01, 4.10982563e+00,-2.15331781e+01, 5.13544106e+01,
  4.18136525e-02, 4.64503431e-01,-3.55100339e+00, 8.10350990e+00,
 -4.34819519e-01, 5.79992546e-01, 1.36126918e+01,-4.57563462e+01,
  6.08908482e-02, 5.96816450e-03,-9.15263309e+00, 1.78004353e+00,
 -3.59141917e+00,-9.52043865e-03]

qfrc_actuator:
[ 2.42028699e-03, 2.76316438e-02, 8.82462265e-03, 1.61516749e-03,
 -3.02763289e-05, 2.74254462e-02, 8.63690328e-03, 1.63721082e-03,
 -2.35091506e-03, 2.74640892e-02, 8.79069503e-03, 1.66615853e-03,
  9.30477206e-04,-1.77197014e-03, 0.00000000e+00,-2.15524233e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.68250129e-05,-2.36625949e-05, 2.77842278e-05, 1.06884802e-05,
 -2.22152741e-05, 3.44704093e-05, 5.50991506e-06, 8.94803858e-05,
  7.73307637e-06,-7.09111977e-05,-3.03628678e-05, 6.99351510e-06,
 -2.72981084e-05,-6.91703759e-06, 2.90956833e-05,-2.13124313e-04,
  1.56605178e-02, 2.94697149e-03,-7.37837452e+00,-9.58223299e-03,
 -1.51868366e-01,-1.12908889e-05]


--- Step 1755 ---
qpos:
[-5.34760596e-04, 8.77220434e-01,-2.02656933e-02,-2.75920310e-02,
  7.59810894e-03, 8.64660957e-01,-2.80506580e-02, 9.45732433e-03,
  2.22224854e-02, 8.72973911e-01,-2.02740270e-02, 2.24588646e-02,
  1.36817283e+00,-9.91558513e-03, 1.05442599e+00, 6.12046336e-02,
 -1.45982970e+00,-1.18155526e-02, 6.62981583e-02, 5.29055242e-01,
 -4.57290113e-01,-5.41690025e-01,-4.66431367e-01]

qacc:
[ 1.19235553e-01, 1.86900513e+00,-8.04244344e+00, 1.58490744e+01,
  8.82391504e-02,-1.42303273e+00, 1.45092140e+00, 1.00514314e+01,
  1.39296775e-01, 1.53865117e+00,-4.70550628e+00, 5.35229647e+00,
  2.30523965e-01,-6.64022113e-01, 1.77568145e+00,-6.50980078e+00,
  3.01863026e-02, 1.54322453e-03,-9.15029786e+00, 1.89542125e+00,
 -3.52054264e+00,-8.10147353e-03]

qfrc_actuator:
[ 2.42954247e-03, 2.76669275e-02, 8.82047688e-03, 1.63857187e-03,
 -3.81122653e-06, 2.74009471e-02, 8.68059980e-03, 1.67342715e-03,
 -2.32871525e-03, 2.75610793e-02, 8.80359846e-03, 1.67365491e-03,
  9.17386131e-04,-1.80154663e-03, 0.00000000e+00,-2.18222410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[ 2.21556746e-05, 2.82216824e-05,-5.25755751e-06, 2.35576538e-05,
  1.58946233e-05,-2.43676345e-07, 5.46016852e-05, 3.96281820e-05,
  2.59118066e-05, 5.13746232e-05,-5.24193034e-06, 3.54319955e-06,
 -3.03705121e-05,-3.74065133e-05,-1.71810259e-05,-3.67102837e-05,
 -8.14824366e-03,-5.49154565e-04,-7.37675245e+00,-2.17986719e-03,
 -1.52138597e-01,-4.46664769e-04]


--- Step 1756 ---
qpos:
[-5.34787836e-04, 8.77221965e-01,-2.02648716e-02,-2.75917741e-02,
  7.59831316e-03, 8.64660312e-01,-2.80501198e-02, 9.45712229e-03,
  2.22235181e-02, 8.72974744e-01,-2.02738259e-02, 2.24589604e-02,
  1.36826870e+00,-9.91666130e-03, 1.05463626e+00, 6.12056868e-02,
 -1.46093843e+00,-1.19902197e-02, 6.55004779e-02, 5.18262238e-01,
 -4.44843418e-01,-5.51925796e-01,-4.78431293e-01]

qacc:
[-1.05702734e-01, 1.86782592e+00,-5.25595703e+00, 4.10786992e+00,
  2.27271719e-01,-3.51016856e+00, 1.44423445e+01,-2.54667233e+01,
 -1.52272744e-01, 2.22249499e+00,-7.95439159e+00, 1.41066550e+01,
  3.21317266e-01,-9.13707620e-01,-2.34955469e+00, 7.61246220e+00,
 -5.86133951e-04,-2.87083532e-03,-9.14941279e+00, 2.00847080e+00,
 -3.44496897e+00,-6.70613567e-03]

qfrc_actuator:
[ 2.39938247e-03, 2.77053038e-02, 8.79985182e-03, 1.63445913e-03,
  2.98114947e-05, 2.73687962e-02, 8.70632077e-03, 1.64130220e-03,
 -2.36934457e-03, 2.76367369e-02, 8.81139173e-03, 1.69600084e-03,
  8.95426777e-04,-1.83657584e-03, 0.00000000e+00,-2.14492742e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-1.95002858e-05, 5.40479034e-05,-1.46481714e-05,-2.63240842e-06,
  4.11864087e-05,-1.93014219e-05, 3.37730915e-05,-2.94742858e-05,
 -2.81555107e-05, 1.03458460e-04, 1.78798185e-05, 2.44348052e-05,
 -4.83056979e-05,-5.07542436e-05,-1.53654655e-05, 3.22495879e-05,
 -3.20165879e-02,-4.04259119e-03,-7.37626421e+00, 5.22786900e-03,
 -1.52072418e-01,-8.81012855e-04]


--- Step 1757 ---
qpos:
[-5.35098774e-04, 8.77223258e-01,-2.02636910e-02,-2.75918718e-02,
  7.59874468e-03, 8.64659400e-01,-2.80492372e-02, 9.45690517e-03,
  2.22239705e-02, 8.72976072e-01,-2.02734236e-02, 2.24593408e-02,
  1.36836417e+00,-9.91762533e-03, 1.05484723e+00, 6.12004496e-02,
 -1.46204728e+00,-1.21649158e-02, 6.46661975e-02, 5.07197810e-01,
 -4.32166343e-01,-5.61879987e-01,-4.90177022e-01]

qacc:
[-1.47129234e-01,-2.04653540e+00, 8.33447519e+00,-1.48621614e+01,
  1.19701009e-01,-1.34555545e+00, 4.34943656e+00,-4.96611754e+00,
 -3.01520274e-01, 6.78237427e-01,-2.66959013e+00, 6.90850967e+00,
 -7.64471423e-01, 1.05521957e+00, 2.00826900e+01,-6.86445900e+01,
 -3.13586629e-02,-7.26455298e-03,-9.14997830e+00, 2.11904128e+00,
 -3.36479088e+00,-5.33800634e-03]

qfrc_actuator:
[ 2.38141886e-03, 2.76563833e-02, 8.80518772e-03, 1.61418877e-03,
  3.18917705e-05, 2.73499343e-02, 8.72112267e-03, 1.64021158e-03,
 -2.41171242e-03, 2.76458026e-02, 8.81606569e-03, 1.70914318e-03,
  8.84135717e-04,-1.82133008e-03, 0.00000000e+00,-2.47841016e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
No contacts

qfrc_smooth:
[-2.73426675e-05,-2.18810778e-05, 1.45833129e-05,-1.85191588e-05,
  2.16804685e-05,-2.39259912e-05, 1.39573713e-05,-1.32247360e-06,
 -5.59013269e-05, 7.16367133e-05, 2.90842896e-05, 1.86690972e-05,
 -5.06960111e-05,-7.95562857e-06,-6.69716735e-06,-3.34411045e-04,
 -5.58920792e-02,-7.52593762e-03,-7.37691096e+00, 1.26256598e-02,
 -1.51669908e-01,-1.31343337e-03]


--- Step 1758 ---
qpos:
[-5.35839086e-04, 8.77223656e-01,-2.02618335e-02,-2.75918026e-02,
  7.59929417e-03, 8.64658582e-01,-2.80488730e-02, 9.45669010e-03,
  2.22244346e-02, 8.72977432e-01,-2.02732670e-02, 2.24599678e-02,
  1.36845929e+00,-9.91867749e-03, 1.05505767e+00, 6.11952832e-02,
 -1.46313670e+00,-1.24015966e-02, 6.37843450e-02, 4.97990478e-01,
 -4.20270296e-01,-5.68717401e-01,-5.01935134e-01]

qacc:
[-2.22381658e-01,-2.72822651e+00, 7.31029828e+00,-4.85160346e+00,
  6.16038975e-02, 1.57651740e+00,-5.44887639e+00, 6.24556744e+00,
  5.88183872e-03, 1.23471645e+00,-5.38402586e+00, 1.00214638e+01,
 -1.73880414e-01, 6.73330178e-02,-9.94704978e-01, 2.35026109e+00,
  4.85542587e+00,-1.54961761e+01,-1.18930571e+01,-5.64184000e+02,
  1.12347485e+03, 1.34521685e+03]

qfrc_actuator:
[ 2.35318266e-03, 2.75733982e-02, 8.82545428e-03, 1.62003097e-03,
  3.28309491e-05, 2.73568953e-02, 8.69393880e-03, 1.63965312e-03,
 -2.38370807e-03, 2.75971554e-02, 8.78308319e-03, 1.71670568e-03,
  8.63294106e-04,-1.82961693e-03, 0.00000000e+00,-2.45959909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 7.25384483, -5.07617782, -5.18176452, -5.07617782,  4.24957306,
        2.94305495, -5.18176452,  2.94305495,  4.37075931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007005400972206199
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49332939,  0.05968738,  0.04964973])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.13973524e-05,-9.30432717e-05, 1.68850355e-05, 5.04650638e-06,
  1.12548445e-05,-3.57412738e-06,-3.04510152e-05,-1.12615913e-06,
  1.11834178e-06,-1.82167992e-06,-1.39700239e-05, 1.19999594e-05,
 -5.19773170e-05,-2.16082427e-05,-4.60648779e-05,-1.99802700e-06,
 -7.97223196e-02,-1.09918411e-02,-7.37869136e+00, 1.99982076e-02,
 -1.50931841e-01,-1.74302847e-03]


--- Step 1759 ---
qpos:
[-5.37140375e-04, 8.77223531e-01,-2.02598235e-02,-2.75916745e-02,
  7.59971647e-03, 8.64658330e-01,-2.80494101e-02, 9.45712660e-03,
  2.22250768e-02, 8.72978256e-01,-2.02732170e-02, 2.24610913e-02,
  1.36855375e+00,-9.91919920e-03, 1.05526742e+00, 6.11936512e-02,
 -1.46401247e+00,-1.25911815e-02, 6.31163482e-02, 4.90320798e-01,
 -4.10444588e-01,-5.74156632e-01,-5.11336404e-01]

qacc:
[-2.91217874e-01,-9.96936783e-01, 2.30210557e+00,-1.14413883e+00,
 -6.75314716e-02, 4.60058414e+00,-1.80752906e+01, 3.03838467e+01,
  9.27004303e-02, 6.10738292e-01,-5.30193186e+00, 1.44601552e+01,
 -6.89409999e-01, 1.13312950e+00,-1.16451214e+01, 3.93635934e+01,
  5.34160693e+01, 1.17739508e+01, 5.34639532e+01, 1.26919770e+02,
 -2.29494168e+02, 1.85558551e+03]

qfrc_actuator:
[ 2.31904206e-03, 2.75594894e-02, 8.83646510e-03, 1.62340846e-03,
  1.53512521e-05, 2.74145996e-02, 8.66004122e-03, 1.67490809e-03,
 -2.36709805e-03, 2.75318991e-02, 8.76337854e-03, 1.73859708e-03,
  8.31406182e-04,-1.79861004e-03, 0.00000000e+00,-2.26876204e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.95611656,  8.58327548, -0.95611656, 35.08314688,
        2.94598577,  8.58327548,  2.94598577,  8.96452574,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002027404759537256
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49368842,  0.0596681 ,  0.0489863 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63393869, -0.73177512,  8.60287176, -0.73177512,  6.83432306,
       -0.15307841,  8.60287176, -0.15307841,  8.62091758,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0009884497860008362
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47440794, -0.07391676,  0.04950578])
  solimp: array([9.0e-01, 9.5e-01, 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([ 7.4787021 ,  1.94277368, -7.22195372,  1.94277368, 47.46344527,
       10.75627312, -7.22195372, 10.75627312, 10.37224105,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0007298840059592818
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47525348, -0.07385536,  0.04963506])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.40713691e-05,-6.22601229e-05,-5.96530731e-06, 7.52081316e-08,
 -1.21230133e-05, 4.93868445e-05,-3.84228796e-05, 3.40268263e-05,
  1.71508537e-05,-6.86792663e-05,-2.13989621e-05, 2.15603703e-05,
 -6.68021139e-05, 1.40527796e-05,-2.33418317e-05, 1.84381813e-04,
  6.89604623e-01, 1.82458989e-01,-7.73608961e+00,-1.08673470e-02,
 -1.71686504e-01,-1.59981380e-03]


--- Step 1760 ---
qpos:
[-5.38915354e-04, 8.77223296e-01,-2.02581418e-02,-2.75918725e-02,
  7.59996749e-03, 8.64657955e-01,-2.80496007e-02, 9.45867396e-03,
  2.22255358e-02, 8.72978973e-01,-2.02735223e-02, 2.24617404e-02,
  1.36864769e+00,-9.91913542e-03, 1.05547711e+00, 6.11932585e-02,
 -1.46471393e+00,-1.27422958e-02, 6.26241908e-02, 4.84002005e-01,
 -4.02413656e-01,-5.78474199e-01,-5.18818764e-01]

qacc:
[-2.46314875e-01, 9.99447105e-02, 8.07012326e-01,-5.84023443e+00,
 -8.96472563e-02, 1.15519812e+00,-9.04483324e+00, 2.78089742e+01,
 -9.53805858e-02,-1.24884964e-01, 2.24223148e+00,-9.80464266e+00,
 -7.80728027e-01, 1.35410662e+00,-3.77215517e+00, 1.31956078e+01,
  4.35744181e+01, 9.61769793e+00, 4.39598370e+01, 1.01338314e+02,
 -1.89892020e+02, 1.56142642e+03]

qfrc_actuator:
[ 2.29941480e-03, 2.75692615e-02, 8.82442349e-03, 1.60759574e-03,
  4.77082262e-06, 2.73957262e-02, 8.67596359e-03, 1.73100079e-03,
 -2.39300106e-03, 2.75459949e-02, 8.75159960e-03, 1.71547938e-03,
  8.19559766e-04,-1.76236285e-03, 0.00000000e+00,-2.20898551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.9938048 ,  8.57899347, -0.9938048 , 27.71731678,
        2.21036919,  8.57899347,  2.21036919,  8.89241646,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0030420292579582814
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49395919,  0.05965535,  0.04847899])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.05721698,  8.57140998, -1.05721698, 11.53928707,
        0.3580531 ,  8.57140998,  0.3580531 ,  8.68052671,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025364652500433835
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47487904, -0.07396136,  0.04873177])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  2.14225962, -8.36645089,  2.14225962, 56.93524926,
       12.3671021 , -8.36645089, 12.3671021 , 11.80300428,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023044832570343204
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47573233, -0.07390094,  0.04884776])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.56508456e-05,-2.62871569e-05,-2.56442601e-05,-1.86843952e-05,
 -1.63443019e-05, 2.27315470e-06, 2.25713739e-05, 5.75417804e-05,
 -1.76572760e-05,-2.78232939e-05,-2.78628275e-05,-2.63848644e-05,
 -4.61263838e-05, 2.40130466e-05, 7.28714427e-06, 6.65112783e-05,
  4.44573814e-01, 1.15472300e-01,-7.75158438e+00, 6.60860553e-03,
 -1.65614354e-01,-2.07900840e-03]


--- Step 1761 ---
qpos:
[-5.40845927e-04, 8.77222995e-01,-2.02567004e-02,-2.75919254e-02,
  7.60007045e-03, 8.64657528e-01,-2.80494975e-02, 9.45949488e-03,
  2.22255604e-02, 8.72979648e-01,-2.02740526e-02, 2.24620895e-02,
  1.36874164e+00,-9.91931896e-03, 1.05568695e+00, 6.11922455e-02,
 -1.46527280e+00,-1.28619594e-02, 6.22754559e-02, 4.78864808e-01,
 -3.95933466e-01,-5.81880443e-01,-5.24728822e-01]

qacc:
[-8.09669688e-02, 8.84134269e-01,-3.88903478e+00, 6.83105416e+00,
 -7.76078416e-02,-2.38284057e+00, 1.14640960e+01,-2.44712329e+01,
 -2.25850396e-01,-4.39135495e-02, 1.34427332e+00,-6.14844801e+00,
  1.54488507e-01,-3.93066362e-01, 2.07778051e+00,-6.98177774e+00,
  3.56495731e+01, 7.86263664e+00, 3.58556314e+01, 8.08315922e+01,
 -1.56343099e+02, 1.31900888e+03]

qfrc_actuator:
[ 2.30638528e-03, 2.75752847e-02, 8.81672275e-03, 1.61613568e-03,
 -1.57506755e-06, 2.73846255e-02, 8.68538528e-03, 1.69236043e-03,
 -2.42636921e-03, 2.75542302e-02, 8.74486762e-03, 1.70163367e-03,
  8.30401494e-04,-1.77649662e-03, 0.00000000e+00,-2.24471667e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.93511712,  8.58558867, -0.93511712, 29.69313778,
        2.29344204,  8.58558867,  2.29344204,  8.88615861,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0038053130651238345
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49416476,  0.05964679,  0.04809734])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.01356581,  8.57668125, -1.01356581, 11.68987039,
        0.36085404,  8.57668125,  0.36085404,  8.67900826,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003725902872957737
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47523026, -0.07399157,  0.04813705])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  2.11829944, -8.37254945,  2.11829944, 58.19602711,
       12.53885782, -8.37254945, 12.53885782, 11.80876119,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003515636661166159
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47608921, -0.07393178,  0.04824218])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.49964887e-05,-1.47802046e-05,-1.69439021e-05, 6.16252348e-06,
 -1.41257691e-05,-2.69656517e-06, 1.46661421e-05,-3.66430098e-05,
 -4.18652461e-05,-1.42256916e-05,-1.68278511e-05,-1.65169375e-05,
 -9.41944402e-06,-1.91704858e-05, 6.17890967e-06,-3.21232250e-05,
  2.81728153e-01, 7.18639631e-02,-7.77372377e+00, 1.90145966e-02,
 -1.61437452e-01,-2.44292205e-03]


--- Step 1762 ---
qpos:
[-5.42430539e-04, 8.77222664e-01,-2.02554049e-02,-2.75918870e-02,
  7.60006350e-03, 8.64657197e-01,-2.80493297e-02, 9.45984355e-03,
  2.22251708e-02, 8.72980498e-01,-2.02745801e-02, 2.24632613e-02,
  1.36883552e+00,-9.91942528e-03, 1.05589670e+00, 6.11914864e-02,
 -1.46571522e+00,-1.29561689e-02, 6.20424402e-02, 4.74751219e-01,
 -3.90777875e-01,-5.84540658e-01,-5.29354466e-01]

qacc:
[ 1.79690894e-01, 5.55275559e-01,-2.42178845e+00, 4.25289550e+00,
 -5.77513888e-02,-1.02363085e+00, 5.83059385e+00,-1.41806803e+01,
 -2.15249258e-01, 1.91571904e+00,-9.96971753e+00, 2.40764163e+01,
 -9.89008072e-02, 1.70442355e-01,-8.92141889e-01, 2.94385644e+00,
  2.91121707e+01, 6.36353873e+00, 2.89297943e+01, 6.34480779e+01,
 -1.25372362e+02, 1.10920795e+03]

qfrc_actuator:
[ 2.34693842e-03, 2.75790582e-02, 8.81166996e-03, 1.62119364e-03,
 -5.33495345e-06, 2.73959205e-02, 8.69082083e-03, 1.66928371e-03,
 -2.44613930e-03, 2.75944316e-02, 8.75892812e-03, 1.74662456e-03,
  8.33524008e-04,-1.76700243e-03, 0.00000000e+00,-2.22987274e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.98298123,  8.58024037, -0.98298123, 20.8451201 ,
        1.39867626,  8.58024037,  1.39867626,  8.7966007 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004622546080581991
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47549439, -0.07401234,  0.04768873])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.92489182,  8.58669622, -0.92489182, 44.18912082,
        3.82946519,  8.58669622,  3.82946519,  9.0488437 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0043659488084663856
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49432209,  0.05964089,  0.04781703])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.33359400e-05,-7.72829550e-06,-9.98622594e-06, 3.95787739e-06,
 -1.04829657e-05, 1.12526314e-05, 5.41893495e-06,-2.33983990e-05,
 -3.99138496e-05, 2.80456224e-05, 8.47656766e-06, 4.34773945e-05,
 -6.96734868e-06, 2.92936444e-06,-5.19773824e-06, 1.28030275e-05,
  1.74848375e-01, 4.38433050e-02,-7.79517256e+00, 2.77979140e-02,
 -1.58550732e-01,-2.71799599e-03]


--- Step 1763 ---
qpos:
[-5.43407563e-04, 8.77222338e-01,-2.02541911e-02,-2.75921430e-02,
  7.59998129e-03, 8.64656909e-01,-2.80482531e-02, 9.45986056e-03,
  2.22246472e-02, 8.72981516e-01,-2.02743598e-02, 2.24642201e-02,
  1.36892924e+00,-9.91916088e-03, 1.05610626e+00, 6.11918986e-02,
 -1.46606148e+00,-1.30293971e-02, 6.19020602e-02, 4.71532671e-01,
 -3.86769752e-01,-5.86578114e-01,-5.32909199e-01]

qacc:
[ 3.15647123e-01,-3.71829420e-01, 2.57379782e+00,-7.53264285e+00,
 -3.89989806e-02,-3.16080000e+00, 1.27558757e+01,-1.99850329e+01,
 -6.92375040e-02,-2.30478640e+00, 9.44060353e+00,-1.44473576e+01,
 -3.28752695e-01, 6.79361606e-01,-3.79974360e+00, 1.29307806e+01,
  2.40396027e+01, 5.24531715e+00, 2.31589337e+01, 5.06666634e+01,
 -1.03534015e+02, 9.48183573e+02]

qfrc_actuator:
[ 2.38944920e-03, 2.75814729e-02, 8.80820767e-03, 1.60640576e-03,
 -7.52216310e-06, 2.74205244e-02, 8.74723406e-03, 1.65558157e-03,
 -2.43984433e-03, 2.76181074e-02, 8.80307909e-03, 1.73715149e-03,
  8.32022119e-04,-1.74355710e-03, 0.00000000e+00,-2.16755714e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.85422441,  8.59401405, -0.85422441, 20.77978089,
        1.20702658,  8.59401405,  1.20702658,  8.75633919,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005282355804976803
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47569518, -0.07402698,  0.04735882])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.77840665,  8.6012127 , -0.77840665, 38.77909378,
        2.72790622,  8.6012127 ,  2.72790622,  8.88323817,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004763096174287287
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4944436 ,  0.05963663,  0.04761845])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.85485008e-05,-3.79468145e-06,-6.15833598e-06,-1.53889333e-05,
 -7.17487742e-06, 3.10174643e-05, 5.85959403e-05,-1.34880331e-05,
 -1.29055161e-05, 4.29495152e-05, 5.24885273e-05,-7.13339287e-06,
 -5.03871198e-06, 2.27483412e-05,-4.68994558e-06, 6.14926160e-05,
  1.06629626e-01, 2.63873766e-02,-7.81287914e+00, 3.39392416e-02,
 -1.56565641e-01,-2.92376143e-03]


--- Step 1764 ---
qpos:
[-5.43827334e-04, 8.77222158e-01,-2.02531269e-02,-2.75922425e-02,
  7.59966415e-03, 8.64657170e-01,-2.80472056e-02, 9.45867639e-03,
  2.22241012e-02, 8.72982911e-01,-2.02738918e-02, 2.24640294e-02,
  1.36902303e+00,-9.91892972e-03, 1.05631565e+00, 6.11937040e-02,
 -1.46632796e+00,-1.30852866e-02, 6.18348069e-02, 4.69097684e-01,
 -3.83757029e-01,-5.88088964e-01,-5.35564446e-01]

qacc:
[ 2.89421851e-01, 9.33345004e-01,-3.70609156e+00, 6.54221113e+00,
 -1.23680930e-01,-1.66414873e+00, 1.20586132e+01,-3.32081045e+01,
 -1.16124749e-02,-2.55748139e+00, 1.46963705e+01,-3.52644558e+01,
  1.63770750e-01,-2.36795286e-01,-4.45395510e+00, 1.52160115e+01,
  1.99472887e+01, 4.33470139e+00, 1.82816861e+01, 4.03403789e+01,
 -8.52111268e+01, 8.14643007e+02]

qfrc_actuator:
[ 2.41498193e-03, 2.76008018e-02, 8.80569377e-03, 1.61556460e-03,
 -2.65090769e-05, 2.74531286e-02, 8.74460085e-03, 1.59429457e-03,
 -2.43577749e-03, 2.76318049e-02, 8.81128011e-03, 1.67795406e-03,
  8.38406903e-04,-1.74757072e-03, 0.00000000e+00,-2.09553017e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.78512253,  8.60060227, -0.78512253, 20.24060845,
        1.05931582,  8.60060227,  1.05931582,  8.73306532,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005749214740864379
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47584981, -0.0740377 ,  0.04712539])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.72780663,  8.60564201, -0.72780663, 41.02167574,
        2.73892929,  8.60564201,  2.73892929,  8.86800364,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005028408067885612
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49453867,  0.05963331,  0.0474858 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.37016505e-05, 1.52842395e-05,-4.59530082e-06, 8.48189564e-06,
 -2.23985157e-05, 6.14697112e-05, 1.05194731e-05,-5.81936656e-05,
 -2.13570501e-06, 4.82206824e-05, 2.32802011e-05,-5.56824805e-05,
  8.68695214e-06, 4.25014458e-07, 1.10067971e-06, 7.40170391e-05,
  6.26752018e-02, 1.53540406e-02,-7.82649910e+00, 3.82550416e-02,
 -1.55185191e-01,-3.07649330e-03]


--- Step 1765 ---
qpos:
[-5.43637529e-04, 8.77222141e-01,-2.02521295e-02,-2.75922398e-02,
  7.59930470e-03, 8.64658076e-01,-2.80471378e-02, 9.45751177e-03,
  2.22232039e-02, 8.72984794e-01,-2.02736909e-02, 2.24638433e-02,
  1.36911673e+00,-9.91865014e-03, 1.05652517e+00, 6.11950085e-02,
 -1.46652787e+00,-1.31268084e-02, 6.18242305e-02, 4.67350056e-01,
 -3.81609590e-01,-5.89148817e-01,-5.37458573e-01]

qacc:
[ 3.16652109e-01, 6.11986575e-01,-2.30066172e+00, 4.05483510e+00,
 -2.30678208e-02, 3.62647902e+00,-1.17775667e+01, 1.32115595e+01,
 -1.82915393e-01, 1.40011932e+00,-4.07582803e+00, 4.22307017e+00,
 -1.42138329e-01, 2.07086085e-01, 1.70366260e+00,-5.67585707e+00,
  1.66405050e+01, 3.59189867e+00, 1.41691938e+01, 3.19728130e+01,
 -6.98561232e+01, 7.03556830e+02]

qfrc_actuator:
[ 2.44788775e-03, 2.76123833e-02, 8.80384947e-03, 1.62100583e-03,
 -1.98807828e-05, 2.74722578e-02, 8.68936154e-03, 1.59422201e-03,
 -2.46861091e-03, 2.76569920e-02, 8.79811235e-03, 1.67870679e-03,
  8.22879990e-04,-1.75005141e-03, 0.00000000e+00,-2.12488261e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.71309702,  8.60687339, -0.71309702, 19.75021797,
        0.92080551,  8.60687339,  0.92080551,  8.71265425,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006059385742135
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47597077, -0.07404598,  0.04697031])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.68881213,  8.60885095, -0.68881213, 43.77647182,
        2.81163339,  8.60885095,  2.81163339,  8.86132829,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005187618732286112
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49461428,  0.05963047,  0.04740619])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.87445094e-05, 1.95452999e-05, 1.03234969e-06, 6.09961163e-06,
 -4.02390399e-06, 5.31655303e-05,-4.32704012e-05, 1.79259827e-06,
 -3.38515251e-05, 5.45366944e-05,-2.28123394e-06, 2.53860153e-06,
 -1.07468085e-05,-1.60789564e-07, 5.15176163e-06,-2.59406770e-05,
  3.49655998e-02, 8.53076995e-03,-7.83623944e+00, 4.12275798e-02,
 -1.54235630e-01,-3.18694599e-03]


--- Step 1766 ---
qpos:
[-5.42954199e-04, 8.77222588e-01,-2.02518432e-02,-2.75925113e-02,
  7.59915482e-03, 8.64658887e-01,-2.80474648e-02, 9.45675652e-03,
  2.22223077e-02, 8.72986424e-01,-2.02733242e-02, 2.24637336e-02,
  1.36921009e+00,-9.91824199e-03, 1.05673476e+00, 6.11952852e-02,
 -1.46667192e+00,-1.31563902e-02, 6.18564898e-02, 4.66207048e-01,
 -3.80216376e-01,-5.89817560e-01,-5.38703760e-01]

qacc:
[ 2.55836929e-01, 2.03387358e+00,-5.20829291e+00, 1.26550003e+00,
  1.09893728e-01, 1.81618422e+00,-8.39098785e+00, 1.61814350e+01,
  7.53834478e-04,-6.39637839e-01, 1.47443275e+00,-2.33620197e-01,
 -4.15155479e-01, 5.74062025e-01, 3.24126030e+00,-1.11200948e+01,
  1.39640819e+01, 2.98499894e+00, 1.07089505e+01, 2.51793782e+01,
 -5.70052915e+01, 6.10924081e+02]

qfrc_actuator:
[ 2.46718958e-03, 2.76369939e-02, 8.76687876e-03, 1.60645555e-03,
  2.01799621e-06, 2.74297272e-02, 8.65677860e-03, 1.61238523e-03,
 -2.45223592e-03, 2.76000478e-02, 8.79029156e-03, 1.67923008e-03,
  7.88892642e-04,-1.75168071e-03, 0.00000000e+00,-2.17822058e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.64024654,  8.61259898, -0.64024654, 19.28660818,
        0.79172178,  8.61259898,  0.79172178,  8.69521894,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006242844018517171
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47606723, -0.07405277,  0.04687858])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.66384667,  8.61081207, -0.66384667, 47.06868123,
        2.96292218,  8.61081207,  2.96292218,  8.86478878,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0052617305356019994
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49467562,  0.05962781,  0.04736913])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.75669252e-05, 3.60133316e-05,-3.26046935e-05,-1.35616475e-05,
  1.99906763e-05,-2.16822610e-05,-2.68780853e-05, 1.89786349e-05,
  9.77846043e-08,-2.68614859e-05, 3.23456642e-06, 2.82847833e-06,
 -4.03302245e-05,-3.98387151e-06,-5.00946622e-06,-5.51733975e-05,
  1.80313389e-02, 4.43726510e-03,-7.84266514e+00, 4.32012208e-02,
 -1.53597932e-01,-3.26330370e-03]


--- Step 1767 ---
qpos:
[-5.42471819e-04, 8.77223432e-01,-2.02523064e-02,-2.75929436e-02,
  7.59905574e-03, 8.64659338e-01,-2.80483217e-02, 9.45626916e-03,
  2.22218862e-02, 8.72987324e-01,-2.02724356e-02, 2.24626331e-02,
  1.36930331e+00,-9.91812866e-03, 1.05694412e+00, 6.11962484e-02,
 -1.46676880e+00,-1.31760186e-02, 6.19199625e-02, 4.65597690e-01,
 -3.79482790e-01,-5.90142910e-01,-5.39391275e-01]

qacc:
[-1.05018966e-01, 2.28796189e+00,-6.71741282e+00, 4.84378182e+00,
  2.64885450e-02, 1.55559071e+00,-7.36712175e+00, 1.31169688e+01,
  2.47210795e-01,-4.45979826e+00, 1.86858676e+01,-3.61292142e+01,
  1.63883759e-01,-4.93375103e-01,-2.42734856e+00, 7.96566953e+00,
  1.17942755e+01, 2.48837765e+00, 7.80332881e+00, 1.96584387e+01,
 -4.62657711e+01, 5.33547828e+02]

qfrc_actuator:
[ 2.42494334e-03, 2.76513035e-02, 8.72725585e-03, 1.59799849e-03,
 -2.66116259e-06, 2.73861900e-02, 8.61984397e-03, 1.62333963e-03,
 -2.40654782e-03, 2.75298754e-02, 8.80310563e-03, 1.62628432e-03,
  7.81134571e-04,-1.77065132e-03, 0.00000000e+00,-2.13870682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.56924226,  8.61758319, -0.56924226, 18.82602124,
        0.67308706,  8.61758319,  0.67308706,  8.68082501,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006324373360982877
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47614582, -0.07405872,  0.04683781])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.65655468,  8.61137113, -0.65655468, 50.87484377,
        3.22037818,  8.61137113,  3.22037818,  8.88189415,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005267936066629099
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49472657,  0.05962514,  0.04736603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.93567292e-05, 2.71256029e-05,-3.66779073e-05,-8.30972002e-06,
  4.83271877e-06,-6.04124993e-05,-4.40703819e-05, 9.46468565e-06,
  4.57354559e-05,-8.44466844e-05, 7.74629945e-06,-5.39327820e-05,
 -3.16802012e-05,-2.91622200e-05,-1.28009921e-05, 3.47928739e-05,
  8.15642118e-03, 2.08834593e-03,-7.84641985e+00, 4.44229006e-02,
 -1.53189501e-01,-3.31182667e-03]


--- Step 1768 ---
qpos:
[-5.42165748e-04, 8.77224616e-01,-2.02524212e-02,-2.75938884e-02,
  7.59876523e-03, 8.64660069e-01,-2.80496255e-02, 9.45548364e-03,
  2.22217922e-02, 8.72987540e-01,-2.02706117e-02, 2.24622539e-02,
  1.36939641e+00,-9.91827233e-03, 1.05715341e+00, 6.11973127e-02,
 -1.46682554e+00,-1.31873212e-02, 6.20049072e-02, 4.65461247e-01,
 -3.79328410e-01,-5.90163053e-01,-5.39595548e-01]

qacc:
[-9.15375505e-02,-1.58099629e+00, 8.44426923e+00,-1.81073596e+01,
 -1.00943582e-01, 1.00252492e+00,-1.78130563e+00,-2.86893613e+00,
  1.70989766e-01,-2.03207212e+00, 2.88795480e+00, 8.60463832e+00,
  1.09860152e-01,-3.81674151e-01,-4.21650373e-01, 1.29755745e+00,
  1.00322941e+01, 2.08142388e+00, 5.36802482e+00, 1.51708859e+01,
 -3.73048489e+01, 4.68858748e+02]

qfrc_actuator:
[ 2.41727584e-03, 2.76948180e-02, 8.75737496e-03, 1.57544102e-03,
 -2.32121304e-05, 2.74488656e-02, 8.61609647e-03, 1.61219385e-03,
 -2.39700387e-03, 2.75233556e-02, 8.86338328e-03, 1.66656194e-03,
  7.78457071e-04,-1.78190213e-03, 0.00000000e+00,-2.13354842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.50352405,  8.62167271, -0.50352405, 18.34279124,
        0.56687605,  8.62167271,  0.56687605,  8.66947041,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006324465738108451
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47621142, -0.07406419,  0.04683777])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.67180395,  8.61019491, -0.67180395, 55.07620764,
        3.62343372,  8.61019491,  3.62343372,  8.91907931,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005220340561231933
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49476999,  0.05962236,  0.04738983])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.69780572e-05, 5.07335902e-05, 3.09126845e-05,-2.28273953e-05,
 -1.82578384e-05, 2.01953130e-05,-2.13228790e-05,-1.50739005e-05,
  3.15426480e-05,-5.44750588e-05, 4.19101171e-05, 3.58754396e-05,
 -2.76379174e-05,-2.54404574e-05,-5.29583623e-06, 4.68510873e-06,
  2.82766214e-03, 8.32677548e-04,-7.84810089e+00, 4.50704101e-02,
 -1.52952246e-01,-3.33732817e-03]


--- Step 1769 ---
qpos:
[-5.41992501e-04, 8.77226299e-01,-2.02519727e-02,-2.75954783e-02,
  7.59807071e-03, 8.64660938e-01,-2.80502023e-02, 9.45519597e-03,
  2.22220976e-02, 8.72987852e-01,-2.02687844e-02, 2.24643946e-02,
  1.36948919e+00,-9.91825977e-03, 1.05736301e+00, 6.11954025e-02,
 -1.46684789e+00,-1.31916337e-02, 6.21031741e-02, 4.65745855e-01,
 -3.79685001e-01,-5.89908620e-01,-5.39377343e-01]

qacc:
[-6.88704243e-02,-2.24385919e+00, 1.16724060e+01,-2.40891915e+01,
 -2.11779379e-01,-8.20879778e-01, 1.09340867e+00, 6.25688495e+00,
  2.07603887e-01, 5.29988885e+00,-2.93556139e+01, 7.28956255e+01,
 -5.40397866e-01, 7.82236690e-01, 9.46919117e+00,-3.23952378e+01,
  8.59914758e+00, 1.74752724e+00, 3.33052437e+00, 1.15254671e+01,
 -2.98409498e+01, 4.14777831e+02]

qfrc_actuator:
[ 2.41265870e-03, 2.77380024e-02, 8.79303598e-03, 1.54483931e-03,
 -5.30642874e-05, 2.74860112e-02, 8.66789553e-03, 1.64150476e-03,
 -2.37368375e-03, 2.75730258e-02, 8.88050661e-03, 1.79696324e-03,
  7.62854018e-04,-1.77068832e-03, 0.00000000e+00,-2.29071350e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.44731664,  8.62477157, -0.44731664, 17.81593421,
        0.47609083,  8.62477157,  0.47609083,  8.66105569,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.006260059311370664
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47626753, -0.07406943,  0.04686997])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.71510574,  8.60670672, -0.71510574, 59.41031335,
        4.21865694,  8.60670672,  4.21865694,  8.98687933,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0051305326697958994
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49480796,  0.05961942,  0.04743473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.27819695e-05, 7.69317429e-05, 4.91490519e-05,-2.78052764e-05,
 -3.85389349e-05, 4.33806307e-05, 5.28269359e-05, 2.91470711e-05,
  3.84910793e-05, 2.93869639e-05, 1.22601268e-05, 1.30212363e-04,
 -3.74016216e-05,-1.14070876e-06,-5.72470858e-06,-1.58476017e-04,
  3.55420678e-04, 2.43328091e-04,-7.84821258e+00, 4.52722465e-02,
 -1.52844718e-01,-3.34352686e-03]


--- Step 1770 ---
qpos:
[-5.42280154e-04, 8.77228071e-01,-2.02512148e-02,-2.75966615e-02,
  7.59718786e-03, 8.64661457e-01,-2.80504727e-02, 9.45569909e-03,
  2.22227366e-02, 8.72988681e-01,-2.02679800e-02, 2.24667163e-02,
  1.36958165e+00,-9.91787369e-03, 1.05757231e+00, 6.11936290e-02,
 -1.46684052e+00,-1.31900532e-02, 6.22079555e-02, 4.66407333e-01,
 -3.80494797e-01,-5.89404180e-01,-5.38786248e-01]

qacc:
[-2.39312371e-01, 9.23120619e-02,-1.86962424e+00, 8.33845258e+00,
 -9.85592408e-02, 3.06611158e-01,-5.10665889e+00, 1.85631057e+01,
  1.72513372e-01, 3.91149926e+00,-1.37208141e+01, 1.81076175e+01,
 -5.16403221e-01, 8.91710120e-01,-8.20041743e-01, 2.30433799e+00,
  7.43155749e+00, 1.47327108e+00, 1.62865112e+00, 8.56806821e+00,
 -2.36359718e+01, 3.69610305e+02]

qfrc_actuator:
[ 2.37439354e-03, 2.77096825e-02, 8.79616250e-03, 1.56300660e-03,
 -5.27027336e-05, 2.74191038e-02, 8.66326422e-03, 1.67666029e-03,
 -2.36005347e-03, 2.75848922e-02, 8.81903706e-03, 1.80182527e-03,
  7.55495056e-04,-1.74630616e-03, 0.00000000e+00,-2.27594790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.75817123,  8.60302001,  0.75817123, 81.84831367,
       -6.4520592 ,  8.60302001, -6.4520592 ,  9.20497392,  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: -0.006145144588651688
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4763167 , -0.07407457,  0.04692743])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.79110188,  8.60005434, -0.79110188, 63.41262095,
        5.03875886,  8.60005434,  5.03875886,  9.09986903,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0050080391016962406
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49484199,  0.05961631,  0.04749598])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.44094832e-05, 2.36153472e-05, 2.40916224e-05, 2.26183946e-05,
 -1.79766866e-05,-3.05114147e-05, 1.18443403e-05, 3.94104062e-05,
  3.21541251e-05, 3.63926053e-05,-4.94035113e-05, 9.07299299e-06,
 -2.91366249e-05, 1.56551529e-05,-2.50947511e-05, 4.09181658e-06,
 -3.87166523e-04, 4.36256864e-05,-7.84715737e+00, 4.51216049e-02,
 -1.52836861e-01,-3.33330774e-03]


--- Step 1771 ---
qpos:
[-5.43023740e-04, 8.77229845e-01,-2.02506324e-02,-2.75968813e-02,
  7.59622256e-03, 8.64661781e-01,-2.80515460e-02, 9.45564236e-03,
  2.22236163e-02, 8.72989581e-01,-2.02676381e-02, 2.24670264e-02,
  1.36967391e+00,-9.91724079e-03, 1.05778135e+00, 6.11926683e-02,
 -1.46680723e+00,-1.31834814e-02, 6.23135739e-02, 4.67408131e-01,
 -3.81709020e-01,-5.88669379e-01,-5.37862646e-01]

qacc:
[-2.36972913e-01, 2.47841923e+00,-1.28883460e+01, 2.98204623e+01,
 -4.37812181e-02, 8.33937182e-01,-9.81765301e-01,-7.28089926e+00,
  1.24687353e-01,-2.75250631e+00, 1.84452286e+01,-5.25757413e+01,
 -2.79045186e-01, 5.07442850e-01,-2.81593281e+00, 9.34105606e+00,
  6.47871220e+00, 1.24779033e+00, 2.09229837e-01, 6.17375090e+00,
 -1.84887385e+01, 3.31964060e+02]

qfrc_actuator:
[ 2.35182605e-03, 2.76919281e-02, 8.77979708e-03, 1.60964155e-03,
 -5.20196681e-05, 2.73789631e-02, 8.60715182e-03, 1.64381999e-03,
 -2.35233101e-03, 2.75558648e-02, 8.78244735e-03, 1.69718947e-03,
  7.53094741e-04,-1.73205540e-03, 0.00000000e+00,-2.23095594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.56906223,  8.61759508,  0.56906223, 55.20636907,
       -3.07524675,  8.61759508, -3.07524675,  8.83943732,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005991263266592689
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47636073, -0.07407967,  0.04700437])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.90090497,  8.58924601, -0.90090497, 66.42731438,
        6.06155125,  8.58924601,  6.06155125,  9.2721449 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004860689588232409
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49487318,  0.05961305,  0.04756966])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.39358674e-05, 1.34332708e-06,-7.75527856e-06, 4.89185016e-05,
 -7.87736279e-06,-5.30805302e-05,-5.95929251e-05,-3.29713773e-05,
  2.32010145e-05,-1.85162733e-05,-3.48608224e-05,-1.04615368e-04,
 -1.55158657e-05, 1.14479775e-05,-1.40647086e-05, 4.13181431e-05,
 -1.43329321e-04, 5.70138344e-05,-7.84524395e+00, 4.46862803e-02,
 -1.52906477e-01,-3.30891634e-03]


--- Step 1772 ---
qpos:
[-5.43937081e-04, 8.77231573e-01,-2.02501599e-02,-2.75972288e-02,
  7.59522689e-03, 8.64661727e-01,-2.80527142e-02, 9.45585911e-03,
  2.22246550e-02, 8.72989420e-01,-2.02661236e-02, 2.24657683e-02,
  1.36976622e+00,-9.91698471e-03, 1.05799064e+00, 6.11892083e-02,
 -1.46675114e+00,-1.31726607e-02, 6.24152998e-02, 4.68716423e-01,
 -3.83286598e-01,-5.87719810e-01,-5.36639286e-01]

qacc:
[-8.82637861e-02,-1.75853033e-02, 5.11801669e-01,-2.51081638e+00,
 -1.58622300e-02, 3.26588852e-01,-3.04675385e+00, 8.21151814e+00,
  8.36441634e-02,-7.90033149e+00, 3.27601284e+01,-6.09968992e+01,
  1.70627406e-01,-4.92002744e-01, 7.89674329e+00,-2.71314451e+01,
  5.69969651e+00, 1.06226061e+00,-9.73120613e-01, 4.24073895e+00,
 -1.42294043e+01, 3.00687044e+02]

qfrc_actuator:
[ 2.35660918e-03, 2.76805644e-02, 8.76985010e-03, 1.60162705e-03,
 -5.11742325e-05, 2.73726176e-02, 8.60990073e-03, 1.65997967e-03,
 -2.34819388e-03, 2.74670357e-02, 8.83164474e-03, 1.61773828e-03,
  7.48343263e-04,-1.75941146e-03, 0.00000000e+00,-2.36383780e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.54093787,  8.61940619,  0.54093787, 43.23722528,
       -2.17148558,  8.61940619, -2.17148558,  8.77264202,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005807919759362262
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47640092, -0.07408475,  0.04709604])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.03900945,  8.57363611, -1.03900945, 67.72291971,
        7.16049638,  8.57363611,  7.16049638,  9.50411955,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004694911976025756
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49490226,  0.05960966,  0.04765254])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.63600525e-05,-1.01699300e-05,-8.94888718e-06,-7.27514209e-06,
 -2.90906121e-06,-4.97472979e-05,-1.66913225e-05, 1.11825259e-05,
  1.53023144e-05,-1.10886686e-04, 3.74485736e-05,-8.34894843e-05,
 -1.10866719e-05,-2.80322037e-05,-5.09163718e-06,-1.33130281e-04,
  6.04337723e-04, 1.73208906e-04,-7.84270138e+00, 4.40157040e-02,
 -1.53036824e-01,-3.27210388e-03]


--- Step 1773 ---
qpos:
[-5.44529046e-04, 8.77233167e-01,-2.02494518e-02,-2.75983726e-02,
  7.59459855e-03, 8.64661358e-01,-2.80539535e-02, 9.45729287e-03,
  2.22256066e-02, 8.72988182e-01,-2.02637197e-02, 2.24646259e-02,
  1.36985873e+00,-9.91783390e-03, 1.05819983e+00, 6.11845116e-02,
 -1.46667480e+00,-1.31582019e-02, 6.25091975e-02, 4.70305310e-01,
 -3.85193061e-01,-5.86567704e-01,-5.35142551e-01]

qacc:
[ 1.67144675e-01,-2.47633385e+00, 1.19234708e+01,-2.59642342e+01,
  1.93088742e-01, 2.28555032e+00,-1.38922912e+01, 3.53043151e+01,
 -4.43899317e-02,-3.66894408e+00, 1.05274908e+01,-9.15244936e+00,
  9.36699874e-01,-2.05046786e+00, 3.51139176e+00,-1.26649275e+01,
  5.06145707e+00, 9.09491906e-01,-1.95706118e+00, 2.68580688e+00,
 -1.07146782e+01, 2.74819182e+02]

qfrc_actuator:
[ 2.39545152e-03, 2.76730829e-02, 8.78151148e-03, 1.56152875e-03,
 -1.47452170e-05, 2.73690596e-02, 8.61207434e-03, 1.72268259e-03,
 -2.36397516e-03, 2.74144390e-02, 8.87760647e-03, 1.62476961e-03,
  7.42167263e-04,-1.82895935e-03, 0.00000000e+00,-2.42293069e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.6156785 ,  8.6143901 ,  0.6156785 , 37.94500391,
       -2.09471586,  8.6143901 , -2.09471586,  8.78607493,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005602921586484455
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47643815, -0.0740898 ,  0.04719854])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.19182331,  8.55373217, -1.19182331, 66.74830037,
        8.09695221,  8.55373217,  8.09695221,  9.76454209,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004515972414060834
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49492974,  0.05960617,  0.04774201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.09662386e-05,-1.53712803e-05, 8.19137732e-06,-4.09874127e-05,
  3.50383760e-05,-3.43337900e-05,-9.76072835e-06, 6.02130758e-05,
 -8.43049300e-06,-1.10448863e-04, 2.47742196e-05, 1.95016139e-06,
 -1.95505573e-05,-7.85120049e-05,-2.14964154e-05,-6.81784345e-05,
  1.54950405e-03, 3.25425855e-04,-7.83969433e+00, 4.31459634e-02,
 -1.53214964e-01,-3.22423647e-03]


--- Step 1774 ---
qpos:
[-5.44539969e-04, 8.77234930e-01,-2.02487893e-02,-2.75993173e-02,
  7.59418822e-03, 8.64661370e-01,-2.80557163e-02, 9.45871724e-03,
  2.22262299e-02, 8.72987073e-01,-2.02612976e-02, 2.24638256e-02,
  1.36995108e+00,-9.91918409e-03, 1.05840884e+00, 6.11794417e-02,
 -1.46658032e+00,-1.31406088e-02, 6.25919932e-02, 4.72152125e-01,
 -3.87399589e-01,-5.85222455e-01,-5.33393484e-01]

qacc:
[ 3.01837529e-01, 7.61644170e-01,-3.22842530e+00, 6.61824577e+00,
  1.14043170e-01, 1.94394889e+00,-6.16348125e+00, 6.56050393e+00,
 -1.70523495e-01, 8.24322184e-01,-4.13399955e+00, 9.92882876e+00,
  2.51206865e-01,-7.65636578e-01, 8.27004718e-01,-3.34824419e+00,
  4.53719293e+00, 7.83605475e-01,-2.77547781e+00, 1.44069641e+00,
 -7.82375361e+00, 2.53555310e+02]

qfrc_actuator:
[ 2.43655351e-03, 2.77035424e-02, 8.78808378e-03, 1.57391033e-03,
 -1.06095095e-05, 2.74205185e-02, 8.59616419e-03, 1.72349538e-03,
 -2.39152484e-03, 2.74905388e-02, 8.90368835e-03, 1.64712852e-03,
  7.29794490e-04,-1.85193260e-03, 0.00000000e+00,-2.43801319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.82006272,  8.5973411 ,  0.82006272, 37.28685595,
       -2.732845  ,  8.5973411 , -2.732845  ,  8.89703775,  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: -0.00538266166034692
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47647304, -0.07409479,  0.04730867])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.34020371,  8.53174255, -1.34020371, 63.41350066,
        8.60463402,  8.53174255,  8.60463402,  9.98801746,  0.        ,
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        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004328172031377767
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49495595,  0.05960264,  0.04783591])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.59957951e-05, 2.17656420e-05, 2.97254717e-06, 1.12067301e-05,
  2.08071352e-05, 3.28449136e-05,-2.21095432e-05, 1.75685527e-07,
 -3.16207661e-05, 1.95513222e-05, 6.38152889e-06, 1.85211642e-05,
 -4.24453704e-05,-4.59670309e-05,-2.04365211e-05,-2.23446788e-05,
  2.50432433e-03, 4.75113597e-04,-7.83633692e+00, 4.21033969e-02,
 -1.53430620e-01,-3.16637779e-03]


--- Step 1775 ---
qpos:
[-5.44203192e-04, 8.77236607e-01,-2.02479564e-02,-2.76000888e-02,
  7.59409407e-03, 8.64661593e-01,-2.80573319e-02, 9.45942439e-03,
  2.22265232e-02, 8.72986473e-01,-2.02585389e-02, 2.24632264e-02,
  1.37004299e+00,-9.92004345e-03, 1.05861741e+00, 6.11765374e-02,
 -1.46646942e+00,-1.31202965e-02, 6.26609637e-02, 4.74237823e-01,
 -3.89882188e-01,-5.83691054e-01,-5.31408618e-01]

qacc:
[ 1.80809444e-01,-2.34255307e-01,-6.11293067e-02, 2.84658478e+00,
  1.66062416e-01,-1.60744251e+00, 9.16442170e+00,-2.19699584e+01,
 -1.71474746e-01, 1.45103345e-01,-3.91961955e-01, 2.96046127e+00,
 -5.85175290e-01, 1.02531625e+00,-7.13424960e+00, 2.41268889e+01,
  4.10508225e+00, 6.79776688e-01,-3.45630624e+00, 4.49298738e-01,
 -5.45484556e+00, 2.36216439e+02]

qfrc_actuator:
[ 2.44311781e-03, 2.76855056e-02, 8.79178946e-03, 1.58159771e-03,
  9.65788543e-06, 2.74334080e-02, 8.60538993e-03, 1.68791367e-03,
 -2.40810711e-03, 2.75543166e-02, 8.93611025e-03, 1.66065876e-03,
  7.24380065e-04,-1.81161798e-03, 0.00000000e+00,-2.32054229e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.25296354,  8.5449903 ,  1.25296354, 41.57937336,
       -4.83047829,  8.5449903 , -4.83047829,  9.34466323,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.005152352985305669
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47650598, -0.0740997 ,  0.04742382])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.46575768,  8.5110711 , -1.46575768, 58.17271056,
        8.53103917,  8.5110711 ,  8.53103917, 10.10556017,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004135008861571879
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49498109,  0.05959909,  0.0479325 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.35040080e-05,-4.81099649e-06, 8.93635668e-06, 8.93695199e-06,
  3.01748046e-05, 2.67109472e-05, 1.33024392e-05,-3.49361385e-05,
 -3.17956732e-05, 7.68285636e-05, 3.78790878e-05, 1.49491678e-05,
 -4.05050749e-05, 1.96535700e-05,-1.50420251e-05, 1.12880365e-04,
  3.35998060e-03, 6.01779915e-04,-7.83270450e+00, 4.09071780e-02,
 -1.53675381e-01,-3.09935221e-03]


--- Step 1776 ---
qpos:
[-5.43846037e-04, 8.77238096e-01,-2.02472650e-02,-2.76010724e-02,
  7.59464838e-03, 8.64662075e-01,-2.80585821e-02, 9.45967778e-03,
  2.22267395e-02, 8.72986015e-01,-2.02547153e-02, 2.24631347e-02,
  1.37013436e+00,-9.91992132e-03, 1.05882589e+00, 6.11746903e-02,
 -1.46634352e+00,-1.30976081e-02, 6.27138412e-02, 4.76546458e-01,
 -3.92620972e-01,-5.81978430e-01,-5.29200674e-01]

qacc:
[ 1.05564671e-02,-2.88212639e-01, 1.56278717e+00,-4.86577702e+00,
  3.40726353e-01,-1.60981079e+00, 8.15502511e+00,-1.67860386e+01,
 -3.93499919e-02,-1.74211433e+00, 4.34137698e+00, 2.63674893e+00,
 -1.09357676e+00, 2.07559211e+00,-3.24345663e+00, 1.13338496e+01,
  3.74727481e+00, 5.94030300e-01,-4.02324670e+00,-3.34583598e-01,
 -3.52224892e+00, 2.22227286e+02]

qfrc_actuator:
[ 2.42896044e-03, 2.76563125e-02, 8.77582482e-03, 1.56866218e-03,
  5.71715296e-05, 2.74586791e-02, 8.62923598e-03, 1.66671210e-03,
 -2.40022308e-03, 2.75570133e-02, 8.98976326e-03, 1.68664858e-03,
  7.12521437e-04,-1.75187470e-03, 0.00000000e+00,-2.26795011e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.32147922, -8.31850414,  2.32147922, 76.69367504,
       18.99303423, -8.31850414, 18.99303423, 13.93682793,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004916224253900828
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47653724, -0.0741045 ,  0.04754189])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.55693706,  8.49486456, -1.55693706, 51.8086378 ,
        7.91260567,  8.49486456,  7.91260567, 10.0865844 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003939311799759024
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49500523,  0.05959558,  0.04803034])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.95769794e-06,-2.96965582e-05,-1.55669989e-05,-1.26613004e-05,
  6.18788670e-05, 4.14678254e-05, 2.98019872e-05,-2.02761567e-05,
 -7.40570139e-06, 5.41137276e-05, 7.46902724e-05, 3.08821448e-05,
 -3.01021940e-05, 5.50952752e-05, 2.58031527e-06, 5.62678771e-05,
  4.05985149e-03, 6.96259465e-04,-7.82884317e+00, 3.95711820e-02,
 -1.53942139e-01,-3.02379323e-03]


--- Step 1777 ---
qpos:
[-5.43384614e-04, 8.77239359e-01,-2.02470772e-02,-2.76011362e-02,
  7.59543157e-03, 8.64662913e-01,-2.80598573e-02, 9.45968949e-03,
  2.22269676e-02, 8.72985516e-01,-2.02503699e-02, 2.24634168e-02,
  1.37022549e+00,-9.91959117e-03, 1.05903454e+00, 6.11718068e-02,
 -1.46620383e+00,-1.30728274e-02, 6.27487332e-02, 4.79064705e-01,
 -3.95599543e-01,-5.80087722e-01,-5.26779123e-01]

qacc:
[ 5.39880793e-02, 3.00185762e+00,-1.50108048e+01, 3.18812603e+01,
  1.20071540e-01, 4.22544269e-02, 1.55181274e+00,-5.95653619e+00,
  6.45533546e-03,-7.42332400e-01, 9.90653038e-01, 4.67466528e+00,
 -4.13574155e-01, 6.56183254e-01, 3.40610102e+00,-1.14939274e+01,
  3.44909385e+00, 5.23077167e-01,-4.49638008e+00,-9.49029443e-01,
 -1.95384313e+00, 2.11098532e+02]

qfrc_actuator:
[ 2.43806355e-03, 2.76383128e-02, 8.74830180e-03, 1.61467947e-03,
  4.95636539e-05, 2.74734930e-02, 8.62607186e-03, 1.65416208e-03,
 -2.39553302e-03, 2.75232241e-02, 9.00203409e-03, 1.70197460e-03,
  6.91493700e-04,-1.75217174e-03, 0.00000000e+00,-2.32505340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.44382493, -8.62495196,  0.44382493, 72.17626077,
        3.2696519 , -8.62495196,  3.2696519 ,  8.8046142 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004677683207295828
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47656694, -0.07410915,  0.04766116])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.61121906,  8.4847363 , -1.61121906, 45.13594404,
        6.9311311 ,  8.4847363 ,  6.9311311 ,  9.952559  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00374335189564709
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49502841,  0.05959213,  0.04812832])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.00384737e-05,-3.84009425e-05,-3.60270264e-05, 4.39591103e-05,
  2.18481336e-05, 4.32935732e-05, 8.37520663e-06,-1.01367015e-05,
  1.13343153e-06, 1.32024228e-05, 3.36919754e-05, 2.08259496e-05,
 -2.50147368e-05, 5.94087988e-06, 3.08408979e-06,-5.46172579e-05,
  4.58138217e-03, 7.56304689e-04,-7.82477726e+00, 3.81053393e-02,
 -1.54224683e-01,-2.94018111e-03]


--- Step 1778 ---
qpos:
[-5.43003118e-04, 8.77240203e-01,-2.02471639e-02,-2.76002939e-02,
  7.59589910e-03, 8.64663869e-01,-2.80615875e-02, 9.45926662e-03,
  2.22275979e-02, 8.72985597e-01,-2.02480264e-02, 2.24636323e-02,
  1.37031652e+00,-9.91948964e-03, 1.05924275e+00, 6.11716109e-02,
 -1.46605135e+00,-1.30461900e-02, 6.27640545e-02, 4.81781465e-01,
 -3.98804458e-01,-5.78020513e-01,-5.24150657e-01]

qacc:
[-4.15159598e-02, 2.08135398e+00,-1.20361199e+01, 2.84410665e+01,
 -1.66161801e-01, 5.31684460e-01, 1.64646470e-01,-7.04506386e+00,
  2.07559849e-01, 6.21909898e+00,-2.07840969e+01, 2.24053960e+01,
  2.59496759e-01,-5.74088213e-01,-8.78002589e+00, 2.97369377e+01,
  3.19840310e+00, 4.64183809e-01,-4.89269661e+00,-1.42544549e+00,
 -6.88977670e-01, 2.02412653e+02]

qfrc_actuator:
[ 2.42552566e-03, 2.76093919e-02, 8.73201505e-03, 1.65951605e-03,
  9.04305577e-06, 2.74463275e-02, 8.58919317e-03, 1.62901975e-03,
 -2.35731199e-03, 2.75209271e-02, 8.88307687e-03, 1.69308047e-03,
  6.80935638e-04,-1.77035947e-03, 0.00000000e+00,-2.18001377e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.82390306,  8.59697392, -0.82390306, 11.5207405 ,
        0.2764283 ,  8.59697392,  0.2764283 ,  8.66285553,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004439453335433524
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47659514, -0.07411362,  0.04778027])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.63287529,  8.48059521, -1.63287529, 38.74775952,
        5.79772445,  8.48059521,  5.79772445,  9.75267219,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003548935162704825
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49505058,  0.05958879,  0.04822553])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.71551788e-06,-5.59827435e-05,-2.71451394e-05, 4.28002299e-05,
 -3.01167331e-05,-1.66861279e-06,-2.72531371e-05,-2.31945680e-05,
  3.87691628e-05, 1.29156092e-05,-1.11389159e-04,-6.76320094e-06,
 -2.34822949e-05,-2.24281122e-05,-9.32046369e-06, 1.41325025e-04,
  4.92394343e-03, 7.83737846e-04,-7.82051509e+00, 3.65166221e-02,
 -1.54517405e-01,-2.84887221e-03]


--- Step 1779 ---
qpos:
[-5.42923580e-04, 8.77241060e-01,-2.02478990e-02,-2.75992958e-02,
  7.59614764e-03, 8.64664912e-01,-2.80631678e-02, 9.45816309e-03,
  2.22288389e-02, 8.72985962e-01,-2.02478845e-02, 2.24631030e-02,
  1.37040748e+00,-9.91962837e-03, 1.05945048e+00, 6.11761346e-02,
 -1.46588693e+00,-1.30178923e-02, 6.27584695e-02, 4.84687496e-01,
 -4.02224753e-01,-5.75777010e-01,-5.21319589e-01]

qacc:
[-1.57293914e-01, 2.14997484e+00,-8.29534829e+00, 1.20145471e+01,
 -1.15006556e-01,-1.70266942e+00, 9.11342434e+00,-2.12004364e+01,
  3.15827720e-01, 4.99133975e+00,-1.41081694e+01, 4.52663647e+00,
  4.13792510e-01,-7.92568733e-01,-1.49901598e+01, 5.13487885e+01,
  2.98510388e+00, 4.15067972e-01,-5.22654785e+00,-1.78974039e+00,
  3.23317952e-01, 1.95812474e+02]

qfrc_actuator:
[ 2.40014565e-03, 2.76274578e-02, 8.70468970e-03, 1.66778482e-03,
  2.48571609e-06, 2.74650804e-02, 8.60353626e-03, 1.59661162e-03,
 -2.31712021e-03, 2.75014161e-02, 8.75870847e-03, 1.65219249e-03,
  6.81981156e-04,-1.78117555e-03, 0.00000000e+00,-1.93475053e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.91368328,  8.58789612, -0.91368328, 10.91271943,
        0.242186  ,  8.58789612,  0.242186  ,  8.66213028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.004203688460486292
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47662186, -0.07411788,  0.04789816])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.62938045,  8.48126737, -1.62938045, 32.97215391,
        4.67527543,  8.48126737,  4.67527543,  9.53455515,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033574802245725163
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49507169,  0.05958559,  0.04832126])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.91009302e-05,-1.70340016e-05,-4.07562556e-05, 5.76470338e-06,
 -2.08907833e-05, 1.11854161e-05, 9.84491208e-06,-3.38720818e-05,
  5.88507564e-05,-3.56002257e-05,-1.35675707e-04,-4.43249470e-05,
 -1.75276221e-05,-2.15823014e-05, 8.58629551e-06, 2.51276440e-04,
  5.10080488e-03, 7.82646643e-04,-7.81605336e+00, 3.48097688e-02,
 -1.54815091e-01,-2.75012227e-03]


--- Step 1780 ---
qpos:
[-5.42593202e-04, 8.77242108e-01,-2.02491010e-02,-2.75982422e-02,
  7.59625101e-03, 8.64666116e-01,-2.80644052e-02, 9.45769197e-03,
  2.22302467e-02, 8.72986013e-01,-2.02482548e-02, 2.24617031e-02,
  1.37049853e+00,-9.92023973e-03, 1.05965852e+00, 6.11808711e-02,
 -1.46571130e+00,-1.29880993e-02, 6.27308444e-02, 4.87775107e-01,
 -4.05851544e-01,-5.73356205e-01,-5.18288174e-01]

qacc:
[ 1.29988733e-01, 1.66976241e+00,-5.82258699e+00, 7.38864576e+00,
 -7.60547336e-02, 5.56120629e-01,-4.34441191e+00, 1.46240275e+01,
  8.64158724e-02,-7.75875610e-01, 5.83953369e+00,-1.98580082e+01,
  4.29953701e-01,-9.16768828e-01,-2.27090817e-01, 1.37331318e+00,
  2.80073468e+00, 3.73814795e-01,-5.51003191e+00,-2.06328261e+00,
  1.12584845e+00, 1.90991812e+02]

qfrc_actuator:
[ 2.43832490e-03, 2.76556990e-02, 8.68897752e-03, 1.67225334e-03,
 -1.41670686e-06, 2.74936155e-02, 8.63043693e-03, 1.63127444e-03,
 -2.32937324e-03, 2.74893927e-02, 8.73860943e-03, 1.61056568e-03,
  6.89988810e-04,-1.80521818e-03, 0.00000000e+00,-1.93425492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.99169239,  8.57923791, -0.99169239, 10.3298319 ,
        0.1957516 ,  8.57923791,  0.1957516 ,  8.65899098,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003972068920844327
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47664704, -0.07412191,  0.04801397])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.60865345,  8.48522309, -1.60865345, 27.96127149,
        3.66367263,  8.48522309,  3.66367263,  9.33093343,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0031700834581193105
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49509164,  0.05958257,  0.04841496])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41748280e-05, 1.05269768e-05,-2.40530253e-05, 2.44006382e-06,
 -1.38435651e-05, 3.53584168e-05, 2.92576184e-05, 3.48263033e-05,
  1.60624695e-05,-6.18533583e-05,-4.57027885e-05,-4.87106109e-05,
 -6.69873665e-06,-3.33727201e-05, 2.87145939e-05, 1.48425300e-05,
  5.13392547e-03, 7.58272584e-04,-7.81138043e+00, 3.29878201e-02,
 -1.55112750e-01,-2.64410485e-03]


--- Step 1781 ---
qpos:
[-5.41354660e-04, 8.77243116e-01,-2.02501559e-02,-2.75971570e-02,
  7.59626129e-03, 8.64667328e-01,-2.80655042e-02, 9.45767324e-03,
  2.22314672e-02, 8.72986452e-01,-2.02488322e-02, 2.24617736e-02,
  1.37058934e+00,-9.92056862e-03, 1.05986679e+00, 6.11846106e-02,
 -1.46552512e+00,-1.29569512e-02, 6.26802060e-02, 4.91037876e-01,
 -4.09677664e-01,-5.70755999e-01,-5.15056894e-01]

qacc:
[ 4.71991917e-01,-3.98042844e-01, 1.21012457e+00,-8.69788451e-01,
 -4.87888066e-02, 5.55182655e-01,-3.87380916e+00, 1.14769467e+01,
 -9.75373700e-02, 4.11518798e+00,-2.01390441e+01, 4.56344172e+01,
 -4.65646883e-01, 7.85012670e-01, 3.39448609e+00,-1.12937709e+01,
  2.63815170e+00, 3.38809317e-01,-5.75332072e+00,-2.26368529e+00,
  1.75453281e+00, 1.87687744e+02]

qfrc_actuator:
[ 2.51420769e-03, 2.76543581e-02, 8.69806382e-03, 1.67447971e-03,
 -3.71241125e-06, 2.74746531e-02, 8.62911392e-03, 1.65188114e-03,
 -2.35514090e-03, 2.75888631e-02, 8.76251072e-03, 1.69318771e-03,
  6.80858870e-04,-1.78361037e-03, 0.00000000e+00,-1.98923770e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.73135025,  8.60534158, -0.73135025, 13.68461236,
        0.42904026,  8.60534158,  0.42904026,  8.67282688,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00374588240908158
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47667062, -0.07412567,  0.04812706])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.83756425,  8.43860975, -1.83756425, 42.32039562,
        7.33492538,  8.43860975,  7.33492538, 10.23359316,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0029875737786009132
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4951103 ,  0.05957974,  0.04850621])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.75141792e-05,-3.31868569e-07, 8.38074305e-06, 1.89027040e-06,
 -8.88105874e-06, 8.32382615e-06, 1.07908992e-05, 2.38130435e-05,
 -1.80454984e-05, 5.33635848e-05, 3.81515189e-06, 7.74443484e-05,
 -2.07630154e-05, 1.21156998e-05, 9.54573167e-06,-5.17288622e-05,
  5.05066436e-03, 7.16354821e-04,-7.80647875e+00, 3.10525184e-02,
 -1.55405490e-01,-2.53092635e-03]


--- Step 1782 ---
qpos:
[-5.39585962e-04, 8.77244056e-01,-2.02507581e-02,-2.75967620e-02,
  7.59621333e-03, 8.64668697e-01,-2.80665599e-02, 9.45650847e-03,
  2.22322490e-02, 8.72986843e-01,-2.02481831e-02, 2.24631324e-02,
  1.37067994e+00,-9.92086478e-03, 1.06007508e+00, 6.11876732e-02,
 -1.46532898e+00,-1.29245682e-02, 6.26057079e-02, 4.94470407e-01,
 -4.13697359e-01,-5.67973317e-01,-5.11624689e-01]

qacc:
[ 2.75741510e-01,-2.77761652e+00, 1.26773626e+01,-2.52805689e+01,
 -3.06873176e-02,-2.27027261e+00, 1.32360970e+01,-3.32594965e+01,
 -2.27074801e-01,-8.37529398e-01,-2.54454116e+00, 2.29183600e+01,
 -2.30495435e-01, 2.79547189e-01, 2.07857027e+00,-7.21117108e+00,
  2.49127326e+00, 3.08681995e-01,-5.96493748e+00,-2.40545164e+00,
  2.23948589e+00, 1.85674157e+02]

qfrc_actuator:
[ 2.52319178e-03, 2.76531740e-02, 8.72160197e-03, 1.63985725e-03,
 -5.03808951e-06, 2.74805382e-02, 8.62867671e-03, 1.59297068e-03,
 -2.38872989e-03, 2.75948788e-02, 8.83046464e-03, 1.75960317e-03,
  6.61473076e-04,-1.78843624e-03, 0.00000000e+00,-2.02312492e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.8433602 ,  8.59508699, -0.8433602 , 14.01386707,
        0.52764706,  8.59508699,  0.52764706,  8.688137  ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035260919820744724
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47669249, -0.07412915,  0.04823695])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.50816074,  8.50365968, -1.50816074,  7.21901088,
       -0.25137363,  8.50365968, -0.25137363,  8.59178144,  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: -0.0028105588100383466
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49512754,  0.05957713,  0.04859472])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.10884872e-05, 4.32717217e-07, 2.45641676e-05,-3.43128463e-05,
 -5.55205686e-06, 1.37672201e-05, 3.43490262e-06,-5.77168595e-05,
 -4.22661270e-05, 3.99575628e-05, 8.21280050e-05, 7.03420368e-05,
 -2.84100238e-05,-6.60145540e-06,-6.36851788e-06,-3.67113549e-05,
  4.88179296e-03, 6.62769784e-04,-7.80132672e+00, 2.90046112e-02,
 -1.55688422e-01,-2.41063819e-03]


--- Step 1783 ---
qpos:
[-5.37701211e-04, 8.77245254e-01,-2.02512481e-02,-2.75961131e-02,
  7.59594385e-03, 8.64670064e-01,-2.80673167e-02, 9.45534052e-03,
  2.22327945e-02, 8.72986962e-01,-2.02469474e-02, 2.24632784e-02,
  1.37077040e+00,-9.92100253e-03, 1.06028326e+00, 6.11906260e-02,
 -1.46512342e+00,-1.28910562e-02, 6.25066018e-02, 4.98068116e-01,
 -4.17906012e-01,-5.65004194e-01,-5.07989151e-01]

qacc:
[ 6.02935364e-02, 5.51248122e-01,-2.53938315e+00, 6.56019205e+00,
 -1.16170161e-01,-8.43488015e-01, 3.01756531e+00,-3.55004400e+00,
 -1.22413862e-01,-4.49267523e+00, 2.06196270e+01,-4.23496681e+01,
 -2.23195392e-01, 3.85865577e-01, 1.82113434e-01,-8.42652180e-01,
  2.35487500e+00, 2.82264571e-01,-6.15199103e+00,-2.50050720e+00,
  2.60593184e+00, 1.84756322e+02]

qfrc_actuator:
[ 2.50980404e-03, 2.76876339e-02, 8.73569411e-03, 1.65484520e-03,
 -2.35319986e-05, 2.74834278e-02, 8.64656331e-03, 1.59428321e-03,
 -2.39118020e-03, 2.75273494e-02, 8.83473624e-03, 1.69162011e-03,
  6.67895082e-04,-1.77348031e-03, 0.00000000e+00,-2.02652359e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.26405062, -7.9957958 ,  3.26405062, 29.31945336,
        8.44326862, -7.9957958 ,  8.44326862, 12.08308199,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033133933280279013
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47671254, -0.07413232,  0.0483433 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.32585331, -8.53398441,  1.32585331, 35.89936516,
        4.23562303, -8.53398441,  4.23562303,  9.29441673,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0026394638665006506
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49514323,  0.05957478,  0.04868027])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.11913337e-05, 3.82906428e-05, 1.60149170e-05, 1.51861277e-05,
 -2.11338898e-05, 8.80117365e-06, 1.91548488e-05, 8.99231104e-07,
 -2.27830357e-05,-2.52271818e-05, 2.50671645e-05,-6.20626017e-05,
 -1.14149394e-05, 6.95051160e-06,-1.10757859e-05,-7.21326199e-06,
  4.66038088e-03, 6.03359648e-04,-7.79590005e+00, 2.68440828e-02,
 -1.55956572e-01,-2.28324695e-03]


--- Step 1784 ---
qpos:
[-5.36036655e-04, 8.77246206e-01,-2.02510814e-02,-2.75949177e-02,
  7.59526923e-03, 8.64670867e-01,-2.80673582e-02, 9.45527668e-03,
  2.22333943e-02, 8.72987359e-01,-2.02466669e-02, 2.24626472e-02,
  1.37086071e+00,-9.92072603e-03, 1.06049142e+00, 6.11928220e-02,
 -1.46490895e+00,-1.28565100e-02, 6.23822142e-02, 5.01827036e-01,
 -4.22299906e-01,-5.61843860e-01,-5.04146698e-01]

qacc:
[-1.13902947e-01,-1.03321849e+00, 9.11791038e-01, 7.66451242e+00,
 -2.12090034e-01,-4.70083695e-01,-4.06599074e+00, 2.24462364e+01,
  2.75288812e-02, 1.43570470e+00,-1.30599154e+00,-1.08222847e+01,
 -4.79298874e-01, 9.23872252e-01, 2.30161423e+00,-8.00236141e+00,
  2.22442537e+00, 2.58554238e-01,-6.32037353e+00,-2.55864005e+00,
  2.87497527e+00, 1.84766288e+02]

qfrc_actuator:
[ 2.48319523e-03, 2.76544176e-02, 8.76203071e-03, 1.68117868e-03,
 -5.21402693e-05, 2.74313582e-02, 8.67517128e-03, 1.64879771e-03,
 -2.37497412e-03, 2.75402057e-02, 8.78319495e-03, 1.65149958e-03,
  6.68498693e-04,-1.74679406e-03, 0.00000000e+00,-2.06518331e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  4.5800663 , -7.32186927,  4.5800663 , 53.39567695,
       27.99839972, -7.32186927, 27.99839972, 26.15026921,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0031082630226420133
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47673064, -0.07413516,  0.04844587])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.01086945, -8.57699946,  1.01086945, 59.98108329,
        6.05139465, -8.57699946,  6.05139465,  9.34956993,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024745649175739945
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4951572 ,  0.0595727 ,  0.04876272])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.12223880e-05,-7.87594726e-06, 3.67343295e-05, 2.88197203e-05,
 -3.86660559e-05,-4.31810548e-05, 3.28141026e-05, 5.55732024e-05,
  5.24241795e-06, 1.25314059e-06,-5.58215936e-05,-4.15438401e-05,
 -4.54513399e-06, 2.59463810e-05,-9.46757406e-06,-4.13268702e-05,
  4.42126241e-03, 5.43878515e-04,-7.79017279e+00, 2.45703362e-02,
 -1.56204818e-01,-2.14872290e-03]


--- Step 1785 ---
qpos:
[-5.35386085e-04, 8.77246570e-01,-2.02500412e-02,-2.75940771e-02,
  7.59422727e-03, 8.64671177e-01,-2.80669893e-02, 9.45587904e-03,
  2.22341183e-02, 8.72987895e-01,-2.02459361e-02, 2.24618051e-02,
  1.37095099e+00,-9.92061829e-03, 1.06069913e+00, 6.11975325e-02,
 -1.46468363e+00,-1.28211020e-02, 6.22373475e-02, 5.05797761e-01,
 -4.26920353e-01,-5.58438280e-01,-5.00054322e-01]

qacc:
[-5.26150725e-01,-3.94776182e+00, 1.44407977e+01,-2.15362473e+01,
 -1.92490182e-01,-4.25376436e-01,-2.23964005e+00, 1.34756678e+01,
  6.47530475e-02,-1.50684792e+00, 6.53221764e+00,-1.10063350e+01,
  2.66002905e-01,-5.13193962e-01,-8.28696334e+00, 2.79692613e+01,
  2.71595687e+00, 2.15468218e-01,-5.11976882e+00,-3.73325382e+00,
  1.11566844e+01, 2.31533794e+02]

qfrc_actuator:
[ 2.39568570e-03, 2.75987491e-02, 8.79512456e-03, 1.66066746e-03,
 -6.87923084e-05, 2.74001336e-02, 8.69192348e-03, 1.68086948e-03,
 -2.36552302e-03, 2.75830998e-02, 8.82374171e-03, 1.64589865e-03,
  6.54966970e-04,-1.76664672e-03, 0.00000000e+00,-1.92902971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.22327442, -8.549291  ,  1.22327442, 11.43396089,
        0.40029391, -8.549291  ,  0.40029391,  8.69363965,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002931788391502599
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47503046, -0.07392557,  0.04853411])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0022326241564011792
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49170593,  0.05717483,  0.04888369])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.42404229,  8.51815006, -1.42404229, 11.56987397,
        0.49041667,  8.51815006,  0.49041667,  8.71835023,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023160165090681945
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4951693 ,  0.05957093,  0.04884199])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.77244245e-05,-5.12845822e-05, 3.69784293e-05,-1.90192016e-05,
 -3.50615873e-05,-4.62359872e-05, 1.37952524e-05, 3.24386524e-05,
  1.19759191e-05, 3.02759817e-05, 3.24874777e-05,-8.28744699e-06,
 -1.03987706e-05,-1.43988921e-05,-1.28113717e-05, 1.31729516e-04,
  4.20088218e-03, 4.90009427e-04,-7.78411811e+00, 2.21823380e-02,
 -1.56427828e-01,-2.00700727e-03]


--- Step 1786 ---
qpos:
[-5.35764719e-04, 8.77246693e-01,-2.02487212e-02,-2.75928009e-02,
  7.59347063e-03, 8.64670950e-01,-2.80663420e-02, 9.45687671e-03,
  2.22345889e-02, 8.72988080e-01,-2.02445335e-02, 2.24612944e-02,
  1.37104117e+00,-9.92045746e-03, 1.06090663e+00, 6.12044709e-02,
 -1.46444829e+00,-1.27849129e-02, 6.20707474e-02, 5.09968080e-01,
 -4.31756858e-01,-5.54786944e-01,-4.95711630e-01]

qacc:
[-5.34504104e-01,-2.02957042e-01,-1.57221521e+00, 8.82926638e+00,
  1.50265330e-01,-6.74689173e-01,-2.95208248e-01, 7.08769433e+00,
 -1.31139190e-01,-1.65710484e+00, 3.83743205e+00, 1.08284664e+00,
  1.69402862e-02,-2.38447682e-02,-7.02566411e+00, 2.41462753e+01,
  2.50288741e+00, 1.95243920e-01,-5.43335981e+00,-3.58890066e+00,
  1.04298261e+01, 2.26003116e+02]

qfrc_actuator:
[ 2.34352816e-03, 2.76010607e-02, 8.81404074e-03, 1.68374254e-03,
 -2.48884357e-05, 2.73638173e-02, 8.70158096e-03, 1.69947188e-03,
 -2.39572176e-03, 2.75375275e-02, 8.84750721e-03, 1.66075413e-03,
  6.54250883e-04,-1.76074753e-03, 0.00000000e+00,-1.81522520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.17016061,  8.55672256, -1.17016061, 11.22878061,
        0.35452175,  8.55672256,  0.35452175,  8.68484568,  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: -0.002763265849123918
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47504498, -0.07392771,  0.04861837])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  0.59573355, -8.61579238,  0.59573355, 90.62054644,
        5.66874483, -8.61579238,  5.66874483,  9.02832544,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021184050322389375
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49171529,  0.05717362,  0.0489408 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0021522567976108298
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49517971,  0.05956943,  0.04892387])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.91841109e-05,-1.95738292e-05, 1.22110905e-05, 2.17873333e-05,
  2.72100457e-05,-5.79469989e-05, 2.92515010e-06, 1.77289034e-05,
 -2.44316279e-05,-2.23011230e-05, 3.37260673e-05, 1.71151375e-05,
 -1.01350622e-05, 1.68726365e-07, 6.11463786e-06, 1.18859360e-04,
  1.83383393e-03, 8.89775627e-05,-7.77617116e+00, 1.97530843e-02,
 -1.56576993e-01,-1.85831941e-03]


--- Step 1787 ---
qpos:
[-5.36587008e-04, 8.77247116e-01,-2.02476756e-02,-2.75916354e-02,
  7.59349934e-03, 8.64670536e-01,-2.80659428e-02, 9.45739044e-03,
  2.22345649e-02, 8.72988082e-01,-2.02433803e-02, 2.24606638e-02,
  1.37113117e+00,-9.92018608e-03, 1.06111474e+00, 6.12076919e-02,
 -1.46420376e+00,-1.27480199e-02, 6.18812833e-02, 5.14327203e-01,
 -4.36800353e-01,-5.50887849e-01,-4.91116644e-01]

qacc:
[-2.30799954e-01, 9.35958026e-01,-2.29420064e+00, 5.98312874e-01,
  4.12390692e-01,-5.48423339e-01, 3.64191528e+00,-1.14846593e+01,
 -2.57051000e-01, 2.07219954e-01,-5.84492238e-01,-9.57384325e-01,
 -4.51663759e-01, 6.69808352e-01, 1.21443413e+01,-4.11303276e+01,
  2.29773206e+00, 1.76003735e-01,-5.71599528e+00,-3.44385231e+00,
  9.77839179e+00, 2.22039190e+02]

qfrc_actuator:
[ 2.34850787e-03, 2.76380487e-02, 8.80694189e-03, 1.67906316e-03,
  3.70906016e-05, 2.73601942e-02, 8.68919687e-03, 1.67449179e-03,
 -2.43162980e-03, 2.75103203e-02, 8.82529720e-03, 1.65192024e-03,
  6.39928216e-04,-1.75730421e-03, 0.00000000e+00,-2.01734410e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.15760916,  8.55842964, -1.15760916,  9.61019283,
        0.13171968,  8.55842964,  0.13171968,  8.65417998,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002598022544530336
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47505759, -0.07392952,  0.04870099])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  0.67696103, -8.60979097,  0.67696103, 80.39097059,
        5.64184109, -8.60979097,  5.64184109,  9.07996402,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0020032631504472848
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49172325,  0.05717263,  0.04899837])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0019846368274766338
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4951879 ,  0.05956827,  0.04900768])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.27454616e-05, 2.94709122e-05,-8.89444602e-06,-4.67285558e-06,
  7.49221760e-05,-3.46599655e-05,-2.33828891e-05,-2.70189893e-05,
 -4.76657010e-05,-3.19947942e-05,-2.20802725e-05,-8.29061736e-06,
 -1.99955914e-05, 1.18598925e-06, 1.22468795e-05,-1.95614821e-04,
 -4.05147019e-04,-2.71172809e-04,-7.76785854e+00, 1.71838818e-02,
 -1.56692727e-01,-1.70085555e-03]


--- Step 1788 ---
qpos:
[-5.37401401e-04, 8.77247979e-01,-2.02470473e-02,-2.75915793e-02,
  7.59410037e-03, 8.64670307e-01,-2.80664131e-02, 9.45690575e-03,
  2.22344509e-02, 8.72988557e-01,-2.02430611e-02, 2.24595434e-02,
  1.37122116e+00,-9.92038455e-03, 1.06132314e+00, 6.12064839e-02,
 -1.46395085e+00,-1.27104983e-02, 6.16679249e-02, 5.18865460e-01,
 -4.42042904e-01,-5.46737674e-01,-4.86265997e-01]

qacc:
[ 3.64731079e-03,-5.39991911e-01, 7.43821007e+00,-2.62692318e+01,
  2.99961627e-01, 6.16836624e-01, 2.36874229e+00,-1.83935144e+01,
 -4.74971710e-02, 1.94615419e+00,-3.96463888e+00,-3.52783406e+00,
  8.97192872e-02,-4.55599728e-01, 1.37915882e+01,-4.76543123e+01,
  2.09625946e+00, 1.57118484e-01,-5.97357624e+00,-3.30172441e+00,
  9.19408784e+00, 2.19408467e+02]

qfrc_actuator:
[ 2.36984343e-03, 2.76598918e-02, 8.78467640e-03, 1.62259786e-03,
  5.60427121e-05, 2.73760500e-02, 8.64625038e-03, 1.62408336e-03,
 -2.41736304e-03, 2.75651159e-02, 8.79390687e-03, 1.62919144e-03,
  6.28104113e-04,-1.79091836e-03, 0.00000000e+00,-2.24418917e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.81101154, -8.44434805,  1.81101154, 19.178431  ,
        2.26089753, -8.44434805,  2.26089753,  9.12124554,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002436751747781435
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47506802, -0.07393098,  0.04878162])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.13911314, -8.56091106,  1.13911314, 19.30677906,
        1.41980338, -8.56091106,  1.41980338,  8.82528239,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0018882207140078697
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49172945,  0.05717191,  0.04905589])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0018142503349232939
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49519339,  0.05956751,  0.04909287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.71155937e-07, 3.62623748e-05,-1.74489478e-05,-5.56061408e-05,
  5.46076514e-05,-9.49695219e-06,-5.39225754e-05,-5.32304668e-05,
 -8.67086138e-06, 3.19745405e-05,-4.10131748e-05,-2.50253872e-05,
 -2.31981495e-05,-3.77356777e-05,-2.19491113e-05,-2.37533028e-04,
 -2.45660094e-03,-5.87185425e-04,-7.75915064e+00, 1.44760394e-02,
 -1.56767296e-01,-1.53470069e-03]


--- Step 1789 ---
qpos:
[-5.38444213e-04, 8.77248975e-01,-2.02466201e-02,-2.75918304e-02,
  7.59471472e-03, 8.64670313e-01,-2.80675308e-02, 9.45614401e-03,
  2.22343834e-02, 8.72989445e-01,-2.02432371e-02, 2.24588333e-02,
  1.37131126e+00,-9.92129202e-03, 1.06153136e+00, 6.12028761e-02,
 -1.46368868e+00,-1.26721820e-02, 6.14336980e-02, 5.23606316e-01,
 -4.47513273e-01,-5.42302027e-01,-4.81120368e-01]

qacc:
[-1.18869169e-01, 1.05785221e-01, 1.17309111e+00,-6.25932447e+00,
  6.48495187e-03, 1.54676047e+00,-3.89662394e+00,-3.42292386e-02,
  2.37495520e-02, 2.77314770e+00,-1.08284684e+01, 1.84177410e+01,
  4.94988833e-01,-1.16618440e+00, 6.94526181e+00,-2.47681110e+01,
  2.31351098e+00, 1.98708199e-01,-5.21713684e+00,-3.09331084e+00,
  8.85777026e+00, 2.51172103e+02]

qfrc_actuator:
[ 2.34746053e-03, 2.76546364e-02, 8.77131615e-03, 1.60711455e-03,
  3.13248961e-05, 2.74032971e-02, 8.62119230e-03, 1.61238385e-03,
 -2.40870332e-03, 2.75975197e-02, 8.77544536e-03, 1.65180146e-03,
  6.33748240e-04,-1.82847817e-03, 0.00000000e+00,-2.35940296e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.25530671, -8.54464639,  1.25530671, 13.35002731,
        0.69249134, -8.54464639,  0.69249134,  8.73809857,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002294824142722994
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47460428, -0.06767869,  0.04885259])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.37128679,  8.52680183, -1.37128679, 70.73559685,
        9.98684615,  8.52680183,  9.98684615, 10.24245587,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001739240826442487
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49013403,  0.05580135,  0.04913038])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.03284634,  8.57438075, -1.03284634, 11.0644737 ,
        0.29248347,  8.57438075,  0.29248347,  8.67159539,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001774098298124173
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49173357,  0.05717149,  0.04911295])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.20087002e-05, 9.01482100e-06,-9.95663241e-06,-1.56205464e-05,
  1.27294772e-06, 8.53614986e-06,-3.55001752e-05,-1.50077998e-05,
  4.49341634e-06, 4.07268688e-05,-1.77799692e-05, 2.20746048e-05,
 -1.70977121e-05,-5.15718259e-05,-4.05744809e-05,-1.32222314e-04,
 -4.26540842e-03,-8.55661906e-04,-7.75001657e+00, 1.16306412e-02,
 -1.56792651e-01,-1.35991058e-03]


--- Step 1790 ---
qpos:
[-5.39914800e-04, 8.77250216e-01,-2.02467177e-02,-2.75919114e-02,
  7.59517728e-03, 8.64670344e-01,-2.80678534e-02, 9.45586400e-03,
  2.22345765e-02, 8.72990115e-01,-2.02425936e-02, 2.24590797e-02,
  1.37140115e+00,-9.92234723e-03, 1.06173903e+00, 6.12005335e-02,
 -1.46341831e+00,-1.26331907e-02, 6.11771623e-02, 5.28535868e-01,
 -4.53198677e-01,-5.37578549e-01,-4.75678567e-01]

qacc:
[-2.22669697e-01, 2.13919630e+00,-7.87526058e+00, 1.14751008e+01,
 -7.92099255e-02,-1.19445073e+00, 2.27558904e+00, 4.77011397e+00,
  1.36048566e-01,-6.10351742e-01,-2.28201721e+00, 1.76885633e+01,
  5.57860108e-02,-2.53241636e-01,-4.66155826e+00, 1.50808025e+01,
  2.05321968e+00, 1.68711201e-01,-5.57718882e+00,-3.00900593e+00,
  8.52105701e+00, 2.45654931e+02]

qfrc_actuator:
[ 2.31683233e-03, 2.76687567e-02, 8.74549708e-03, 1.61586192e-03,
  1.62404835e-05, 2.74372548e-02, 8.67800350e-03, 1.64134034e-03,
 -2.38575577e-03, 2.75808533e-02, 8.81799396e-03, 1.70091060e-03,
  6.23234144e-04,-1.83247304e-03, 0.00000000e+00,-2.28362719e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.09184417,  8.56706794, -1.09184417,  6.40025857,
       -0.28498411,  8.56706794, -0.28498411,  8.60004336,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0021631194754414065
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47461039, -0.06767945,  0.04891844])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  0.82953794, -8.59643203,  0.82953794, 72.84752273,
        6.19624423, -8.59643203,  6.19624423,  9.23428841,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0016478569231765383
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49013544,  0.05580136,  0.04917607])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0016551011057206189
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49173546,  0.05717137,  0.04917245])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.12182580e-05, 1.64097072e-05,-2.57341629e-05, 8.48303822e-06,
 -1.44768263e-05, 3.07662649e-05, 5.36905870e-05, 2.78042181e-05,
  2.51160244e-05, 3.36330418e-06, 4.95297254e-05, 5.06687260e-05,
 -3.31290007e-05,-1.98700167e-05,-3.57636213e-05, 6.26269655e-05,
 -5.93951125e-03,-1.10710636e-03,-7.73909100e+00, 8.63453615e-03,
 -1.56734722e-01,-1.17526398e-03]


--- Step 1791 ---
qpos:
[-5.41404578e-04, 8.77251091e-01,-2.02465817e-02,-2.75922063e-02,
  7.59547184e-03, 8.64670130e-01,-2.80673403e-02, 9.45596408e-03,
  2.22348515e-02, 8.72989899e-01,-2.02404765e-02, 2.24596080e-02,
  1.37149069e+00,-9.92316530e-03, 1.06194646e+00, 6.11990504e-02,
 -1.46320196e+00,-1.26007287e-02, 6.09938194e-02, 5.32414154e-01,
 -4.57739419e-01,-5.33781781e-01,-4.71260865e-01]

qacc:
[-9.71395039e-03,-1.57678371e+00, 5.82144111e+00,-9.62420908e+00,
 -8.76159120e-02,-1.87373557e+00, 4.60814601e+00, 8.12220977e-01,
  4.37391701e-02,-4.70532181e+00, 1.38892412e+01,-1.07130740e+01,
 -3.99159039e-01, 6.12511826e-01,-2.90886488e+00, 9.74144254e+00,
 -1.35096301e+01,-1.63230185e+00, 1.82981946e+01, 9.42303924e+00,
 -2.31637567e+01,-1.03837916e+03]

qfrc_actuator:
[ 2.33480558e-03, 2.76233285e-02, 8.74811231e-03, 1.60328804e-03,
  7.09588282e-06, 2.74043437e-02, 8.71174214e-03, 1.65853720e-03,
 -2.38997352e-03, 2.74997062e-02, 8.87827921e-03, 1.71195099e-03,
  6.08374050e-04,-1.81660662e-03, 0.00000000e+00,-2.23798380e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.29826021,  8.63121183,  0.29826021, 90.60385583,
       -2.83246917,  8.63121183, -2.83246917,  8.73424246,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002343027246215129
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44652741, -0.07071576,  0.04882849])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.001795394339076696
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44893925,  0.0180265 ,  0.0491023 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -2.58119143,  8.2416156 , -2.58119143, 18.13370504,
        2.97447217,  8.2416156 ,  2.97447217,  9.56793852,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0015543159754558208
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49013469,  0.05580166,  0.04922284])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.85868355e-06,-4.12336761e-05, 3.12028838e-06,-1.25977522e-05,
 -1.60321685e-05,-3.42710992e-06, 4.76732892e-05, 2.09155506e-05,
  7.86798557e-06,-6.68824302e-05, 6.88240472e-05, 1.38819098e-05,
 -3.85674180e-05, 3.62846028e-06,-1.14310022e-05, 4.40920411e-05,
 -7.27560419e-03,-1.30236658e-03,-7.72774152e+00, 5.48867841e-03,
 -1.56611003e-01,-9.81054919e-04]


--- Step 1792 ---
qpos:
[-5.42600987e-04, 8.77250933e-01,-2.02460642e-02,-2.75925727e-02,
  7.59562879e-03, 8.64669624e-01,-2.80665834e-02, 9.45631777e-03,
  2.22349536e-02, 8.72989496e-01,-2.02386091e-02, 2.24596048e-02,
  1.37157995e+00,-9.92358403e-03, 1.06215415e+00, 6.11950854e-02,
 -1.46303086e+00,-1.25738636e-02, 6.08702945e-02, 5.35429286e-01,
 -4.61330436e-01,-5.30778353e-01,-4.67722192e-01]

qacc:
[ 1.53017678e-01,-2.57705148e+00, 7.51008811e+00,-8.59930458e+00,
 -7.20059774e-02,-5.45016038e-01, 3.11877007e-01, 3.90235965e+00,
 -8.99263328e-02,-6.42533909e-01, 4.17792493e+00,-1.28424182e+01,
 -6.71785637e-01, 1.14701271e+00, 7.93514367e+00,-2.70862161e+01,
 -1.13101230e+01,-1.39922769e+00, 1.49544997e+01, 7.60441520e+00,
 -1.65927794e+01,-8.72457945e+02]

qfrc_actuator:
[ 2.36394958e-03, 2.75249305e-02, 8.74948678e-03, 1.59599002e-03,
  1.59210490e-06, 2.73670768e-02, 8.71352604e-03, 1.66858722e-03,
 -2.41041587e-03, 2.74871411e-02, 8.85946144e-03, 1.68268946e-03,
  6.06905428e-04,-1.78914918e-03, 0.00000000e+00,-2.37029394e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.56364222,  8.61795128,  0.56364222, 86.65364107,
       -5.10258527,  8.61795128, -5.10258527,  8.97008941,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002662633136812073
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44653329, -0.07071561,  0.04866868])
  solimp: array([9.0e-01, 9.5e-01, 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([  8.63636364,   7.19499087,   4.77691147,   7.19499087,
        20.63048518, -18.06556298,   4.77691147, -18.06556298,
        35.84674039,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ,
         0.        ,   0.        ,   0.        ,   0.        ])
  dim: 3
  dist: -0.0022901880806139724
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44894074,  0.01802768,  0.04885491])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -3.33434007,  7.96674044, -3.33434007, 21.87695801,
        5.54161952,  7.96674044,  5.54161952, 10.9557117 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0014606274152258458
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4901287 ,  0.05580265,  0.04926969])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.82430649e-05,-1.21367650e-04,-7.19855050e-06,-9.20098439e-06,
 -1.31356039e-05,-2.84423268e-05, 7.67163988e-06, 1.19599449e-05,
 -1.66646591e-05,-3.51654401e-05,-2.36889794e-05,-2.94796062e-05,
 -2.24545236e-05, 1.94669628e-05,-3.84763502e-06,-1.32115872e-04,
  3.47151113e-03, 3.40680289e-04,-7.77078458e+00, 2.36730208e-03,
 -1.57662432e-01,-8.18968975e-04]


--- Step 1793 ---
qpos:
[-5.43287454e-04, 8.77249917e-01,-2.02455381e-02,-2.75930192e-02,
  7.59549971e-03, 8.64669084e-01,-2.80655613e-02, 9.45606417e-03,
  2.22352142e-02, 8.72989530e-01,-2.02378388e-02, 2.24592299e-02,
  1.37166906e+00,-9.92394850e-03, 1.06236209e+00, 6.11872186e-02,
 -1.46290746e+00,-1.25535365e-02, 6.07803112e-02, 5.37555157e-01,
 -4.63905203e-01,-5.28631283e-01,-4.65161673e-01]

qacc:
[ 2.65260280e-01,-1.32238428e+00, 3.40768430e+00,-4.17609699e+00,
 -1.50105053e-01,-2.03284010e+00, 9.75005616e+00,-2.06633377e+01,
  8.15095788e-02, 2.87653766e+00,-7.84980012e+00, 2.84905116e+00,
 -3.73929979e-01, 5.31451150e-01, 1.21569972e+01,-4.19701818e+01,
 -1.19244754e+01,-1.63450121e+00, 8.38540932e+00, 7.62123717e+00,
 -1.97259369e+00,-9.37078704e+02]

qfrc_actuator:
[ 2.39949116e-03, 2.74843270e-02, 8.74987563e-03, 1.59180072e-03,
 -1.94430158e-05, 2.73806002e-02, 8.73190004e-03, 1.63881834e-03,
 -2.38711315e-03, 2.75331332e-02, 8.81206841e-03, 1.66545281e-03,
  5.97500737e-04,-1.79049946e-03, 0.00000000e+00,-2.57087330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.73079797, -8.4611533 ,  1.73079797, 30.71146532,
        4.51564224, -8.4611533 ,  4.51564224,  9.56007512,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002994148185916007
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.43435544, -0.06663542,  0.04850293])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002660107386976196
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4489453 ,  0.01802797,  0.04866995])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.46960065,  8.51040838, -1.46960065, 49.63641398,
        7.08000109,  8.51040838,  7.08000109,  9.85895763,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0024680850610966504
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44785582,  0.02062171,  0.04876596])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.91160691e-05,-1.10342963e-04,-2.58814646e-05,-9.81209629e-06,
 -2.72907453e-05,-2.80206388e-07, 1.38567189e-05,-3.04898726e-05,
  1.52812530e-05, 2.01648160e-05,-5.86057758e-05,-2.01389738e-05,
 -1.78728732e-05,-1.62261276e-06,-2.11917281e-05,-2.09512520e-04,
  7.87626697e-03, 1.11538808e-03,-7.79970409e+00, 5.90750289e-05,
 -1.58339568e-01,-6.93455730e-04]


--- Step 1794 ---
qpos:
[-5.43876244e-04, 8.77248784e-01,-2.02450617e-02,-2.75939497e-02,
  7.59510446e-03, 8.64668903e-01,-2.80650696e-02, 9.45546032e-03,
  2.22353256e-02, 8.72989886e-01,-2.02377616e-02, 2.24596734e-02,
  1.37175803e+00,-9.92429624e-03, 1.06256977e+00, 6.11779878e-02,
 -1.46282521e+00,-1.25389573e-02, 6.07145578e-02, 5.38925123e-01,
 -4.65607723e-01,-5.27233055e-01,-4.63459238e-01]

qacc:
[ 5.07411051e-02,-1.01379660e+00, 5.42623653e+00,-1.36253495e+01,
 -1.40282739e-01, 1.23330247e+00,-2.23194361e+00,-3.24467490e+00,
 -7.79825638e-02, 4.04367279e+00,-1.72589030e+01, 3.22969058e+01,
 -1.88731495e-01, 2.33583120e-01, 3.74853583e+00,-1.36442415e+01,
 -1.02871726e+01,-1.43695969e+00, 6.05747535e+00, 6.46723822e+00,
  8.33710331e-01,-8.10693328e+02]

qfrc_actuator:
[ 2.38527946e-03, 2.75318961e-02, 8.76764591e-03, 1.57176114e-03,
 -3.18408298e-05, 2.74067029e-02, 8.70685119e-03, 1.62142282e-03,
 -2.40883612e-03, 2.75604526e-02, 8.78398272e-03, 1.70874167e-03,
  5.88657351e-04,-1.79119639e-03, 0.00000000e+00,-2.63247519e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.79279789,  8.59989816, -0.79279789, 16.93391977,
        0.76492591,  8.59989816,  0.76492591,  8.70687978,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003269584602631853
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.43436134, -0.06663564,  0.04836521])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0029269272436085875
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44894942,  0.01802802,  0.04853654])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.4793793 ,  8.50871399, -1.4793793 , 33.59292421,
        4.33910684,  8.50871399,  4.33910684,  9.39078843,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0027489794377056342
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44785825,  0.02062206,  0.04862551])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.40899783e-06,-1.98683114e-05,-8.53983927e-06,-2.58479422e-05,
 -2.53865488e-05, 2.75033396e-05,-2.44577634e-05,-1.75213211e-05,
 -1.43661961e-05, 2.56235563e-05,-3.18427893e-05, 4.17322727e-05,
 -2.00254059e-05,-4.80576972e-06,-3.71015762e-05,-7.69188970e-05,
  6.79330265e-03, 1.05310211e-03,-7.82319773e+00,-1.40732614e-03,
 -1.58868746e-01,-6.08019400e-04]


--- Step 1795 ---
qpos:
[-5.44689050e-04, 8.77248148e-01,-2.02450309e-02,-2.75948212e-02,
  7.59506630e-03, 8.64668363e-01,-2.80646189e-02, 9.45505687e-03,
  2.22354148e-02, 8.72990314e-01,-2.02379989e-02, 2.24613281e-02,
  1.37184674e+00,-9.92457724e-03, 1.06277660e+00, 6.11730528e-02,
 -1.46277866e+00,-1.25294657e-02, 6.06651460e-02, 5.39646150e-01,
 -4.66554626e-01,-5.26490385e-01,-4.62511284e-01]

qacc:
[-1.16839263e-01, 2.02271387e+00,-6.50640877e+00, 7.87174145e+00,
  1.87673487e-01, 5.30973579e-02,-1.72325079e+00, 5.52158636e+00,
 -1.17274186e-02, 3.46468906e+00,-1.73301128e+01, 3.87420796e+01,
  2.11020116e-02,-8.10976539e-02,-1.42257174e+01, 4.79451902e+01,
 -8.92642052e+00,-1.27191958e+00, 4.08538985e+00, 5.55340890e+00,
  3.02543012e+00,-7.05494431e+02]

qfrc_actuator:
[ 2.35917672e-03, 2.75964668e-02, 8.76039479e-03, 1.57815259e-03,
  1.42961680e-05, 2.73512113e-02, 8.69194342e-03, 1.62918983e-03,
 -2.40407238e-03, 2.75587562e-02, 8.76751632e-03, 1.76955174e-03,
  5.69504682e-04,-1.79148550e-03, 0.00000000e+00,-2.39863623e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.05084134,  8.63621399,  0.05084134, 39.67910412,
       -0.18274844,  8.63621399, -0.18274844,  8.63743948,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003452387559138584
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.43436495, -0.06663578,  0.04827381])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.003110139042970514
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44895158,  0.01802814,  0.04844493])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.47859586,  8.50885017, -1.47859586, 14.12333093,
        0.95347867,  8.50885017,  0.95347867,  8.80205108,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002941612802380235
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44785937,  0.02062236,  0.04852919])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.15754721e-05, 5.06177807e-05,-1.32937402e-05, 4.74453954e-06,
  3.40582740e-05,-4.59159343e-05,-1.28487225e-05, 7.75863792e-06,
 -2.14503055e-06, 7.83234953e-06,-1.36561740e-05, 6.16173886e-05,
 -3.22235878e-05,-5.70360515e-06,-2.81419623e-05, 2.24225071e-04,
  4.74261090e-03, 8.07669060e-04,-7.83724697e+00,-2.31207804e-03,
 -1.59179716e-01,-5.53001605e-04]


--- Step 1796 ---
qpos:
[-5.45398919e-04, 8.77247957e-01,-2.02454349e-02,-2.75952591e-02,
  7.59548617e-03, 8.64667308e-01,-2.80639439e-02, 9.45440678e-03,
  2.22360755e-02, 8.72990501e-01,-2.02382220e-02, 2.24626805e-02,
  1.37193492e+00,-9.92423609e-03, 1.06298285e+00, 6.11739048e-02,
 -1.46276336e+00,-1.25245438e-02, 6.06253655e-02, 5.39803326e-01,
 -4.66838478e-01,-5.26323876e-01,-4.62230876e-01]

qacc:
[ 5.30873824e-02, 2.69622388e+00,-1.05863205e+01, 1.84517931e+01,
  2.40898788e-01,-1.81256143e+00, 6.51863207e+00,-1.07695192e+01,
  2.96983797e-01,-9.80184035e-01, 4.30847681e+00,-9.38451455e+00,
 -5.41594881e-01, 1.01577936e+00,-1.82907730e+01, 6.28372589e+01,
 -7.81136218e+00,-1.14241707e+00, 2.40784304e+00, 4.88480859e+00,
  5.16490288e+00,-6.19463927e+02]

qfrc_actuator:
[ 2.37947987e-03, 2.76174127e-02, 8.73854643e-03, 1.60005337e-03,
  4.17793857e-05, 2.73183474e-02, 8.70059571e-03, 1.61613854e-03,
 -2.34797857e-03, 2.75220181e-02, 8.75792009e-03, 1.75139136e-03,
  5.44182022e-04,-1.75608134e-03, 0.00000000e+00,-2.09916251e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.10803687,  8.63568786, -0.10803687, 39.76936069,
        0.38948971,  8.63568786,  0.38948971,  8.64123635,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003560516911601315
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.43436555, -0.06663566,  0.04821974])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0032257349855119577
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44895106,  0.01802848,  0.04838713])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -1.93504904,  8.41679049, -1.93504904,  0.49405219,
       -1.87194536,  8.41679049, -1.87194536,  8.20599697,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003062550359193686
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4478583 ,  0.02062281,  0.04846872])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.92992151e-06, 4.67227017e-05,-1.28619159e-05, 2.37021517e-05,
  4.36875976e-05,-6.08461560e-05,-2.14431713e-06,-1.53119547e-05,
  5.50628507e-05,-3.25491346e-05,-7.53236281e-06,-1.71007631e-05,
 -4.48380220e-05, 2.65939421e-05, 1.04441673e-05, 3.08013292e-04,
  2.55179263e-03, 5.07364636e-04,-7.84475128e+00,-2.75428680e-03,
 -1.59346230e-01,-5.24129473e-04]


--- Step 1797 ---
qpos:
[-5.45746259e-04, 8.77248041e-01,-2.02462817e-02,-2.75960990e-02,
  7.59629215e-03, 8.64666089e-01,-2.80633720e-02, 9.45461900e-03,
  2.22371699e-02, 8.72990294e-01,-2.02382056e-02, 2.24641550e-02,
  1.37202260e+00,-9.92297684e-03, 1.06318920e+00, 6.11773227e-02,
 -1.46277570e+00,-1.25238142e-02, 6.05894719e-02, 5.39463463e-01,
 -4.66530836e-01,-5.26667201e-01,-4.62547089e-01]

qacc:
[ 1.87987683e-01, 7.71232047e-01,-5.29703009e-01,-5.91482424e+00,
  2.02852348e-01, 1.84263244e+00,-1.05296302e+01, 2.57439963e+01,
  2.25639042e-01,-9.38330120e-01, 2.07419984e+00,-5.30200138e-02,
 -9.36685090e-01, 1.80967063e+00,-7.52078383e+00, 2.66959163e+01,
 -6.91221040e+00,-1.04807408e+00, 9.71707927e-01, 4.44975653e+00,
  7.55978293e+00,-5.50565965e+02]

qfrc_actuator:
[ 2.40963658e-03, 2.76120372e-02, 8.70810736e-03, 1.57760347e-03,
  5.78265461e-05, 2.73348648e-02, 8.70538246e-03, 1.66197369e-03,
 -2.33268204e-03, 2.75000452e-02, 8.76999569e-03, 1.75788814e-03,
  5.36494598e-04,-1.69984334e-03, 0.00000000e+00,-1.97654926e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.8732163 ,  8.59210511, -0.8732163 , 22.50371034,
        1.40933951,  8.59210511,  1.40933951,  8.77959492,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.003608711952790805
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.43436296, -0.0666352 ,  0.04819564])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0032867278506024666
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44894765,  0.01802913,  0.04835664])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.003125274114853062
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44785473,  0.02062351,  0.04843736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.49405287e-05, 1.91196984e-05,-2.15489690e-05,-2.04321877e-05,
  3.68329907e-05,-1.85790679e-05,-8.57038798e-06, 4.28569287e-05,
  4.17875824e-05,-4.24595415e-05, 3.83097905e-06, 4.50581197e-06,
 -2.61015161e-05, 5.19399153e-05, 3.56155998e-05, 1.40344139e-04,
  6.22522608e-04, 2.17351403e-04,-7.84773790e+00,-2.80684585e-03,
 -1.59416990e-01,-5.18026760e-04]


--- Step 1798 ---
qpos:
[-5.45547981e-04, 8.77248291e-01,-2.02472009e-02,-2.75968674e-02,
  7.59756302e-03, 8.64664909e-01,-2.80631553e-02, 9.45571442e-03,
  2.22381925e-02, 8.72989725e-01,-2.02375614e-02, 2.24670456e-02,
  1.37211040e+00,-9.92218432e-03, 1.06339630e+00, 6.11771986e-02,
 -1.46281266e+00,-1.25269455e-02, 6.05525806e-02, 5.38680242e-01,
 -4.65690052e-01,-5.27463511e-01,-4.63398982e-01]

qacc:
[ 2.83405796e-01, 5.70338152e-01,-2.01545600e+00, 3.24742148e+00,
  2.44008102e-01, 2.85926452e+00,-1.38503198e+01, 2.96792419e+01,
 -3.67147826e-02, 6.80838615e-01,-9.10232068e+00, 3.28754897e+01,
  2.15017325e-01,-5.88337295e-01, 1.17664575e+01,-3.96246189e+01,
 -6.15226055e+00,-9.65229169e-01,-2.49418880e-01, 4.08608733e+00,
  9.32150758e+00,-4.93087183e+02]

qfrc_actuator:
[ 2.44540466e-03, 2.76263661e-02, 8.70820089e-03, 1.58246343e-03,
  8.46534208e-05, 2.73453622e-02, 8.69033507e-03, 1.70662513e-03,
 -2.35970737e-03, 2.75049333e-02, 8.81259607e-03, 1.83213364e-03,
  5.34077578e-04,-1.73816562e-03, 0.00000000e+00,-2.17217748e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -0.94839716,  8.58413185, -0.94839716, 31.15283915,
        2.48767864,  8.58413185,  2.48767864,  8.91120883,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0036090830061987697
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.43435731, -0.06663436,  0.04819546])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0033036124401039438
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44894147,  0.01803013,  0.04834819])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0031406506689579256
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44784874,  0.02062449,  0.04842967])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.25826747e-05, 1.97063329e-05, 6.87313012e-07, 4.53654529e-06,
  4.43546639e-05, 2.03357153e-07,-1.84528009e-05, 4.43930876e-05,
 -6.92413075e-06,-1.78607662e-05, 3.44577638e-05, 7.26438536e-05,
 -4.43046713e-06,-3.20903302e-05, 2.63864478e-05,-1.84516513e-04,
 -8.13678767e-04,-2.24585999e-05,-7.84757627e+00,-2.52643658e-03,
 -1.59422370e-01,-5.31981666e-04]


--- Step 1799 ---
qpos:
[-5.45052823e-04, 8.77248276e-01,-2.02476874e-02,-2.75968604e-02,
  7.59902941e-03, 8.64664223e-01,-2.80635665e-02, 9.45626064e-03,
  2.22390084e-02, 8.72989273e-01,-2.02370210e-02, 2.24687198e-02,
  1.37219815e+00,-9.92153583e-03, 1.06360375e+00, 6.11727693e-02,
 -1.46287163e+00,-1.25336438e-02, 6.05105345e-02, 5.37496683e-01,
 -4.64363668e-01,-5.28664142e-01,-4.64734251e-01]

qacc:
[ 1.54650443e-01, 3.71537257e-02,-3.90647819e+00, 1.68105613e+01,
  1.02105728e-01, 1.27391478e+00,-1.27896927e+00,-7.58393125e+00,
 -1.07558421e-01,-2.05820667e+00, 1.26999596e+01,-3.36756955e+01,
 -1.87885034e-01, 1.55225061e-01, 1.35445433e+01,-4.65883771e+01,
 -5.50575131e+00,-8.91751567e-01,-1.28872317e+00, 3.77415801e+00,
  1.05831562e+01,-4.45164186e+02]

qfrc_actuator:
[ 2.44870619e-03, 2.75992578e-02, 8.72642080e-03, 1.62114901e-03,
  8.22096313e-05, 2.73876139e-02, 8.66368041e-03, 1.67919001e-03,
 -2.37628854e-03, 2.75083110e-02, 8.80201672e-03, 1.76815928e-03,
  5.29460445e-04,-1.74344332e-03, 0.00000000e+00,-2.39389530e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.07068335,  8.56973827, -1.07068335, 76.82829085,
        8.51974225,  8.56973827,  8.51974225,  9.7008006 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00357158209304366
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.43434896, -0.06663315,  0.04821421])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0032850757206794937
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44893281,  0.01803146,  0.04835746])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.003117681581582807
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44784057,  0.02062575,  0.04844116])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.86035474e-05,-1.57447330e-05, 2.25366407e-05, 3.96425330e-05,
  1.86663122e-05, 4.04866119e-05,-2.73443852e-05,-2.72018667e-05,
 -1.99168747e-05, 3.62580874e-06,-7.51396708e-06,-6.21377405e-05,
 -1.50178879e-05,-1.38165985e-05,-1.45545570e-05,-2.30057085e-04,
 -1.62395221e-03,-1.81068336e-04,-7.84518219e+00,-1.95881322e-03,
 -1.59380441e-01,-5.63724335e-04]


--- Step 1800 ---
qpos:
[-5.44766624e-04, 8.77248117e-01,-2.02482062e-02,-2.75967183e-02,
  7.60056608e-03, 8.64664073e-01,-2.80640739e-02, 9.45574012e-03,
  2.22398037e-02, 8.72989098e-01,-2.02371814e-02, 2.24682547e-02,
  1.37228548e+00,-9.92011780e-03, 1.06381071e+00, 6.11690521e-02,
 -1.46295042e+00,-1.25436458e-02, 6.04597896e-02, 5.35947100e-01,
 -4.62590315e-01,-5.30227460e-01,-4.66508036e-01]

qacc:
[-1.08541007e-01, 1.79182231e-01,-1.48303489e+00, 3.97537403e+00,
  3.66000215e-02,-1.21526797e+00, 9.86885871e+00,-2.85752942e+01,
 -1.13305303e-02,-2.07581133e+00, 1.69687825e+01,-5.30803980e+01,
 -8.39289395e-01, 1.59465829e+00,-2.83118950e+00, 8.96133247e+00,
 -4.95162484e+00,-8.25906144e-01,-2.17465851e+00, 3.50069973e+00,
  1.14535917e+01,-4.05261776e+02]

qfrc_actuator:
[ 2.41480565e-03, 2.75831585e-02, 8.71953501e-03, 1.62613977e-03,
  8.00394817e-05, 2.74306962e-02, 8.66598146e-03, 1.62733472e-03,
 -2.36868695e-03, 2.75104489e-02, 8.76000993e-03, 1.65882437e-03,
  5.18208778e-04,-1.69352503e-03, 0.00000000e+00,-2.34504494e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364, -1.5939303 ,  8.48800112, -1.5939303 , 19.5264284 ,
        2.04500494,  8.48800112,  2.04500494,  9.02038754,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0035043871487865155
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.43433835, -0.0666316 ,  0.04824781])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0032383133621139426
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44892206,  0.0180331 ,  0.04838084])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.003063828707908778
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44783064,  0.02062726,  0.04846809])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01406708e-05,-1.85461906e-05,-5.98600066e-06, 5.86923180e-06,
  6.71972700e-06, 5.89298695e-05, 6.35962092e-06,-5.15960068e-05,
 -1.98064313e-06,-4.61457013e-08,-4.43360370e-05,-1.10651025e-04,
 -2.36907284e-05, 4.35133520e-05,-3.67075136e-05, 3.31384056e-05,
 -1.79523569e-03,-2.47293920e-04,-7.84118959e+00,-1.13799802e-03,
 -1.59301903e-01,-6.11431045e-04]


--- Step 1801 ---
qpos:
[-5.44791998e-04, 8.77248046e-01,-2.02486205e-02,-2.75965567e-02,
  7.60192966e-03, 8.64664159e-01,-2.80642026e-02, 9.45495304e-03,
  2.22404490e-02, 8.72989276e-01,-2.02380222e-02, 2.24675080e-02,
  1.37237274e+00,-9.91868189e-03, 1.06401721e+00, 6.11675545e-02,
 -1.46304709e+00,-1.25567127e-02, 6.03973186e-02, 5.34058648e-01,
 -4.60401222e-01,-5.32117828e-01,-4.68681867e-01]

qacc:
[-1.61858526e-01,-1.35018656e-01, 5.68478557e-01,-4.62649318e-01,
 -9.07785066e-02,-1.29472808e+00, 6.19350509e+00,-1.15872873e+01,
 -7.84893882e-02, 1.78869306e+00,-4.51070697e+00, 4.64809633e-01,
  7.72864886e-02,-1.24626964e-01,-7.37276876e+00, 2.48164574e+01,
 -4.47254699e+00,-7.66261894e-01,-2.93156858e+00, 3.25691449e+00,
  1.20213342e+01,-3.72109835e+02]

qfrc_actuator:
[ 2.39447623e-03, 2.76091540e-02, 8.73338317e-03, 1.62899632e-03,
  6.03279295e-05, 2.74385301e-02, 8.68537539e-03, 1.61482242e-03,
 -2.38218439e-03, 2.75471404e-02, 8.73529042e-03, 1.64795091e-03,
  5.13661751e-04,-1.70010825e-03, 0.00000000e+00,-2.22591183e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.68716996, -8.60898219,  0.68716996, 94.36282964,
        6.84269647, -8.60898219,  6.84269647,  9.18254846,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0034142146180094826
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.43432599, -0.06662977,  0.04829289])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0031692868030098117
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44890968,  0.01803499,  0.04841536])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0029852787524762003
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44781939,  0.02062897,  0.04850736])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.00214258e-05, 1.46446380e-05, 9.48906585e-06, 1.97106261e-06,
 -1.65054591e-05, 3.98982103e-05, 3.05682371e-05,-1.07699834e-05,
 -1.44488322e-05, 2.27736734e-05,-3.40158424e-05,-1.45617916e-05,
 -8.05666750e-06,-1.35821375e-06,-1.54599600e-05, 1.15763408e-04,
 -1.37852907e-03,-2.21920190e-04,-7.83603256e+00,-8.96504800e-05,
 -1.59192301e-01,-6.73624667e-04]


--- Step 1802 ---
qpos:
[-5.45091820e-04, 8.77248045e-01,-2.02486342e-02,-2.75956903e-02,
  7.60289632e-03, 8.64664040e-01,-2.80636125e-02, 9.45440051e-03,
  2.22407522e-02, 8.72989432e-01,-2.02396186e-02, 2.24666901e-02,
  1.37246006e+00,-9.91780550e-03, 1.06422345e+00, 6.11684610e-02,
 -1.46315999e+00,-1.25726262e-02, 6.03205265e-02, 5.31852556e-01,
 -4.57821439e-01,-5.34304711e-01,-4.71222733e-01]

qacc:
[-1.42350597e-01, 4.24577637e-01,-4.34800612e+00, 1.58378176e+01,
 -2.07953724e-01,-1.79372236e+00, 5.01443453e+00,-1.95601675e+00,
 -1.78183984e-01, 1.93375717e+00,-6.63784302e+00, 6.62868629e+00,
  6.06669639e-01,-1.24460490e+00,-7.68986448e+00, 2.62436678e+01,
 -4.05414185e+00,-7.11621319e-01,-3.58023622e+00, 3.03706846e+00,
  1.23579233e+01,-3.44653124e+02]

qfrc_actuator:
[ 2.38247566e-03, 2.76247266e-02, 8.75954770e-03, 1.66613915e-03,
  3.03067871e-05, 2.74075501e-02, 8.71458863e-03, 1.62554244e-03,
 -2.40820360e-03, 2.75156136e-02, 8.68569808e-03, 1.64189442e-03,
  5.02469708e-04,-1.74014854e-03, 0.00000000e+00,-2.10190685e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.84261486, -8.43750836,  1.84261486, 24.54262803,
        3.47366993, -8.43750836,  3.47366993,  9.39495676,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0033065746216371372
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.43431239, -0.06662773,  0.04834671])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.003082933026811001
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44889614,  0.01803708,  0.04845853])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0028871594087724883
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44780732,  0.02063082,  0.04855642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.64429996e-05, 2.58064746e-05, 3.04297901e-05, 3.81372799e-05,
 -3.78722331e-05,-2.82001112e-06, 4.08486775e-05, 1.32792836e-05,
 -3.29684170e-05,-2.64388918e-05,-4.95758687e-05,-6.53866287e-06,
 -1.62644539e-05,-4.20934502e-05, 3.18069772e-06, 1.27866936e-04,
 -4.55774390e-04,-1.12660100e-04,-7.83000371e+00, 1.16658932e-03,
 -1.59053535e-01,-7.49100012e-04]


--- Step 1803 ---
qpos:
[-5.45779704e-04, 8.77248268e-01,-2.02486533e-02,-2.75943779e-02,
  7.60348369e-03, 8.64663884e-01,-2.80626742e-02, 9.45398525e-03,
  2.22405456e-02, 8.72988883e-01,-2.02406197e-02, 2.24647649e-02,
  1.37254721e+00,-9.91709663e-03, 1.06442974e+00, 6.11701662e-02,
 -1.46325299e+00,-1.25853888e-02, 6.02869457e-02, 5.30018992e-01,
 -4.55697103e-01,-5.36104406e-01,-4.73299149e-01]

qacc:
[-2.01697875e-01, 1.23136830e+00,-5.83739517e+00, 1.33915352e+01,
 -1.98990938e-01,-7.38346969e-01, 1.98272749e+00,-1.37370947e-01,
 -2.64326710e-01,-4.87064773e+00, 2.06924737e+01,-4.02905608e+01,
  4.17817052e-02,-2.34735117e-01,-2.34706375e+00, 8.30047925e+00,
  4.97230697e+00, 7.87717216e-01, 1.08028170e+01,-2.98651582e+00,
 -1.11412280e+01, 4.21590692e+02]

qfrc_actuator:
[ 2.35780729e-03, 2.76340292e-02, 8.75725887e-03, 1.68765546e-03,
  1.21455901e-05, 2.74068853e-02, 8.73144930e-03, 1.63205474e-03,
 -2.44148383e-03, 2.74611434e-02, 8.71029254e-03, 1.58537256e-03,
  4.92608365e-04,-1.74643493e-03, 0.00000000e+00,-2.06481424e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0032525438935693193
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44648276, -0.07070458,  0.04837373])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0029833365872605627
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44888189,  0.0180393 ,  0.04850833])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002239660350249577
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49006699,  0.05581918,  0.04888017])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.73890452e-05, 3.16452418e-05, 8.10798869e-06, 2.44157467e-05,
 -3.61874077e-05, 6.75796474e-06, 2.17685112e-05, 8.06444329e-06,
 -4.91467396e-05,-7.97682567e-05, 1.28130419e-05,-5.94938173e-05,
 -2.89360530e-05,-2.01878594e-05, 1.23031982e-05, 4.38253239e-05,
  8.79233927e-04, 6.90370990e-05,-7.82329563e+00, 2.61546124e-03,
 -1.58884899e-01,-8.36867156e-04]


--- Step 1804 ---
qpos:
[-5.46986803e-04, 8.77248536e-01,-2.02485801e-02,-2.75931463e-02,
  7.60340403e-03, 8.64663978e-01,-2.80613657e-02, 9.45361235e-03,
  2.22400747e-02, 8.72987919e-01,-2.02406275e-02, 2.24628027e-02,
  1.37263405e+00,-9.91596550e-03, 1.06463585e+00, 6.11739865e-02,
 -1.46332886e+00,-1.25953808e-02, 6.02880425e-02, 5.28509314e-01,
 -4.53969338e-01,-5.37574707e-01,-4.74977032e-01]

qacc:
[-2.69747461e-01,-3.65297998e-01, 1.72900833e+00,-3.30771627e+00,
 -3.50225087e-01,-6.14121503e-01, 2.49378186e+00,-2.53903756e+00,
 -1.36617457e-01,-3.39834953e+00, 1.14782380e+01,-1.34013912e+01,
 -4.41243205e-01, 8.11977903e-01,-6.62652341e+00, 2.28601568e+01,
  4.28360724e+00, 6.92660138e-01, 8.66938452e+00,-2.42133800e+00,
 -1.05426975e+01, 3.63617701e+02]

qfrc_actuator:
[ 2.32576163e-03, 2.76216340e-02, 8.75589648e-03, 1.68201998e-03,
 -3.42637639e-05, 2.74420765e-02, 8.75873408e-03, 1.63604585e-03,
 -2.44331083e-03, 2.74823618e-02, 8.77835033e-03, 1.58839911e-03,
  4.88888779e-04,-1.71488453e-03, 0.00000000e+00,-1.95495669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00322016247059026
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44647155, -0.07070272,  0.04838992])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  2.42090841, -8.29011335,  2.42090841,  4.95397313,
       -1.07534478, -8.29011335, -1.07534478,  8.32233762,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028716832348568075
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44887142,  0.01804087,  0.04856416])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0024066308675249892
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900605 ,  0.05582086,  0.04879668])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.00322094e-05, 8.00902592e-06, 7.01365056e-06,-3.52669921e-06,
 -6.36321773e-05, 4.38039058e-05, 3.16366581e-05, 5.19102647e-06,
 -2.54855533e-05,-2.32734589e-05, 5.11166965e-05,-1.10054503e-06,
 -2.47208070e-05, 1.99523055e-05, 6.00272502e-06, 1.12825257e-04,
 -5.28150953e-04,-1.15323882e-04,-7.83126450e+00, 3.92973665e-03,
 -1.59033845e-01,-9.13519956e-04]


--- Step 1805 ---
qpos:
[-5.48819205e-04, 8.77248712e-01,-2.02481597e-02,-2.75919915e-02,
  7.60271955e-03, 8.64664337e-01,-2.80594612e-02, 9.45327218e-03,
  2.22398370e-02, 8.72987378e-01,-2.02410565e-02, 2.24615713e-02,
  1.37272063e+00,-9.91447976e-03, 1.06484238e+00, 6.11754042e-02,
 -1.46339022e+00,-1.26030271e-02, 6.03167618e-02, 5.27276349e-01,
 -4.52579137e-01,-5.38768368e-01,-4.76319664e-01]

qacc:
[-3.24667293e-01,-1.24986701e+00, 4.60210056e+00,-6.41514477e+00,
 -3.17405155e-01,-1.24803844e+00, 4.81804621e+00,-5.40004291e+00,
  1.20819786e-01, 3.23789422e+00,-1.38205008e+01, 2.68310652e+01,
 -6.16807461e-01, 1.04475688e+00, 7.93510967e+00,-2.67407415e+01,
  3.62548840e+00, 5.86400695e-01, 6.90563357e+00,-1.98096004e+00,
 -8.78422125e+00, 3.07835458e+02]

qfrc_actuator:
[ 2.28957597e-03, 2.76140629e-02, 8.77274697e-03, 1.67819460e-03,
 -6.16772919e-05, 2.74630026e-02, 8.79211204e-03, 1.63856427e-03,
 -2.40855475e-03, 2.75312330e-02, 8.76533425e-03, 1.62652739e-03,
  4.78222421e-04,-1.69666010e-03, 0.00000000e+00,-2.08711835e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.003162510734132276
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646281, -0.07070133,  0.04841874])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.33671018, -8.53229059,  1.33671018, 14.236753  ,
        0.87738426, -8.53229059,  0.87738426,  8.77381892,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002752682943064612
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886374,  0.01804197,  0.04862366])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002516259053759143
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005448,  0.05582227,  0.04874187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.02578571e-05,-1.80755249e-06, 1.92432796e-05,-3.31011917e-06,
 -5.76941096e-05, 5.21565572e-05, 4.64926384e-05, 5.59054775e-06,
  2.24876999e-05, 4.63893821e-05,-1.15538976e-05, 3.88829270e-05,
 -1.97821125e-05, 1.72643031e-05, 1.12986587e-05,-1.26034873e-04,
 -1.36742142e-03,-2.12537375e-04,-7.83689307e+00, 4.98918629e-03,
 -1.59128692e-01,-9.75571792e-04]


--- Step 1806 ---
qpos:
[-5.50797793e-04, 8.77248743e-01,-2.02477648e-02,-2.75908586e-02,
  7.60176764e-03, 8.64664843e-01,-2.80576119e-02, 9.45267973e-03,
  2.22397432e-02, 8.72987502e-01,-2.02420878e-02, 2.24611327e-02,
  1.37280728e+00,-9.91335866e-03, 1.06504920e+00, 6.11732378e-02,
 -1.46343933e+00,-1.26086939e-02, 6.03672088e-02, 5.26279005e-01,
 -4.51475415e-01,-5.39729713e-01,-4.77380556e-01]

qacc:
[-7.59261438e-02,-1.64764410e-01, 4.02837125e-01,-6.35902531e-01,
 -1.40578892e-01,-1.68282610e-01, 1.95093821e+00,-6.33937037e+00,
  7.41880050e-02, 4.19045170e+00,-1.70157548e+01, 3.12110375e+01,
  1.24896824e-01,-4.01103115e-01, 1.12148036e+01,-3.86763347e+01,
  3.06343639e+00, 4.94908170e-01, 5.43190781e+00,-1.64021693e+00,
 -7.26248579e+00, 2.60137626e+02]

qfrc_actuator:
[ 2.30447798e-03, 2.75917527e-02, 8.76472813e-03, 1.67548344e-03,
 -5.97361009e-05, 2.74397518e-02, 8.77551418e-03, 1.62243911e-03,
 -2.40549860e-03, 2.75782707e-02, 8.74019624e-03, 1.66721109e-03,
  4.79371153e-04,-1.72203778e-03, 0.00000000e+00,-2.27205668e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0030854692934069936
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645604, -0.07070033,  0.04845727])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  0.62385818, -8.61380159,  0.62385818, 28.22012244,
        1.41836191, -8.61380159,  1.41836191,  8.73908909,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002629417285315419
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44885812,  0.01804272,  0.04868529])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0025792589127045865
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49004914,  0.05582342,  0.04871037])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40915014e-05,-1.95011438e-05,-6.14054063e-06,-2.18861630e-06,
 -2.55123368e-05, 1.57253860e-05, 7.92337312e-08,-1.21746518e-05,
  1.38800190e-05, 7.22783172e-05,-1.56252785e-05, 4.30314576e-05,
 -6.18294275e-06,-2.56524992e-05,-1.42827496e-05,-1.91774717e-04,
 -1.71294189e-03,-2.37330381e-04,-7.84075933e+00, 5.83005250e-03,
 -1.59186071e-01,-1.02524620e-03]


--- Step 1807 ---
qpos:
[-5.52376406e-04, 8.77248836e-01,-2.02478067e-02,-2.75901100e-02,
  7.60089251e-03, 8.64665186e-01,-2.80563330e-02, 9.45163115e-03,
  2.22395530e-02, 8.72987575e-01,-2.02425682e-02, 2.24611971e-02,
  1.37289398e+00,-9.91255051e-03, 1.06525571e+00, 6.11705296e-02,
 -1.46347811e+00,-1.26126961e-02, 6.04344693e-02, 5.25481607e-01,
 -4.50614014e-01,-5.40496087e-01,-4.78205051e-01]

qacc:
[ 2.07521425e-01, 5.10575335e-01,-8.24475170e-02,-5.90766896e+00,
  4.00058013e-02, 4.37459935e-01, 5.10363730e-02,-6.91226114e+00,
 -4.96678324e-02,-5.71890223e-01,-1.83947495e-01, 8.04883228e+00,
  2.58090353e-01,-5.69489236e-01, 1.16592995e+00,-4.77851423e+00,
  2.58359287e+00, 4.16135612e-01, 4.20341345e+00,-1.37134331e+00,
 -5.94041233e+00, 2.19336665e+02]

qfrc_actuator:
[ 2.34980359e-03, 2.75961937e-02, 8.74202166e-03, 1.65566416e-03,
 -4.02775261e-05, 2.73900041e-02, 8.72934355e-03, 1.59539974e-03,
 -2.42146633e-03, 2.75527870e-02, 8.76139264e-03, 1.69132112e-03,
  4.82262588e-04,-1.73749403e-03, 0.00000000e+00,-2.29123947e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002993857370363201
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645083, -0.07069962,  0.04850307])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364, -0.07451321, -8.63604219, -0.07451321, 55.2308472 ,
       -0.40202499, -8.63604219, -0.40202499,  8.63983238,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002504304409820024
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44885402,  0.01804322,  0.04874785])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0026045798052779234
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49004458,  0.05582432,  0.04869771])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.85429480e-05,-7.82832307e-06,-2.75692803e-05,-2.09109378e-05,
  7.31820033e-06,-4.14886332e-05,-4.33519121e-05,-2.66021485e-05,
 -9.28141316e-06, 1.35577707e-05, 3.56970565e-05, 2.75059840e-05,
 -7.35946549e-06,-2.26724719e-05,-3.19978145e-05,-3.26669501e-05,
 -1.75766712e-03,-2.20003930e-04,-7.84338409e+00, 6.49088319e-03,
 -1.59219344e-01,-1.06460789e-03]


--- Step 1808 ---
qpos:
[-5.53660469e-04, 8.77248701e-01,-2.02477668e-02,-2.75892578e-02,
  7.60036555e-03, 8.64665468e-01,-2.80562246e-02, 9.45029664e-03,
  2.22394028e-02, 8.72987168e-01,-2.02422419e-02, 2.24615880e-02,
  1.37298044e+00,-9.91159060e-03, 1.06546189e+00, 6.11685621e-02,
 -1.46349634e+00,-1.26139426e-02, 6.04963225e-02, 5.25100892e-01,
 -4.50227710e-01,-5.40861705e-01,-4.78573587e-01]

qacc:
[ 1.53181056e-01,-3.16766381e-01, 2.55349269e-01, 1.57194386e+00,
  1.82151871e-01, 2.59762951e+00,-8.17475055e+00, 5.14619711e+00,
  2.14338337e-02,-2.21344961e+00, 5.59624431e+00,-8.82698117e-01,
 -2.51802923e-01, 3.78241150e-01,-2.70034784e+00, 8.78595299e+00,
  5.13818328e+00, 6.88900374e-01,-1.35185321e+00,-3.54561679e+00,
  1.57515373e+00, 4.38116449e+02]

qfrc_actuator:
[ 2.35963779e-03, 2.75810307e-02, 8.74642913e-03, 1.66145634e-03,
 -1.05457694e-05, 2.73778693e-02, 8.66596660e-03, 1.57986923e-03,
 -2.41316047e-03, 2.75019935e-02, 8.79172469e-03, 1.70545952e-03,
  4.64896139e-04,-1.72915065e-03, 0.00000000e+00,-2.24808288e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.51577501, -8.50230575,  1.51577501, 48.58580992,
        7.12211183, -8.50230575,  7.12211183,  9.90608028,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0028930586858145063
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47453467, -0.06765891,  0.04855347])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0025996924312586406
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900408 ,  0.055825  ,  0.04870015])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.13421395, -8.56156152,  1.13421395, 13.15602162,
        0.59875282, -8.56156152,  0.59875282,  8.71568489,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.00259580865971
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49164067,  0.05719519,  0.0487021 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83781134e-05,-2.61238541e-05,-1.32987394e-06, 4.09422558e-06,
  3.32106645e-05,-4.54432032e-05,-7.82190345e-05,-1.93272596e-05,
  3.84060250e-06,-3.46597570e-05, 3.84847312e-05, 1.64905834e-05,
 -2.74805658e-05, 1.52847745e-06,-2.07127615e-05, 3.66676914e-05,
 -1.62829852e-03,-1.80134645e-04,-7.84513971e+00, 7.00332083e-03,
 -1.59237528e-01,-1.09537996e-03]


--- Step 1809 ---
qpos:
[-5.54737917e-04, 8.77247669e-01,-2.02470759e-02,-2.75882960e-02,
  7.60037731e-03, 8.64665768e-01,-2.80567618e-02, 9.44943031e-03,
  2.22395080e-02, 8.72986937e-01,-2.02428690e-02, 2.24621844e-02,
  1.37306668e+00,-9.91075773e-03, 1.06566780e+00, 6.11680900e-02,
 -1.46349582e+00,-1.26126916e-02, 6.05498891e-02, 5.25100281e-01,
 -4.50273593e-01,-5.40863562e-01,-4.78528990e-01]

qacc:
[ 1.08067206e-01,-2.77840310e+00, 7.72370755e+00,-6.21081609e+00,
  2.82584696e-01, 2.78738480e+00,-1.18839592e+01, 2.10103192e+01,
  1.32074261e-01, 3.31578723e+00,-1.23562347e+01, 1.73082405e+01,
  2.51726205e-02,-2.01007938e-01,-4.92776772e+00, 1.66376073e+01,
  4.68429220e+00, 6.24392173e-01,-2.07164667e+00,-3.22349213e+00,
  1.87880390e+00, 3.98186763e+02]

qfrc_actuator:
[ 2.36587520e-03, 2.75011133e-02, 8.76676123e-03, 1.66452864e-03,
  2.50477993e-05, 2.74060176e-02, 8.64635203e-03, 1.60676154e-03,
 -2.39038821e-03, 2.75074723e-02, 8.73829890e-03, 1.71359033e-03,
  4.46051537e-04,-1.74237227e-03, 0.00000000e+00,-2.16858845e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.65314726, -8.47666686,  1.65314726, 67.21036685,
       11.42329346, -8.47666686, 11.42329346, 10.86417164,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002853889061213054
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47453316, -0.06765862,  0.04857306])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0025699627661730506
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49003919,  0.05582532,  0.04871502])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.39412476, -8.52309762,  1.39412476,  1.39800375,
       -1.18397996, -8.52309762, -1.18397996,  8.4426998 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0025683217446995504
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49163905,  0.05719552,  0.04871584])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.98881611e-05,-9.46169252e-05, 1.49151110e-05, 1.98657694e-06,
  5.13957821e-05,-1.42464312e-05,-3.93078112e-05, 2.18628628e-05,
  2.46147543e-05,-5.24036931e-06,-5.52733387e-05, 8.29761121e-06,
 -3.42181883e-05,-1.90788168e-05,-8.35554736e-06, 7.82120262e-05,
 -6.39736338e-04,-4.94196288e-05,-7.84739726e+00, 7.19446607e-03,
 -1.59279815e-01,-1.10876461e-03]


--- Step 1810 ---
qpos:
[-5.55489786e-04, 8.77246139e-01,-2.02462254e-02,-2.75876669e-02,
  7.60067982e-03, 8.64665795e-01,-2.80569757e-02, 9.44989768e-03,
  2.22395073e-02, 8.72987196e-01,-2.02440187e-02, 2.24621124e-02,
  1.37315286e+00,-9.91037958e-03, 1.06587398e+00, 6.11655348e-02,
 -1.46347801e+00,-1.26091652e-02, 6.05927115e-02, 5.25450224e-01,
 -4.50716695e-01,-5.40529728e-01,-4.78104734e-01]

qacc:
[ 1.69424354e-01,-1.78901325e+00, 6.82536416e+00,-1.24667343e+01,
  1.53105186e-01, 1.48085118e+00,-1.14343379e+01, 3.42036794e+01,
 -5.55462483e-02, 7.32933585e-01, 1.14968741e+00,-1.22435064e+01,
  1.71541097e-01,-5.78910417e-01, 6.67921467e+00,-2.28160490e+01,
  4.32412031e+00, 5.68866002e-01,-2.68604314e+00,-3.01434195e+00,
  2.42142598e+00, 3.66551532e+02]

qfrc_actuator:
[ 2.38767730e-03, 2.74896196e-02, 8.77829356e-03, 1.64816888e-03,
  2.83233795e-05, 2.74050233e-02, 8.67069076e-03, 1.67622045e-03,
 -2.41242546e-03, 2.75640051e-02, 8.72481892e-03, 1.68260171e-03,
  4.42303288e-04,-1.76831479e-03, 0.00000000e+00,-2.28137389e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  1.63800524, -8.47960587,  1.63800524, 70.75684404,
       11.99981158, -8.47960587, 11.99981158, 10.95436693,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002793987285399327
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.47453383, -0.06765867,  0.04860301])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0025209925653561574
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49003962,  0.05582533,  0.0487395 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0025193565283981242
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49163949,  0.05719553,  0.04874032])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.13609885e-05,-6.12135646e-05,-6.09911117e-06,-1.98553776e-05,
  2.77357054e-05,-1.61373162e-05, 1.73124759e-05, 6.79144963e-05,
 -1.01944204e-05, 4.25538799e-05,-2.10787708e-05,-3.29643240e-05,
 -2.75572914e-05,-3.84612279e-05, 1.55157895e-06,-1.10262953e-04,
  2.84209228e-05, 3.45634490e-05,-7.84799477e+00, 7.14639252e-03,
 -1.59295792e-01,-1.10723118e-03]


--- Step 1811 ---
qpos:
[-5.56132580e-04, 8.77245036e-01,-2.02462525e-02,-2.75869411e-02,
  7.60076613e-03, 8.64665472e-01,-2.80570844e-02, 9.45087337e-03,
  2.22395032e-02, 8.72987954e-01,-2.02443101e-02, 2.24615709e-02,
  1.37323884e+00,-9.91006198e-03, 1.06608023e+00, 6.11609824e-02,
 -1.46346276e+00,-1.26056660e-02, 6.06519630e-02, 5.25739753e-01,
 -4.51106138e-01,-5.40254051e-01,-4.77730597e-01]

qacc:
[ 5.59961936e-02, 3.21535775e+00,-1.10519979e+01, 1.38135271e+01,
 -1.13346484e-01, 2.87636717e-01,-3.84550587e+00, 1.27337853e+01,
 -1.41400263e-03,-2.70359152e+00, 1.25799249e+01,-2.24453910e+01,
 -2.21221864e-01, 2.07766878e-01, 6.13551908e+00,-2.13047217e+01,
 -6.38371227e-01,-6.81063173e-03, 4.10726049e+00, 8.39935453e-01,
 -7.48558752e+00,-5.52177926e+01]

qfrc_actuator:
[ 2.38311132e-03, 2.75546445e-02, 8.74927173e-03, 1.65605369e-03,
 -5.51200087e-06, 2.73690736e-02, 8.66743301e-03, 1.69915599e-03,
 -2.40783136e-03, 2.76330320e-02, 8.78851492e-03, 1.66443834e-03,
  4.36955043e-04,-1.76600610e-03, 0.00000000e+00,-2.38227847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002719330622513727
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44644867, -0.07069939,  0.04864033])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002231216645279567
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44885231,  0.01804345,  0.04888439])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0024572242558980883
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900419 ,  0.05582506,  0.04877139])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.05184978e-05, 2.87203670e-05,-4.30969363e-05, 4.66694185e-06,
 -2.06378476e-05,-3.84843476e-05,-2.10644229e-06, 2.41644043e-05,
 -3.05455077e-07, 8.70580360e-05, 6.87552488e-05,-1.77091523e-05,
 -3.02386060e-05,-1.31988623e-05,-1.61864627e-05,-1.07924192e-04,
  4.10366460e-04, 7.71877359e-05,-7.84732367e+00, 6.87778597e-03,
 -1.59293190e-01,-1.09199105e-03]


--- Step 1812 ---
qpos:
[-5.56749320e-04, 8.77244412e-01,-2.02472940e-02,-2.75864698e-02,
  7.60072379e-03, 8.64664904e-01,-2.80569407e-02, 9.45174767e-03,
  2.22397104e-02, 8.72989522e-01,-2.02445175e-02, 2.24604827e-02,
  1.37332453e+00,-9.90970198e-03, 1.06628640e+00, 6.11548963e-02,
 -1.46344968e+00,-1.26022237e-02, 6.07236652e-02, 5.25978671e-01,
 -4.51449196e-01,-5.40027139e-01,-4.77399990e-01]

qacc:
[ 1.27416370e-02, 2.94193633e+00,-8.49906689e+00, 5.36945242e+00,
 -6.73412381e-02,-1.23546164e+00, 4.36515964e+00,-6.34493678e+00,
  1.09482006e-01,-2.88567026e-01, 4.89165115e+00,-1.50850449e+01,
 -3.33703921e-01, 4.09595399e-01, 4.54149288e+00,-1.60045319e+01,
 -5.43708735e-01,-1.42228630e-02, 3.11269417e+00, 6.67361098e-01,
 -5.59167339e+00,-4.70610024e+01]

qfrc_actuator:
[ 2.38056340e-03, 2.75760915e-02, 8.69689078e-03, 1.64268354e-03,
 -7.96539877e-06, 2.73655966e-02, 8.68321128e-03, 1.69446943e-03,
 -2.38731862e-03, 2.76738459e-02, 8.79082882e-03, 1.63628597e-03,
  4.20009969e-04,-1.76471160e-03, 0.00000000e+00,-2.45755459e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0026656198146231685
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645086, -0.07069973,  0.04866719])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0022000104622346486
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44885392,  0.01804324,  0.04889999])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0023828864296108546
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900438 ,  0.05582477,  0.04880856])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.51904435e-06, 2.88340146e-05,-5.15893720e-05,-1.35409427e-05,
 -1.22809802e-05,-2.43917243e-05, 8.40921652e-06,-5.93847169e-06,
  2.03768747e-05, 1.02923810e-04, 2.81499257e-05,-2.23869270e-05,
 -3.75182954e-05,-8.66400144e-06,-2.32837978e-05,-8.42444250e-05,
  5.19820692e-04, 1.14329388e-04,-7.84750071e+00, 6.65871125e-03,
 -1.59307739e-01,-1.07926011e-03]


--- Step 1813 ---
qpos:
[-5.57182708e-04, 8.77244008e-01,-2.02486396e-02,-2.75861783e-02,
  7.60060566e-03, 8.64664435e-01,-2.80564838e-02, 9.45250977e-03,
  2.22397766e-02, 8.72991011e-01,-2.02445959e-02, 2.24598689e-02,
  1.37341004e+00,-9.90959016e-03, 1.06649225e+00, 6.11492568e-02,
 -1.46343845e+00,-1.25988611e-02, 6.08045282e-02, 5.26175210e-01,
 -4.51752061e-01,-5.39841074e-01,-4.77107262e-01]

qacc:
[ 9.50004478e-02, 7.69044366e-01,-1.56365559e+00,-1.21935811e+00,
 -3.96524628e-02,-9.72686693e-01, 4.13483105e+00,-6.65282646e+00,
 -7.31187889e-02, 5.11038743e-01,-3.97659408e+00, 1.20386194e+01,
  7.81433452e-02,-3.51575386e-01,-1.83484820e+00, 5.70538514e+00,
 -4.63405123e-01,-1.99289562e-02, 2.29019563e+00, 5.26799242e-01,
 -4.04164667e+00,-4.01503526e+01]

qfrc_actuator:
[ 2.39701835e-03, 2.75889220e-02, 8.68424009e-03, 1.63462564e-03,
 -9.34330481e-06, 2.73993898e-02, 8.71022201e-03, 1.69136859e-03,
 -2.41072582e-03, 2.76084576e-02, 8.77449712e-03, 1.65566311e-03,
  4.06773257e-04,-1.78185697e-03, 0.00000000e+00,-2.42835505e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.002596419133389677
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645271, -0.07070008,  0.04870179])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002153455159668763
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44885529,  0.01804302,  0.04892327])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002300872559660723
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49004538,  0.05582448,  0.04884956])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.76731850e-05, 1.77439949e-05,-1.35072432e-05,-8.87103937e-06,
 -7.22602139e-06, 2.16457795e-05, 2.28059481e-05,-3.97089921e-06,
 -1.35873976e-05,-3.00966367e-06, 7.61118144e-06, 2.43255859e-05,
 -3.68149687e-05,-2.77186487e-05,-2.35013774e-05, 2.07449063e-05,
  5.53449490e-04, 1.40601698e-04,-7.84762983e+00, 6.47337687e-03,
 -1.59319759e-01,-1.06837952e-03]


--- Step 1814 ---
qpos:
[-5.57608911e-04, 8.77243512e-01,-2.02497599e-02,-2.75856372e-02,
  7.60007163e-03, 8.64664132e-01,-2.80560024e-02, 9.45289454e-03,
  2.22398143e-02, 8.72991438e-01,-2.02441068e-02, 2.24606266e-02,
  1.37349536e+00,-9.90970262e-03, 1.06669756e+00, 6.11469788e-02,
 -1.46342881e+00,-1.25955954e-02, 6.08918429e-02, 5.26336284e-01,
 -4.52020021e-01,-5.39689191e-01,-4.76847558e-01]

qacc:
[ 3.91426929e-03,-2.35976450e-01,-3.85555481e-01, 4.40728430e+00,
 -2.18522795e-01,-6.27120212e-01, 4.14503305e+00,-1.08369424e+01,
 -1.40025505e-02,-1.67523261e-01,-7.23197060e+00, 3.08454000e+01,
  2.40708420e-01,-5.66779104e-01,-1.09672340e+01, 3.71679040e+01,
 -3.95287228e-01,-2.42424294e-02, 1.61290581e+00, 4.12585676e-01,
 -2.77907206e+00,-3.42908108e+01]

qfrc_actuator:
[ 2.38920203e-03, 2.75788975e-02, 8.69512292e-03, 1.64753481e-03,
 -4.55825891e-05, 2.74020403e-02, 8.70830510e-03, 1.67151795e-03,
 -2.40695938e-03, 2.74976657e-02, 8.78240463e-03, 1.72050821e-03,
  4.01089233e-04,-1.79204002e-03, 0.00000000e+00,-2.24907388e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0025156444073786213
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645426, -0.07070043,  0.04874218])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002095188049475012
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44885647,  0.01804278,  0.04895241])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002213567522877484
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49004671,  0.05582419,  0.04889322])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.91037611e-07,-3.24921925e-06, 1.25894296e-05, 1.30303919e-05,
 -3.96760711e-05, 1.92997762e-05, 5.22509586e-06,-1.82122368e-05,
 -2.76918750e-06,-1.09895384e-04, 9.05544984e-06, 6.54519567e-05,
 -3.32072470e-05,-2.52743781e-05,-1.12637463e-05, 1.76794913e-04,
  5.41857590e-04, 1.57464491e-04,-7.84772424e+00, 6.31588504e-03,
 -1.59329834e-01,-1.05905789e-03]


--- Step 1815 ---
qpos:
[-5.57894272e-04, 8.77242624e-01,-2.02505774e-02,-2.75849120e-02,
  7.59911675e-03, 8.64663631e-01,-2.80559097e-02, 9.45276931e-03,
  2.22402301e-02, 8.72991159e-01,-2.02435216e-02, 2.24614529e-02,
  1.37358036e+00,-9.90966764e-03, 1.06690238e+00, 6.11498433e-02,
 -1.46342051e+00,-1.25924395e-02, 6.09833895e-02, 5.26467704e-01,
 -4.52257600e-01,-5.39565878e-01,-4.76616705e-01]

qacc:
[ 7.35093683e-02,-9.85378627e-01, 1.98599701e+00, 9.98799377e-01,
 -2.21265555e-01,-2.23533026e-01, 2.57300357e+00,-1.06340372e+01,
  1.96778442e-01,-1.06056244e+00, 2.13676074e+00,-5.81964997e-01,
 -5.66953244e-02, 6.34825790e-02,-1.62450129e+01, 5.57962614e+01,
 -3.37496287e-01,-2.74206384e-02, 1.05798675e+00, 3.20006139e-01,
 -1.75636115e+00,-2.93185378e+01]

qfrc_actuator:
[ 2.40243104e-03, 2.75376309e-02, 8.70196566e-03, 1.65491411e-03,
 -6.68630090e-05, 2.73503957e-02, 8.67144242e-03, 1.64192742e-03,
 -2.36919228e-03, 2.74671625e-02, 8.78661301e-03, 1.72278406e-03,
  3.89290967e-04,-1.78021766e-03, 0.00000000e+00,-1.98283717e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0024265217822106236
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645556, -0.07070078,  0.04878674])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0020282174830185476
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44885748,  0.01804254,  0.04898589])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.002122926629172933
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49004782,  0.0558239 ,  0.04893854])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.35624625e-05,-3.99054988e-05, 8.18548449e-06, 7.93140145e-06,
 -4.01615666e-05,-4.05557489e-05,-3.28647705e-05,-2.89375548e-05,
  3.64217189e-05,-8.72960255e-05,-1.51181720e-05,-8.48869316e-07,
 -3.63693528e-05,-2.01138571e-06, 1.18986547e-05, 2.74049851e-04,
  5.05063192e-04, 1.66542986e-04,-7.84779348e+00, 6.18151976e-03,
 -1.59338390e-01,-1.05105414e-03]


--- Step 1816 ---
qpos:
[-5.57660789e-04, 8.77241577e-01,-2.02511082e-02,-2.75837874e-02,
  7.59820648e-03, 8.64663081e-01,-2.80563033e-02, 9.45193398e-03,
  2.22408747e-02, 8.72990365e-01,-2.02423947e-02, 2.24618988e-02,
  1.37366513e+00,-9.90976165e-03, 1.06710760e+00, 6.11525194e-02,
 -1.46341337e+00,-1.25894022e-02, 6.10773602e-02, 5.26574351e-01,
 -4.52468671e-01,-5.39466413e-01,-4.76411108e-01]

qacc:
[ 2.69841245e-01,-1.87392980e-01,-1.31786292e+00, 7.88068701e+00,
  2.31048869e-02,-1.67779674e-01, 3.50249326e+00,-1.49796609e+01,
  1.19323365e-01,-2.97370145e+00, 1.12248598e+01,-1.82968672e+01,
 -1.08288595e-01,-1.41927158e-02, 1.16854840e+00,-3.21293828e+00,
 -2.88448703e-01,-2.96748238e-02, 6.06030595e-01, 2.45153752e-01,
 -9.33429353e-01,-2.50957537e+01]

qfrc_actuator:
[ 2.44590335e-03, 2.75489671e-02, 8.72396920e-03, 1.67669384e-03,
 -4.34915325e-05, 2.73552327e-02, 8.64952101e-03, 1.60677655e-03,
 -2.36467787e-03, 2.74671489e-02, 8.82435155e-03, 1.70602522e-03,
  3.73843702e-04,-1.79097932e-03, 0.00000000e+00,-2.00485266e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  2.99992733, -8.09859327,  2.99992733, 38.66272933,
       11.12253846, -8.09859327, 11.12253846, 12.75643807,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0023316970488199973
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645666, -0.07070112,  0.04883415])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  6.76700233, -5.36604662,  6.76700233, 15.49503665,
        8.64932036, -5.36604662,  8.64932036, 19.54382964,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019550217058210834
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44885834,  0.01804231,  0.04902249])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0020305429274540335
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49004876,  0.05582363,  0.04898473])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.99949906e-05,-8.91972692e-06, 1.50576807e-05, 2.05109698e-05,
  4.25254222e-06,-2.58616173e-05,-3.53442394e-05,-3.85877430e-05,
  2.20288278e-05,-5.19819681e-05, 1.78120789e-05,-2.10416235e-05,
 -3.59007224e-05,-1.99217820e-05, 3.24897667e-05,-6.01489088e-06,
  4.55914027e-04, 1.69425815e-04,-7.84784444e+00, 6.06647853e-03,
 -1.59345746e-01,-1.04416788e-03]


--- Step 1817 ---
qpos:
[-5.57279651e-04, 8.77240371e-01,-2.02508064e-02,-2.75824492e-02,
  7.59746783e-03, 8.64662778e-01,-2.80566228e-02, 9.45095127e-03,
  2.22412849e-02, 8.72988991e-01,-2.02407860e-02, 2.24621525e-02,
  1.37374973e+00,-9.91000843e-03, 1.06731382e+00, 6.11479245e-02,
 -1.46340721e+00,-1.25864897e-02, 6.11722931e-02, 5.26660324e-01,
 -4.52656565e-01,-5.39386826e-01,-4.76227665e-01]

qacc:
[ 7.72970850e-02,-2.09627204e+00, 6.26822821e+00,-3.78869994e+00,
  9.00986039e-02,-1.83495881e-01, 1.75075399e+00,-4.60227641e+00,
 -1.21280767e-01,-2.50790114e+00, 8.64062371e+00,-1.23097291e+01,
 -4.66993668e-01, 5.09818803e-01, 2.34519255e+01,-7.98549774e+01,
 -2.46799358e-01,-3.11784773e-02, 2.40554820e-01, 1.84801774e-01,
 -2.76548693e-01,-2.15064885e+01]

qfrc_actuator:
[ 2.43607677e-03, 2.75562826e-02, 8.77271687e-03, 1.68907216e-03,
 -2.91313076e-05, 2.74116421e-02, 8.67232262e-03, 1.60419886e-03,
 -2.39786955e-03, 2.74322612e-02, 8.84621893e-03, 1.69601981e-03,
  3.66861846e-04,-1.79732133e-03, 0.00000000e+00,-2.39182473e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.0158873 , -8.09266338,  3.0158873 , 43.58276525,
       13.02345147, -8.09266338, 13.02345147, 13.48980434,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002233328313750567
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645757, -0.07070144,  0.04888334])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  6.78735672, -5.34027767,  6.78735672, 20.0229568 ,
       14.47206949, -5.34027767, 14.47206949, 27.02999484,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001877632703557973
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44885907,  0.01804208,  0.04906118])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0019377045038672797
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49004954,  0.05582336,  0.04903115])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42286199e-05, 6.34767751e-06, 4.94800574e-05, 1.29171074e-05,
  1.63820475e-05, 3.30133714e-05, 1.17787389e-05,-5.65744138e-06,
 -2.25992079e-05,-6.11650901e-05, 1.25935790e-05,-1.20275683e-05,
 -3.16612174e-05,-1.95901924e-05, 8.36728994e-06,-3.84503852e-04,
  4.02441298e-04, 1.67557322e-04,-7.84788211e+00, 5.96767125e-03,
 -1.59352138e-01,-1.03823181e-03]


--- Step 1818 ---
qpos:
[-5.56891231e-04, 8.77239452e-01,-2.02502986e-02,-2.75820236e-02,
  7.59690307e-03, 8.64663075e-01,-2.80566447e-02, 9.45057306e-03,
  2.22415596e-02, 8.72987538e-01,-2.02399513e-02, 2.24623071e-02,
  1.37383406e+00,-9.90986174e-03, 1.06751959e+00, 6.11427799e-02,
 -1.46340190e+00,-1.25837055e-02, 6.12670163e-02, 5.26729068e-01,
 -4.52824143e-01,-5.39323780e-01,-4.76063697e-01]

qacc:
[ 3.77083429e-03,-2.07671276e+00, 1.17968573e+01,-2.81110327e+01,
  9.13490817e-02, 1.20275014e+00,-5.69343428e+00, 1.52411082e+01,
 -7.08800478e-02, 1.85379324e+00,-6.34301788e+00, 5.92354877e+00,
 -5.09460672e-01, 9.10537355e-01, 1.02822366e+00,-4.48831631e+00,
 -2.11408279e-01,-3.20742379e-02,-5.24289830e-02, 1.36292474e-01,
  2.42629752e-01,-1.84530541e+01]

qfrc_actuator:
[ 2.42993978e-03, 2.75790028e-02, 8.78359261e-03, 1.64257778e-03,
 -2.03226872e-05, 2.74809657e-02, 8.70383955e-03, 1.63863903e-03,
 -2.40005539e-03, 2.74299795e-02, 8.80514887e-03, 1.69003038e-03,
  3.70288586e-04,-1.76543090e-03, 0.00000000e+00,-2.40477575e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.03398362, -8.08589638,  3.03398362, 50.06048171,
       15.54312471, -8.08589638, 15.54312471, 14.46844255,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002133164516981381
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645834, -0.07070175,  0.04893342])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  6.8162361 , -5.30336707,  6.8162361 , 25.91092051,
       22.20239642, -5.30336707, 22.20239642, 37.1723435 ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017977073013705908
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44885969,  0.01804186,  0.04910115])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0018454432346347305
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900502 ,  0.05582312,  0.04907728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.10919224e-07, 3.70652658e-05, 1.87332637e-05,-4.42597355e-05,
  1.66096058e-05, 8.99873826e-05, 3.95967599e-05, 3.61543268e-05,
 -1.30687964e-05,-3.43814742e-05,-5.25701018e-05,-8.40923403e-06,
 -1.96505682e-05, 2.01593842e-05,-4.54570650e-05,-3.48039014e-05,
  3.49474758e-04, 1.62189186e-04,-7.84791007e+00, 5.88256830e-03,
 -1.59357745e-01,-1.03310576e-03]


--- Step 1819 ---
qpos:
[-5.56355026e-04, 8.77239276e-01,-2.02504363e-02,-2.75821580e-02,
  7.59647772e-03, 8.64664030e-01,-2.80563652e-02, 9.45129174e-03,
  2.22419393e-02, 8.72986131e-01,-2.02397293e-02, 2.24623616e-02,
  1.37391828e+00,-9.90940688e-03, 1.06772470e+00, 6.11404549e-02,
 -1.46339732e+00,-1.25810511e-02, 6.13606004e-02, 5.26783476e-01,
 -4.52973877e-01,-5.39274471e-01,-4.75916884e-01]

qacc:
[  0.07611595,  1.63196622, -2.03525086, -7.15725335,  0.0732498 ,
   2.28475163,-11.51525873, 29.53642573,  0.05416728,  1.56596894,
  -5.07202299,  4.28256263, -0.13758644,  0.36598778, -9.46735317,
  31.7467162 , -0.18131096, -0.03247953, -0.28478338,  0.09744158,
   0.64790762,-15.85310598]

qfrc_actuator:
[ 2.44385048e-03, 2.76283354e-02, 8.75428601e-03, 1.61505850e-03,
 -1.49159432e-05, 2.75220820e-02, 8.72257987e-03, 1.69459697e-03,
 -2.38364280e-03, 2.74469915e-02, 8.78063739e-03, 1.68643430e-03,
  3.74648518e-04,-1.74659139e-03, 0.00000000e+00,-2.25038503e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  3.05498961, -8.07798337,  3.05498961, 58.70564607,
       18.93555985, -8.07798337, 18.93555985, 15.79754929,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.002032611925036641
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645898, -0.07070203,  0.04898369])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  6.85481228, -5.25341084,  6.85481228, 33.6616211 ,
       32.65372674, -5.25341084, 32.65372674, 51.24395206,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0017165874335219183
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886021,  0.01804165,  0.04914171])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0017545762410473564
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005075,  0.05582288,  0.04912271])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.42590451e-05, 7.20489916e-05,-2.08740803e-05,-2.61468321e-05,
  1.33220523e-05, 1.01157764e-04, 4.34535052e-05, 6.18874500e-05,
  1.01186307e-05,-1.34060796e-05,-3.83750728e-05,-7.05134804e-06,
 -2.58988177e-06, 1.95364560e-05,-2.67532153e-05, 1.46171229e-04,
  2.99744999e-04, 1.54368021e-04,-7.84793093e+00, 5.80908483e-03,
 -1.59362704e-01,-1.02867188e-03]


--- Step 1820 ---
qpos:
[-5.55664114e-04, 8.77239212e-01,-2.02501847e-02,-2.75819210e-02,
  7.59596770e-03, 8.64665293e-01,-2.80561941e-02, 9.45240432e-03,
  2.22424693e-02, 8.72984948e-01,-2.02399336e-02, 2.24619907e-02,
  1.37400235e+00,-9.90868041e-03, 1.06792970e+00, 6.11392695e-02,
 -1.46339336e+00,-1.25785268e-02, 6.14523183e-02, 5.26825975e-01,
 -4.53107900e-01,-5.39236546e-01,-4.75785216e-01]

qacc:
[  0.0806044 , -0.17584194, -0.72448614,  6.44048629, -0.04463052,
   1.51832315, -6.48824003, 13.25457795,  0.07778258,  0.61054352,
   0.04683714, -6.89098953, -0.25128201,  0.49430817, -3.58851648,
  12.35476663, -0.1556923 , -0.03249118, -0.46655958,  0.0664571 ,
   0.95924589,-13.63719169]

qfrc_actuator:
[ 2.45189374e-03, 2.76220536e-02, 8.77264971e-03, 1.63444193e-03,
 -2.93380356e-05, 2.74927162e-02, 8.69802622e-03, 1.70947349e-03,
 -2.37401014e-03, 2.74754863e-02, 8.76620932e-03, 1.66656238e-03,
  3.63587295e-04,-1.73565454e-03, 0.00000000e+00,-2.19401769e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([ 8.63636364,  0.83912162, -8.59550183,  0.83912162, 28.73790098,
        1.96237927, -8.59550183,  1.96237927,  8.82793766,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.0019327904072512364
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645951, -0.07070229,  0.0490336 ])
  solimp: array([9.0e-01, 9.5e-01, 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([ 8.63636364,  1.3983592 , -8.52240391,  1.3983592 , 42.2075696 ,
        5.50837594, -8.52240391,  5.50837594,  9.54018001,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ,  0.        ,  0.        ,  0.        ,  0.        ,
        0.        ])
  dim: 3
  dist: -0.001635351209826351
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886065,  0.01804145,  0.04918232])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0016657411119347654
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005122,  0.05582266,  0.04916713])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.49134908e-05, 2.85820737e-05, 2.97682756e-05, 2.12357233e-05,
 -8.07055875e-06, 3.88005853e-05, 3.82316852e-06, 2.19158916e-05,
  1.44976271e-05, 1.28028820e-05,-2.21592546e-05,-2.19100168e-05,
 -8.20464999e-06, 1.52757528e-05, 2.09037252e-06, 6.06455633e-05,
  2.54630883e-04, 1.44943624e-04,-7.84794658e+00, 5.74549197e-03,
 -1.59367120e-01,-1.02483078e-03]


--- Step 1821 ---
qpos:
[-5.55036757e-04, 8.77239286e-01,-2.02494284e-02,-2.75811202e-02,
  7.59514330e-03, 8.64666817e-01,-2.80561843e-02, 9.45266188e-03,
  2.22429444e-02, 8.72983678e-01,-2.02396730e-02, 2.24613619e-02,
  1.37408641e+00,-9.90807355e-03, 1.06813450e+00, 6.11401004e-02,
 -1.46338993e+00,-1.25761312e-02, 6.15416110e-02, 5.26858602e-01,
 -4.53228058e-01,-5.39208029e-01,-4.75666944e-01]

qacc:
[ -0.03273687, -0.06441797, -1.87797025, 10.71476806, -0.16537344,
  -0.96355452,  7.54684361,-22.28120968, -0.02827209, -1.94285399,
   7.85151437,-12.99526216,  0.20573037, -0.38167765, -6.40388118,
  21.93537811, -0.13386403, -0.03218909, -0.60626595,  0.04187095,
   1.19336442,-11.74670022]

qfrc_actuator:
[ 2.43859788e-03, 2.76359964e-02, 8.80108636e-03, 1.66350700e-03,
 -5.54891077e-05, 2.74921595e-02, 8.68329064e-03, 1.66446015e-03,
 -2.38628544e-03, 2.74751700e-02, 8.79339526e-03, 1.65504277e-03,
  3.59257813e-04,-1.74729861e-03, 0.00000000e+00,-2.08939630e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0018345810318894235
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44645996, -0.07070254,  0.04908271])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0015548561599540364
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886102,  0.01804127,  0.04922257])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0015794258039036266
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005161,  0.05582246,  0.04921029])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.11783458e-06, 3.69808157e-05, 3.87384534e-05, 3.17311235e-05,
 -2.99878290e-05, 2.28341368e-05,-5.50551387e-06,-4.27958259e-05,
 -5.30007933e-06, 1.35990444e-06, 2.63538746e-05,-1.21617264e-05,
 -5.46425801e-06,-9.74295322e-06, 3.84833116e-06, 1.07377947e-04,
  2.14662273e-04, 1.34587996e-04,-7.84795839e+00, 5.69034795e-03,
 -1.59371075e-01,-1.02149840e-03]


--- Step 1822 ---
qpos:
[-5.54709234e-04, 8.77239734e-01,-2.02489171e-02,-2.75806461e-02,
  7.59401026e-03, 8.64668549e-01,-2.80560626e-02, 9.45236627e-03,
  2.22431308e-02, 8.72982335e-01,-2.02393130e-02, 2.24599328e-02,
  1.37417061e+00,-9.90789781e-03, 1.06833979e+00, 6.11378156e-02,
 -1.46338697e+00,-1.25738621e-02, 6.16280594e-02, 5.26883068e-01,
 -4.53335957e-01,-5.39187266e-01,-4.75560548e-01]

qacc:
[-1.56087200e-01, 5.04376986e-01, 2.93372627e-01,-5.82345222e+00,
 -1.62156647e-01,-1.17466797e+00, 6.92419491e+00,-1.68322474e+01,
 -1.49977325e-01,-2.01947226e+00, 1.04417671e+01,-2.44000357e+01,
  2.35452731e-01,-5.83732887e-01, 1.01231418e+01,-3.43935284e+01,
 -1.15245228e-01,-3.16393313e-02,-7.11097274e-01, 2.24817955e-02,
  1.36425011e+00,-1.01321448e+01]

qfrc_actuator:
[ 2.41265492e-03, 2.76442490e-02, 8.78203781e-03, 1.64478218e-03,
 -7.06613671e-05, 2.75088122e-02, 8.69229474e-03, 1.63786213e-03,
 -2.41156028e-03, 2.74577875e-02, 8.79157098e-03, 1.61303199e-03,
  3.64285790e-04,-1.77220866e-03, 0.00000000e+00,-2.25894986e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0017386662887207693
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646032, -0.07070276,  0.04913067])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0014757758292133077
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886133,  0.01804109,  0.04926211])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0014959939975492179
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005194,  0.05582228,  0.049252  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.88837877e-05, 3.82780508e-05,-5.54969111e-06,-1.51860129e-05,
 -2.94413465e-05, 2.64098673e-05, 1.15483055e-05,-2.66455086e-05,
 -2.78275828e-05,-1.16707722e-05, 1.29136559e-06,-4.12747070e-05,
 -4.07541574e-07,-2.84591691e-05, 1.01505701e-05,-1.63914252e-04,
  1.79854730e-04, 1.23818954e-04,-7.84796735e+00, 5.64244433e-03,
 -1.59374635e-01,-1.01860346e-03]


--- Step 1823 ---
qpos:
[-5.54502707e-04, 8.77240209e-01,-2.02481858e-02,-2.75807323e-02,
  7.59282773e-03, 8.64670135e-01,-2.80551665e-02, 9.45244394e-03,
  2.22433902e-02, 8.72980920e-01,-2.02392846e-02, 2.24587327e-02,
  1.37425467e+00,-9.90769567e-03, 1.06854508e+00, 6.11338729e-02,
 -1.46338440e+00,-1.25717167e-02, 6.17113593e-02, 5.26900805e-01,
 -4.53432989e-01,-5.39172870e-01,-4.75464701e-01]

qacc:
[-6.27690782e-02,-1.73392929e+00, 8.59162636e+00,-1.86461571e+01,
 -2.54333658e-02,-1.58611966e+00, 3.80116124e+00, 1.52664497e+00,
  3.78410492e-02, 1.30178674e+00,-5.74769453e+00, 1.02950236e+01,
 -2.17255549e-01, 2.82879814e-01, 5.00550115e+00,-1.75033108e+01,
 -9.93456812e-02,-3.08965414e-02,-7.87130421e-01, 7.30749898e-03,
  1.48358728e+00,-8.75172278e+00]

qfrc_actuator:
[ 2.41489067e-03, 2.76310446e-02, 8.78830374e-03, 1.61580107e-03,
 -6.13736861e-05, 2.75002335e-02, 8.73308668e-03, 1.65785873e-03,
 -2.39112121e-03, 2.74479387e-02, 8.77252011e-03, 1.62438264e-03,
  3.53612634e-04,-1.76921369e-03, 0.00000000e+00,-2.34014599e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0016455640492748086
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646063, -0.07070297,  0.04917722])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0013986307236456136
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4488616 ,  0.01804094,  0.04930068])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0014157065751456144
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005221,  0.05582211,  0.04929215])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16576927e-05, 6.38426826e-06, 1.29534592e-05,-2.78325624e-05,
 -4.72133707e-06, 7.38714170e-06, 4.67331497e-05, 2.10072526e-05,
  7.04597830e-06,-1.78491086e-05,-2.27204663e-05, 1.00958679e-05,
 -1.80993695e-05,-3.68773473e-06,-1.87122867e-05,-9.02327374e-05,
  1.49929443e-04, 1.13024623e-04,-7.84797420e+00, 5.60076361e-03,
 -1.59377853e-01,-1.01608538e-03]


--- Step 1824 ---
qpos:
[-5.54156418e-04, 8.77240989e-01,-2.02478323e-02,-2.75801234e-02,
  7.59168527e-03, 8.64671887e-01,-2.80541468e-02, 9.45276528e-03,
  2.22434422e-02, 8.72979495e-01,-2.02396067e-02, 2.24590524e-02,
  1.37433855e+00,-9.90744068e-03, 1.06874974e+00, 6.11329747e-02,
 -1.46338218e+00,-1.25696913e-02, 6.17913012e-02, 5.26913014e-01,
 -4.53520370e-01,-5.39163680e-01,-4.75378244e-01]

qacc:
[ 7.23154884e-02, 2.89212064e+00,-1.26507933e+01, 2.50438329e+01,
  2.10786718e-02, 3.75183836e-01,-2.04867860e+00, 5.94690993e+00,
 -1.07982405e-01, 4.09169987e+00,-2.10274024e+01, 4.79016521e+01,
  2.24231114e-02,-5.97631685e-02,-1.01211300e+01, 3.40596488e+01,
 -8.57517287e-02,-3.00059344e-02,-8.39491323e-01,-4.45422974e-03,
  1.56112172e+00,-7.57010602e+00]

qfrc_actuator:
[ 2.43397474e-03, 2.76584215e-02, 8.77388609e-03, 1.65204092e-03,
 -5.52983757e-05, 2.75122921e-02, 8.73898610e-03, 1.66960164e-03,
 -2.41451073e-03, 2.74603914e-02, 8.76127726e-03, 1.70254618e-03,
  3.44189969e-04,-1.76751340e-03, 0.00000000e+00,-2.17326031e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0015556562099775795
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646089, -0.07070315,  0.04922217])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0013238144531861826
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886182,  0.01804079,  0.04933809])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0013387397890681774
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005244,  0.05582196,  0.04933063])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.34746936e-05, 3.24120758e-05,-1.24759757e-05, 3.64176691e-05,
  3.82821080e-06, 2.66953584e-05, 1.38905650e-05, 1.40819736e-05,
 -2.00043036e-05,-1.75250956e-06,-1.73665635e-05, 7.68126219e-05,
 -2.09784793e-05,-3.09355390e-06,-2.21758146e-05, 1.58642594e-04,
  1.24455262e-04, 1.02486670e-04,-7.84797947e+00, 5.56444552e-03,
 -1.59380770e-01,-1.01389259e-03]


--- Step 1825 ---
qpos:
[-5.53442087e-04, 8.77241811e-01,-2.02478334e-02,-2.75790526e-02,
  7.59079076e-03, 8.64673581e-01,-2.80531994e-02, 9.45292245e-03,
  2.22428810e-02, 8.72978700e-01,-2.02400561e-02, 2.24595167e-02,
  1.37442239e+00,-9.90766459e-03, 1.06895409e+00, 6.11350336e-02,
 -1.46338025e+00,-1.25677818e-02, 6.18677531e-02, 5.26920700e-01,
 -4.53599162e-01,-5.39158727e-01,-4.75300162e-01]

qacc:
[ 1.91025906e-01, 1.99625979e+00,-8.98412746e+00, 1.75057642e+01,
  1.30208313e-01,-2.12364234e-01, 1.33942376e+00,-4.02294329e+00,
 -3.18832640e-01, 1.48350606e+00,-4.69338421e+00, 6.93379873e+00,
  4.97694753e-01,-1.06402908e+00,-9.41229741e+00, 3.21985285e+01,
 -7.41142399e-02,-2.90049127e-02,-8.72497464e-01,-1.34583265e-02,
  1.60496851e+00,-6.55742474e+00]

qfrc_actuator:
[ 2.46295544e-03, 2.76388464e-02, 8.74756818e-03, 1.67312424e-03,
 -3.34676121e-05, 2.74832217e-02, 8.72429110e-03, 1.65862002e-03,
 -2.46394593e-03, 2.75394490e-02, 8.77262331e-03, 1.71289922e-03,
  3.30199954e-04,-1.80213220e-03, 0.00000000e+00,-2.02133840e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0014692128222314124
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4464611 , -0.07070332,  0.04926539])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0012516157950620763
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.448862  ,  0.01804066,  0.04937419])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0012652006079255998
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005264,  0.05582182,  0.0493674 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.54654143e-05,-2.49009100e-06,-1.99112742e-05, 2.27451340e-05,
  2.36556993e-05,-1.07208012e-05,-7.00524232e-06,-9.08777006e-06,
 -5.90647007e-05, 7.78155137e-05, 1.15160372e-05, 1.11742713e-05,
 -2.66372702e-05,-4.01402096e-05, 5.34792890e-06, 1.57428462e-04,
  1.02938277e-04, 9.24012205e-05,-7.84798356e+00, 5.53276003e-03,
 -1.59383423e-01,-1.01198103e-03]


--- Step 1826 ---
qpos:
[-5.52007026e-04, 8.77242417e-01,-2.02474504e-02,-2.75781006e-02,
  7.59015382e-03, 8.64674832e-01,-2.80516394e-02, 9.45225908e-03,
  2.22420917e-02, 8.72978200e-01,-2.02391189e-02, 2.24593470e-02,
  1.37450599e+00,-9.90800047e-03, 1.06915875e+00, 6.11362095e-02,
 -1.46337858e+00,-1.25659841e-02, 6.19406459e-02, 5.26924702e-01,
 -4.53670295e-01,-5.39157200e-01,-4.75229561e-01]

qacc:
[ 3.74797892e-01,-1.60220707e+00, 5.80035499e+00,-8.31095748e+00,
  1.35783506e-01,-3.98173755e+00, 1.68146401e+01,-3.16745771e+01,
 -1.17849126e-01,-4.78464540e+00, 2.03058150e+01,-3.37114679e+01,
 -1.56157381e-01, 6.63959125e-02, 3.12338765e+00,-1.02574472e+01,
 -6.41384524e-02,-2.79243860e-02,-8.89779420e-01,-2.02391034e-02,
  1.62187214e+00,-5.68841259e+00]

qfrc_actuator:
[ 2.51534256e-03, 2.76267483e-02, 8.76749592e-03, 1.66731609e-03,
 -2.01601259e-05, 2.74473839e-02, 8.75064375e-03, 1.61656143e-03,
 -2.45750949e-03, 2.75690717e-02, 8.85069757e-03, 1.68333341e-03,
  3.18790750e-04,-1.80477394e-03, 0.00000000e+00,-2.07480407e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0013864123934549458
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646127, -0.07070347,  0.04930679])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.001182237292030236
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886216,  0.01804055,  0.04940888])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.001195139657002138
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900528 ,  0.05582169,  0.04940243])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.94485607e-05,-1.66469093e-05, 1.77389363e-05,-6.16427367e-06,
  2.45652962e-05,-4.37140500e-05, 2.29394131e-05,-4.29418486e-05,
 -2.19759238e-05, 7.60074364e-05, 9.59616581e-05,-2.56131926e-05,
 -3.57002628e-05,-1.86056423e-05, 1.65420955e-05,-4.48139310e-05,
  8.48764199e-05, 8.28969993e-05,-7.84798674e+00, 5.50508554e-03,
 -1.59385840e-01,-1.01031306e-03]


--- Step 1827 ---
qpos:
[-5.50278023e-04, 8.77243255e-01,-2.02472906e-02,-2.75772412e-02,
  7.58953809e-03, 8.64675954e-01,-2.80501176e-02, 9.45041106e-03,
  2.22414217e-02, 8.72977677e-01,-2.02384353e-02, 2.24593254e-02,
  1.37458928e+00,-9.90812198e-03, 1.06936367e+00, 6.11350845e-02,
 -1.46337713e+00,-1.25642936e-02, 6.20099612e-02, 5.26925725e-01,
 -4.53734584e-01,-5.39158422e-01,-4.75165659e-01]

qacc:
[ 1.52513559e-01, 7.37806877e-01,-1.79885795e+00, 3.87980137e-01,
  1.10883772e-02,-2.49869343e+00, 1.36668877e+01,-3.40185374e+01,
  6.18795573e-02, 9.81488740e-01,-4.16997218e+00, 7.15481528e+00,
 -5.46040479e-01, 8.20009206e-01, 7.36680328e+00,-2.51372227e+01,
 -5.55753953e-02,-2.67898511e-02,-8.94384507e-01,-2.52322025e-02,
  1.61742605e+00,-4.94168710e+00]

qfrc_actuator:
[ 2.51026311e-03, 2.76548812e-02, 8.76131625e-03, 1.66352175e-03,
 -2.98280321e-05, 2.74433996e-02, 8.74771118e-03, 1.55657867e-03,
 -2.43544232e-03, 2.74981046e-02, 8.80757217e-03, 1.68379473e-03,
  3.08947978e-04,-1.78840481e-03, 0.00000000e+00,-2.19558724e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001307358940962601
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646142, -0.0707036 ,  0.04934632])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0011158109085797618
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886228,  0.01804044,  0.04944209])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0011285621093865411
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005293,  0.05582158,  0.04943572])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.83309146e-05, 2.22105519e-05,-7.65652564e-06,-4.01714475e-06,
  2.01891474e-06,-2.55685137e-05,-1.06420988e-05,-6.19011061e-05,
  1.15011756e-05,-9.74042899e-06,-1.64944180e-05, 6.54053356e-06,
 -3.42934927e-05, 3.58745434e-06,-2.63473965e-06,-1.22372398e-04,
  6.97910580e-05, 7.40506489e-05,-7.84798925e+00, 5.48089112e-03,
 -1.59388047e-01,-1.00885640e-03]


--- Step 1828 ---
qpos:
[-5.49000896e-04, 8.77244323e-01,-2.02477930e-02,-2.75764034e-02,
  7.58906011e-03, 8.64677233e-01,-2.80493945e-02, 9.44856548e-03,
  2.22409487e-02, 8.72976819e-01,-2.02386130e-02, 2.24593949e-02,
  1.37467229e+00,-9.90828846e-03, 1.06956810e+00, 6.11362015e-02,
 -1.46337587e+00,-1.25627055e-02, 6.20757210e-02, 5.26924352e-01,
 -4.53792747e-01,-5.39161833e-01,-4.75107764e-01]

qacc:
[-0.23528192, 2.11039891,-6.98929019, 7.5015636 , 0.07180502, 2.44090029,
 -8.41488332, 9.62191702, 0.10193844, 2.14969176,-8.69291035,11.89234477,
 -0.02866975,-0.08708345,-7.5029042 ,25.18354364,-0.04821466,-0.02562228,
 -0.88886515,-0.0287926 , 1.59625796,-4.2991438 ]

qfrc_actuator:
[ 2.45308958e-03, 2.76535348e-02, 8.72217321e-03, 1.66095684e-03,
 -1.76425709e-05, 2.74583898e-02, 8.70986054e-03, 1.55754428e-03,
 -2.42200564e-03, 2.74379950e-02, 8.74607034e-03, 1.68399134e-03,
  2.89409593e-04,-1.79641600e-03, 0.00000000e+00,-2.07094772e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0012320962936363117
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646154, -0.07070372,  0.04938395])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.001052411190383823
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886239,  0.01804034,  0.04947379])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.001065436832604752
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005305,  0.05582148,  0.04946728])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.35416862e-05, 9.29776401e-06,-3.56491524e-05,-1.96103760e-06,
  1.31442757e-05,-4.19281857e-06,-4.66030671e-05,-1.70425178e-06,
  1.89689285e-05,-6.86759733e-05,-6.53211201e-05,-6.64739629e-07,
 -3.82646522e-05,-1.49265324e-05,-1.95653291e-05, 1.16395235e-04,
  5.72436697e-05, 6.58993909e-05,-7.84799123e+00, 5.45972206e-03,
 -1.59390066e-01,-1.00758336e-03]


--- Step 1829 ---
qpos:
[-5.48115331e-04, 8.77245153e-01,-2.02485778e-02,-2.75755683e-02,
  7.58909763e-03, 8.64678482e-01,-2.80488934e-02, 9.44776542e-03,
  2.22406547e-02, 8.72975643e-01,-2.02384031e-02, 2.24586871e-02,
  1.37475500e+00,-9.90828213e-03, 1.06977245e+00, 6.11380872e-02,
 -1.46337478e+00,-1.25612152e-02, 6.21379793e-02, 5.26921075e-01,
 -4.53845419e-01,-5.39166963e-01,-4.75055262e-01]

qacc:
[-2.03549204e-01, 4.69652619e-01,-2.11891924e+00, 2.69980096e+00,
  2.70697716e-01, 2.72861091e+00,-1.42047238e+01, 3.26820366e+01,
  9.33577344e-02,-3.10048465e+00, 1.37286960e+01,-2.75666136e+01,
 -3.24850382e-01, 4.73765847e-01,-2.40586963e+00, 8.31028467e+00,
 -4.18601866e-02,-2.44325855e-02,-8.75359275e-01,-3.12082948e-02,
  1.56189032e+00,-3.74394967e+00]

qfrc_actuator:
[ 2.43629837e-03, 2.76166558e-02, 8.69928567e-03, 1.65909587e-03,
  2.52825016e-05, 2.74667781e-02, 8.70509277e-03, 1.61211831e-03,
 -2.41387262e-03, 2.74557315e-02, 8.78076764e-03, 1.64852165e-03,
  2.80038333e-04,-1.78337650e-03, 0.00000000e+00,-2.03346119e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001160620062349356
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646164, -0.07070383,  0.04941969])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0009920663060240947
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886248,  0.01804026,  0.04950397])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0010057040514232576
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005314,  0.05582139,  0.04949715])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.77410333e-05,-3.91559956e-05,-2.54327473e-05,-2.73662804e-06,
  4.91812194e-05,-3.68590706e-06,-1.14479535e-05, 5.27478108e-05,
  1.72508169e-05,-3.41645238e-05, 1.24498366e-05,-4.06849547e-05,
 -3.44570182e-05, 5.83220128e-07, 1.38562588e-06, 4.08666167e-05,
  4.68430936e-05, 5.84512993e-05,-7.84799281e+00, 5.44118784e-03,
 -1.59391914e-01,-1.00647013e-03]


--- Step 1830 ---
qpos:
[-5.47523851e-04, 8.77245339e-01,-2.02494391e-02,-2.75747229e-02,
  7.58964701e-03, 8.64679678e-01,-2.80481589e-02, 9.44725054e-03,
  2.22404976e-02, 8.72974525e-01,-2.02379842e-02, 2.24575223e-02,
  1.37483746e+00,-9.90814851e-03, 1.06997718e+00, 6.11370525e-02,
 -1.46337384e+00,-1.25598162e-02, 6.21968102e-02, 5.26916309e-01,
 -4.53893226e-01,-5.39173416e-01,-4.75007547e-01]

qacc:
[-1.52633333e-01,-6.17762108e-01, 9.22829148e-01,-1.50925749e-01,
  2.69044036e-01,-1.33955025e-01,-8.26404376e-01, 5.42748661e+00,
  7.11561286e-02,-1.44642748e+00, 7.19984563e+00,-1.54879057e+01,
 -4.61512807e-01, 6.65831884e-01, 9.40473700e+00,-3.20284475e+01,
 -3.59464347e-02,-2.28484364e-02,-8.56857406e-01,-3.20603029e-02,
  1.49165757e+00,-3.22635577e+00]

qfrc_actuator:
[ 2.42610435e-03, 2.75588336e-02, 8.68603651e-03, 1.65764676e-03,
  5.07132478e-05, 2.74713300e-02, 8.71991752e-03, 1.62680281e-03,
 -2.40898269e-03, 2.74847871e-02, 8.80126947e-03, 1.62798926e-03,
  2.71454973e-04,-1.77565901e-03, 0.00000000e+00,-2.18971106e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.001092887639105554
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646172, -0.07070393,  0.04945356])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0009347674584560817
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886255,  0.01804018,  0.04953262])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0009492817522890745
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005322,  0.05582131,  0.04952536])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.83581598e-05,-8.51072439e-05,-2.45645581e-05,-4.05925252e-06,
  4.88375829e-05, 2.35982701e-06, 1.44653849e-05, 1.51548663e-05,
  1.31842872e-05, 1.08075047e-05, 1.35790749e-05,-2.23553132e-05,
 -2.78065103e-05,-1.22689771e-07, 1.08209625e-06,-1.54741430e-04,
  3.82498908e-05, 5.16949175e-05,-7.84799407e+00, 5.42495119e-03,
 -1.59393608e-01,-1.00549611e-03]


--- Step 1831 ---
qpos:
[-5.46953779e-04, 8.77245106e-01,-2.02508170e-02,-2.75738996e-02,
  7.59022227e-03, 8.64680884e-01,-2.80472638e-02, 9.44691269e-03,
  2.22402522e-02, 8.72974011e-01,-2.02381923e-02, 2.24567981e-02,
  1.37491986e+00,-9.90822676e-03, 1.07018206e+00, 6.11328202e-02,
 -1.46337302e+00,-1.25585006e-02, 6.22522983e-02, 5.26910363e-01,
 -4.53936760e-01,-5.39180904e-01,-4.74964041e-01]

qacc:
[-1.12995032e-02, 8.46349534e-01,-3.72382844e+00, 4.47267100e+00,
  1.37028450e-02,-7.24504759e-02,-4.72165492e-01, 3.27301326e+00,
 -4.64480423e-02, 3.45392106e+00,-1.30200152e+01, 2.12045160e+01,
 -7.42976569e-02,-5.91498764e-02, 9.86914343e+00,-3.42178646e+01,
 -3.08728868e-02,-2.08354781e-02,-8.35708820e-01,-3.09914700e-02,
  1.37907377e+00,-2.77646855e+00]

qfrc_actuator:
[ 2.43768043e-03, 2.75422061e-02, 8.66072477e-03, 1.65643299e-03,
  2.99395616e-05, 2.74736137e-02, 8.72837850e-03, 1.63564836e-03,
 -2.42382058e-03, 2.75381378e-02, 8.77777239e-03, 1.65191525e-03,
  2.68675145e-04,-1.78891098e-03, 0.00000000e+00,-2.35230550e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0010288264829516405
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646179, -0.07070401,  0.04948559])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0008804871170035519
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886261,  0.01804011,  0.04955976])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0008960807304902244
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582123,  0.04955196])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.07774121e-06,-6.94669984e-05,-4.60495839e-05,-5.78522825e-06,
  2.47058826e-06, 7.21245099e-06, 1.12400783e-05, 9.73941872e-06,
 -8.49485938e-06, 6.12669402e-05,-2.03587695e-05, 2.44264658e-05,
 -1.87924210e-05,-1.95277479e-05,-2.17359893e-05,-1.72234969e-04,
  3.12561465e-05, 4.57004225e-05,-7.84799508e+00, 5.41069164e-03,
 -1.59395164e-01,-1.00464200e-03]


--- Step 1832 ---
qpos:
[-5.46140089e-04, 8.77244950e-01,-2.02524278e-02,-2.75742171e-02,
  7.59067663e-03, 8.64682119e-01,-2.80462674e-02, 9.44668490e-03,
  2.22402418e-02, 8.72974225e-01,-2.02393165e-02, 2.24556790e-02,
  1.37500231e+00,-9.90853917e-03, 1.07038683e+00, 6.11263075e-02,
 -1.46337230e+00,-1.25572599e-02, 6.23045362e-02, 5.26903459e-01,
 -4.53976550e-01,-5.39189222e-01,-4.74924226e-01]

qacc:
[ 1.26365449e-01,-1.59964228e+00, 1.06514581e+01,-3.00521330e+01,
 -6.34415117e-02,-1.73136625e-02,-3.46091498e-01, 2.06709524e+00,
  1.21321382e-01, 2.70873584e+00,-6.59451154e+00, 6.89502168e-01,
  9.16913575e-02,-2.73021988e-01, 6.72810471e+00,-2.37752230e+01,
 -2.66448939e-02,-1.87259267e-02,-8.12557791e-01,-2.89100924e-02,
  1.25050617e+00,-2.39722992e+00]

qfrc_actuator:
[ 2.46216353e-03, 2.75858307e-02, 8.66415150e-03, 1.60213080e-03,
  1.72297165e-05, 2.74744964e-02, 8.73300071e-03, 1.64098461e-03,
 -2.39706690e-03, 2.75699919e-02, 8.72862833e-03, 1.63079091e-03,
  2.80021806e-04,-1.79670374e-03, 0.00000000e+00,-2.46400321e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009683409066935378
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646184, -0.07070409,  0.04951583])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0008291869184261363
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886266,  0.01804005,  0.04958541])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0008460179004079749
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005333,  0.05582117,  0.04957699])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.34771179e-05,-4.96296036e-06,-1.67806644e-05,-5.89803266e-05,
 -1.15333686e-05, 7.61942593e-06, 7.81766142e-06, 6.22114782e-06,
  2.26723098e-05, 6.29692166e-05,-3.81455315e-05,-1.87257008e-05,
 -4.49413535e-06,-1.65093368e-05,-3.28700100e-05,-1.24945796e-04,
  2.56128126e-05, 4.05261550e-05,-7.84799588e+00, 5.39813387e-03,
 -1.59396599e-01,-1.00389108e-03]


--- Step 1833 ---
qpos:
[-5.44877474e-04, 8.77245054e-01,-2.02539017e-02,-2.75748883e-02,
  7.59099246e-03, 8.64683116e-01,-2.80450269e-02, 9.44551167e-03,
  2.22406941e-02, 8.72974526e-01,-2.02400020e-02, 2.24549952e-02,
  1.37508478e+00,-9.90875566e-03, 1.07059112e+00, 6.11208006e-02,
 -1.46337168e+00,-1.25560879e-02, 6.23536166e-02, 5.26895760e-01,
 -4.54012986e-01,-5.39198221e-01,-4.74887719e-01]

qacc:
[ 2.33242141e-01,-7.68414060e-01, 4.72674300e+00,-1.12499587e+01,
 -7.25867302e-02,-2.93843891e+00, 1.40159736e+01,-3.05989065e+01,
  2.40619577e-01,-2.16637496e-01,-9.00269420e-01, 7.66825624e+00,
  2.61883387e-02, 3.69316736e-02,-3.76294496e+00, 1.21090063e+01,
 -2.35784082e-02,-1.71632307e-02,-7.89374070e-01,-2.72477768e-02,
  1.15295935e+00,-2.11926783e+00]

qfrc_actuator:
[ 2.49413437e-03, 2.76297750e-02, 8.68474427e-03, 1.58811356e-03,
  9.49460006e-06, 2.74390091e-02, 8.73531469e-03, 1.59095354e-03,
 -2.36339898e-03, 2.75708288e-02, 8.75339914e-03, 1.65430605e-03,
  2.94510698e-04,-1.78336130e-03, 0.00000000e+00,-2.40278019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0009113208773296674
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646189, -0.07070416,  0.04954434])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007808170404926679
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01804   ,  0.04960959])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007990115433061523
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005338,  0.05582111,  0.04960049])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32684900e-05, 3.51973887e-05, 1.54730438e-05,-1.59563688e-05,
 -1.32237338e-05,-2.93840747e-05, 5.04900797e-06,-4.93158177e-05,
  4.45847314e-05, 2.73754928e-05, 3.24383603e-05, 2.45318518e-05,
  7.27151877e-06, 8.76431072e-06,-3.17697332e-05, 4.94015072e-05,
  2.10610227e-05, 3.61243281e-05,-7.84799651e+00, 5.38704883e-03,
 -1.59397926e-01,-1.00322931e-03]


--- Step 1834 ---
qpos:
[-5.43576201e-04, 8.77245069e-01,-2.02547730e-02,-2.75746748e-02,
  7.59119337e-03, 8.64683494e-01,-2.80435818e-02, 9.44414646e-03,
  2.22412054e-02, 8.72974595e-01,-2.02396671e-02, 2.24549439e-02,
  1.37516720e+00,-9.90879066e-03, 1.07079519e+00, 6.11160090e-02,
 -1.46337115e+00,-1.25549801e-02, 6.23996337e-02, 5.26887378e-01,
 -4.54046348e-01,-5.39207798e-01,-4.74854247e-01]

qacc:
[ 2.05263317e-02, 2.23593908e-02,-3.97520573e+00, 1.83696287e+01,
 -6.00246834e-02,-1.78374869e+00, 5.98383898e+00,-9.18000648e+00,
  3.14323942e-02,-1.85428981e+00, 3.49718565e+00, 5.99001048e+00,
 -1.27320880e-01, 2.87989946e-01,-2.46694897e+00, 8.19316449e+00,
 -2.14292950e-02,-1.60727270e-02,-7.65816352e-01,-2.60289861e-02,
  1.08308579e+00,-1.92161742e+00]

qfrc_actuator:
[ 2.47703721e-03, 2.76204388e-02, 8.71535988e-03, 1.63344185e-03,
  4.81032161e-06, 2.73819551e-02, 8.73606048e-03, 1.57972409e-03,
 -2.37916196e-03, 2.75534064e-02, 8.80377778e-03, 1.68618018e-03,
  2.89581891e-04,-1.77532679e-03, 0.00000000e+00,-2.36444697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008576600929617734
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646193, -0.07070422,  0.04957117])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007353164830869174
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886274,  0.01803995,  0.04963234])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000754977851917242
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005342,  0.05582106,  0.04962251])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.72599226e-06, 1.28701781e-05, 3.92482524e-05, 4.70616673e-05,
 -1.09811084e-05,-7.45885221e-05,-6.42334812e-06,-1.32749208e-05,
  5.69182029e-06, 5.64270572e-06, 6.08816676e-05, 3.46481756e-05,
  6.54617794e-07, 1.22250430e-05,-1.10429537e-05, 3.65599628e-05,
  1.73023257e-05, 3.23052666e-05,-7.84799703e+00, 5.37727510e-03,
 -1.59399157e-01,-1.00264658e-03]


--- Step 1835 ---
qpos:
[-5.42552652e-04, 8.77245064e-01,-2.02552190e-02,-2.75742619e-02,
  7.59130989e-03, 8.64683808e-01,-2.80426374e-02, 9.44263488e-03,
  2.22418288e-02, 8.72974417e-01,-2.02385878e-02, 2.24546057e-02,
  1.37524942e+00,-9.90861319e-03, 1.07099915e+00, 6.11116878e-02,
 -1.46337069e+00,-1.25539336e-02, 6.24426850e-02, 5.26878394e-01,
 -4.54076834e-01,-5.39217879e-01,-4.74823616e-01]

qacc:
[-1.44030495e-01,-8.02971489e-01, 1.98533297e+00, 7.96896364e-01,
 -4.46322076e-02, 1.01231530e+00,-3.11384514e+00, 1.42858884e+00,
  5.87388164e-02,-2.99454886e+00, 1.14167564e+01,-1.73910940e+01,
 -2.89916355e-01, 4.87056223e-01,-1.54994545e+00, 5.24932300e+00,
 -1.99302430e-02,-1.53101866e-02,-7.41447790e-01,-2.51123049e-02,
  1.03239577e+00,-1.78103703e+00]

qfrc_actuator:
[ 2.44848258e-03, 2.76148845e-02, 8.73371624e-03, 1.64226996e-03,
  1.98833760e-06, 2.74012013e-02, 8.71805450e-03, 1.57364768e-03,
 -2.37110710e-03, 2.75253115e-02, 8.83325879e-03, 1.66944041e-03,
  2.67682771e-04,-1.77060099e-03, 0.00000000e+00,-2.33995971e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0008072545567875122
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646196, -0.07070427,  0.04959637])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006926136427791996
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886277,  0.01803991,  0.04965369])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0007138290935573693
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005345,  0.05582101,  0.04964309])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.67610625e-05, 1.17653618e-05, 2.74829106e-05, 1.16545385e-05,
 -8.05736008e-06,-2.43770535e-05,-3.46736473e-05,-9.75329161e-06,
  1.07932325e-05,-1.08820072e-05, 3.93426088e-05,-1.37174393e-05,
 -1.89929790e-05, 8.09304877e-06,-4.17632807e-06, 2.43795333e-05,
  1.41234410e-05, 2.89228434e-05,-7.84799746e+00, 5.36869804e-03,
 -1.59400299e-01,-1.00213567e-03]


--- Step 1836 ---
qpos:
[-5.42027348e-04, 8.77245394e-01,-2.02555420e-02,-2.75741162e-02,
  7.59136851e-03, 8.64684080e-01,-2.80420457e-02, 9.44208465e-03,
  2.22427372e-02, 8.72973806e-01,-2.02367228e-02, 2.24540917e-02,
  1.37533134e+00,-9.90782867e-03, 1.07120351e+00, 6.11039951e-02,
 -1.46337031e+00,-1.25529462e-02, 6.24828721e-02, 5.26868865e-01,
 -4.54104589e-01,-5.39228413e-01,-4.74795683e-01]

qacc:
[-2.58940547e-01,-4.51448255e-01, 3.37662115e+00,-8.43750025e+00,
 -3.05572828e-02, 2.90537925e+00,-1.45020077e+01, 3.17403186e+01,
  1.48727315e-01,-3.12889035e+00, 1.10669311e+01,-1.50457638e+01,
 -8.86810901e-01, 1.58543407e+00, 1.08154722e+01,-3.68683995e+01,
 -1.88730663e-02,-1.47662348e-02,-7.16054031e-01,-2.43940160e-02,
  9.94530439e-01,-1.67951881e+00]

qfrc_actuator:
[ 2.41335438e-03, 2.76470709e-02, 8.74465328e-03, 1.62952934e-03,
  2.99181824e-07, 2.74126612e-02, 8.70717347e-03, 1.62395220e-03,
 -2.34883812e-03, 2.74909210e-02, 8.86782169e-03, 1.65970399e-03,
  2.62246319e-04,-1.73245870e-03, 0.00000000e+00,-2.51909998e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000759999614465226
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646198, -0.07070432,  0.04962   ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006526272557208848
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886279,  0.01803987,  0.04967369])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006754727034173763
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005347,  0.05582097,  0.04966226])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.80027873e-05, 4.49370894e-05, 1.71579577e-05,-1.10587100e-05,
 -5.52650271e-06,-9.76372016e-06,-2.05329066e-05, 4.78706840e-05,
  2.74608879e-05,-3.29383620e-05, 3.66809168e-05,-9.10922788e-06,
 -1.43661317e-05, 3.58241423e-05,-2.96232066e-06,-1.79171495e-04,
  1.13834184e-05, 2.58801779e-05,-7.84799783e+00, 5.36123553e-03,
 -1.59401358e-01,-1.00169146e-03]


--- Step 1837 ---
qpos:
[-5.42143848e-04, 8.77246185e-01,-2.02554846e-02,-2.75748495e-02,
  7.59138910e-03, 8.64684202e-01,-2.80415634e-02, 9.44213795e-03,
  2.22437317e-02, 8.72972895e-01,-2.02347637e-02, 2.24541867e-02,
  1.37541309e+00,-9.90659600e-03, 1.07140770e+00, 6.10952210e-02,
 -1.46337001e+00,-1.25520162e-02, 6.25203008e-02, 5.26858831e-01,
 -4.54129723e-01,-5.39239363e-01,-4.74770341e-01]

qacc:
[-3.33446697e-01,-2.26497532e+00, 1.26605352e+01,-2.88017353e+01,
 -1.99600188e-02, 1.34711908e+00,-7.64129757e+00, 1.83744890e+01,
  4.48916242e-02, 5.94927325e-01,-5.26564037e+00, 1.58754873e+01,
 -5.30739308e-01, 1.00336231e+00, 3.05862017e+00,-1.09720874e+01,
 -1.80980748e-02,-1.43591874e-02,-6.89582094e-01,-2.37994095e-02,
  9.64798791e-01,-1.60331270e+00]

qfrc_actuator:
[ 2.37461366e-03, 2.76838024e-02, 8.76902360e-03, 1.58648175e-03,
 -7.03027484e-07, 2.74017011e-02, 8.70061992e-03, 1.65377819e-03,
 -2.35376376e-03, 2.74707920e-02, 8.86958946e-03, 1.68967847e-03,
  2.56050903e-04,-1.71025137e-03, 0.00000000e+00,-2.56822629e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0007157882071932783
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.446462  , -0.07070436,  0.04964211])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006152675994146803
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886281,  0.01803983,  0.04969237])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006398110154903838
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005349,  0.05582093,  0.04968009])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.18317785e-05, 6.49166266e-05, 3.53810431e-05,-4.07456346e-05,
 -3.63422930e-06,-1.86204354e-05,-9.44899637e-06, 2.96283654e-05,
  8.28295809e-06,-3.13560347e-05,-8.40849460e-07, 2.96535926e-05,
 -6.31273799e-06, 2.78719675e-05,-2.62482931e-05,-6.06075388e-05,
  8.99012785e-06, 2.31137742e-05,-7.84799814e+00, 5.35482773e-03,
 -1.59402339e-01,-1.00131023e-03]


--- Step 1838 ---
qpos:
[-5.42253179e-04, 8.77247359e-01,-2.02553604e-02,-2.75764065e-02,
  7.59175749e-03, 8.64684315e-01,-2.80408862e-02, 9.44147267e-03,
  2.22447321e-02, 8.72972097e-01,-2.02327398e-02, 2.24556249e-02,
  1.37549469e+00,-9.90528363e-03, 1.07161100e+00, 6.10915731e-02,
 -1.46336977e+00,-1.25511423e-02, 6.25550812e-02, 5.26848325e-01,
 -4.54152326e-01,-5.39250701e-01,-4.74747501e-01]

qacc:
[ 3.59848219e-03,-1.37918917e+00, 9.11590506e+00,-2.37367930e+01,
  1.82773080e-01,-2.03171516e+00, 1.02643590e+01,-2.30094918e+01,
  3.15167214e-03, 2.72936346e+00,-1.51914165e+01, 3.82567944e+01,
  1.55722932e-01,-2.21762669e-01,-1.67879829e+01, 5.68247242e+01,
 -1.74850360e-02,-1.40291828e-02,-6.62092339e-01,-2.32758584e-02,
  9.39804601e-01,-1.54210585e+00]

qfrc_actuator:
[ 2.40505880e-03, 2.76874954e-02, 8.76564187e-03, 1.54372138e-03,
  3.42154988e-05, 2.74129193e-02, 8.71431306e-03, 1.61803245e-03,
 -2.35716854e-03, 2.75125156e-02, 8.88756252e-03, 1.76051767e-03,
  2.38749117e-04,-1.71544156e-03, 0.00000000e+00,-2.29174888e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006745100197022985
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646202, -0.0707044 ,  0.04966274])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000580437834191351
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886283,  0.0180398 ,  0.04970978])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0006067414526524095
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005351,  0.0558209 ,  0.04969663])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01993290e-07, 4.55300222e-05, 1.29678027e-05,-3.95505787e-05,
  3.31861880e-05, 1.16790023e-07, 9.70394513e-06,-3.62948070e-05,
  5.75865355e-07, 2.52957381e-05, 1.24113514e-05, 7.00418111e-05,
 -1.48611829e-05, 4.61940317e-07,-2.18071457e-05, 2.69060895e-04,
  6.88407531e-06, 2.05824974e-05,-7.84799842e+00, 5.34942922e-03,
 -1.59403244e-01,-1.00098916e-03]


--- Step 1839 ---
qpos:
[-5.41616274e-04, 8.77248428e-01,-2.02556190e-02,-2.75780235e-02,
  7.59269340e-03, 8.64684218e-01,-2.80397276e-02, 9.44108095e-03,
  2.22453413e-02, 8.72972114e-01,-2.02313052e-02, 2.24561276e-02,
  1.37557613e+00,-9.90397399e-03, 1.07181458e+00, 6.10875216e-02,
 -1.46336960e+00,-1.25503233e-02, 6.25873267e-02, 5.26837373e-01,
 -4.54172476e-01,-5.39262401e-01,-4.74727087e-01]

qacc:
[ 3.87544617e-01, 8.08875211e-01,-2.82917857e+00, 2.47823334e+00,
  2.98477908e-01,-1.05979789e+00, 2.21987325e+00, 1.89923236e+00,
 -2.03915667e-01, 7.99378700e-01, 2.66572754e+00,-1.85185689e+01,
 -1.56684418e-01, 1.65832823e-01, 1.62053066e+00,-5.07810431e+00,
 -1.69455615e-02,-1.37334021e-02,-6.33721139e-01,-2.27873197e-02,
  9.17147307e-01,-1.48833859e+00]

qfrc_actuator:
[ 2.47662322e-03, 2.76357551e-02, 8.72801785e-03, 1.53693469e-03,
  7.25632011e-05, 2.74018570e-02, 8.73989383e-03, 1.63278752e-03,
 -2.39512039e-03, 2.75733074e-02, 8.86199274e-03, 1.71287673e-03,
  2.25437809e-04,-1.71912844e-03, 0.00000000e+00,-2.32275787e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006360512707238586
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646203, -0.07070443,  0.04968197])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005480353957145329
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886284,  0.01803978,  0.04972598])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005761570345443889
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005352,  0.05582087,  0.04971192])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.19057353e-05,-2.53218092e-05,-2.80005865e-05,-5.15927889e-06,
  5.41433419e-05,-1.05508396e-05, 2.55386653e-05, 1.43888209e-05,
 -3.76730718e-05, 8.05053145e-05,-1.64032180e-05,-4.47680754e-05,
 -2.15234421e-05,-7.01588574e-06, 1.84234862e-05,-1.91494458e-05,
  5.02712327e-06, 1.82598593e-05,-7.84799866e+00, 5.34500295e-03,
 -1.59404075e-01,-1.00072600e-03]


--- Step 1840 ---
qpos:
[-5.40366208e-04, 8.77249161e-01,-2.02562185e-02,-2.75793354e-02,
  7.59357490e-03, 8.64683774e-01,-2.80378704e-02, 9.44052584e-03,
  2.22457104e-02, 8.72972226e-01,-2.02304405e-02, 2.24554575e-02,
  1.37565744e+00,-9.90293464e-03, 1.07201833e+00, 6.10821499e-02,
 -1.46336950e+00,-1.25495581e-02, 6.26171537e-02, 5.26826002e-01,
 -4.54190250e-01,-5.39274442e-01,-4.74709024e-01]

qacc:
[ 3.18519641e-01, 1.13555569e+00,-5.97920785e+00, 1.20453429e+01,
 -2.80199382e-02,-2.74231498e+00, 9.80629845e+00,-1.34999426e+01,
 -1.25213836e-01,-6.95314508e-01, 7.61420122e+00,-2.70737709e+01,
  1.67688534e-02,-2.56019431e-01, 4.24616560e+00,-1.44828033e+01,
 -1.64167490e-02,-1.34422036e-02,-6.04652259e-01,-2.23100003e-02,
  8.95183592e-01,-1.43663850e+00]

qfrc_actuator:
[ 2.50110673e-03, 2.76043450e-02, 8.70577662e-03, 1.55129819e-03,
  4.15990635e-05, 2.73776326e-02, 8.77224259e-03, 1.62388049e-03,
 -2.40014789e-03, 2.75205227e-02, 8.81092531e-03, 1.64914719e-03,
  2.09202017e-04,-1.73961543e-03, 0.00000000e+00,-2.39275847e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0006002949491494269
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646204, -0.07070446,  0.04969985])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005179533740680142
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886284,  0.01803975,  0.04974102])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005479470928666796
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005353,  0.05582085,  0.04972603])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.90755591e-05,-5.15856677e-05,-3.11033119e-05, 1.22104207e-05,
 -5.19604291e-06,-2.42329023e-05, 3.38059272e-05,-8.19690112e-06,
 -2.31426089e-05,-1.30886443e-05,-3.80199981e-05,-6.17206713e-05,
 -2.99926354e-05,-2.71746916e-05, 1.23422535e-06,-6.98700921e-05,
  3.39459847e-06, 1.61286298e-05,-7.84799886e+00, 5.34151594e-03,
 -1.59404836e-01,-1.00051875e-03]


--- Step 1841 ---
qpos:
[-5.39598842e-04, 8.77249580e-01,-2.02568598e-02,-2.75797979e-02,
  7.59441849e-03, 8.64683109e-01,-2.80355980e-02, 9.43918157e-03,
  2.22463015e-02, 8.72971117e-01,-2.02296444e-02, 2.24552022e-02,
  1.37573859e+00,-9.90236225e-03, 1.07222193e+00, 6.10769842e-02,
 -1.46336946e+00,-1.25488455e-02, 6.26446802e-02, 5.26814236e-01,
 -4.54205720e-01,-5.39286801e-01,-4.74693238e-01]

qacc:
[-2.50692698e-01, 1.45210066e+00,-9.35479801e+00, 2.43323269e+01,
 -1.96252010e-02,-3.07383514e+00, 1.38695553e+01,-2.80332874e+01,
  1.15701391e-01,-5.69113502e-01,-2.06542134e+00, 1.02549882e+01,
  2.45981018e-01,-7.28075216e-01,-8.76318539e-01, 2.67814627e+00,
 -1.59030003e-02,-1.31523154e-02,-5.75081624e-01,-2.18335963e-02,
  8.73594634e-01,-1.38716550e+00]

qfrc_actuator:
[ 2.42616575e-03, 2.76031607e-02, 8.71062879e-03, 1.59576321e-03,
  4.04532454e-05, 2.73634832e-02, 8.79048982e-03, 1.58335108e-03,
 -2.36766268e-03, 2.73822345e-02, 8.78028096e-03, 1.66513915e-03,
  1.91215109e-04,-1.76991381e-03, 0.00000000e+00,-2.37856013e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005671213442528036
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646204, -0.07070449,  0.04971644])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004900818340871638
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886285,  0.01803973,  0.04975496])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0005219981091694956
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005353,  0.05582082,  0.049739  ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.65243949e-05,-3.59359396e-05,-9.21015586e-06, 4.14195382e-05,
 -3.62219335e-06,-2.10731539e-05, 1.71137980e-05,-4.05583457e-05,
  2.13505216e-05,-1.56115655e-04,-4.01732212e-05, 1.29141691e-05,
 -4.14556545e-05,-4.37612333e-05,-1.16446708e-05, 9.44945742e-06,
  1.96980627e-06, 1.41771105e-05,-7.84799903e+00, 5.33893606e-03,
 -1.59405528e-01,-1.00036548e-03]


--- Step 1842 ---
qpos:
[-5.39346414e-04, 8.77250063e-01,-2.02573240e-02,-2.75801343e-02,
  7.59541963e-03, 8.64682181e-01,-2.80333767e-02, 9.43774555e-03,
  2.22466449e-02, 8.72969140e-01,-2.02287736e-02, 2.24554312e-02,
  1.37581949e+00,-9.90214526e-03, 1.07242534e+00, 6.10726714e-02,
 -1.46336948e+00,-1.25481850e-02, 6.26700264e-02, 5.26802072e-01,
 -4.54218916e-01,-5.39299483e-01,-4.74679704e-01]

qacc:
[-0.26747113,-0.14848548, 0.12364859, 1.72444662, 0.08280865,-0.39210324,
  1.28270643,-2.59612001,-0.12827233,-0.35764786,-2.43302395,11.33546732,
  0.13672403,-0.52447352,-2.86943713, 9.60055813,-0.01582982,-0.01300888,
 -0.5450947 ,-0.02139651, 0.85902153,-1.37416895]

qfrc_actuator:
[ 2.39893647e-03, 2.76379764e-02, 8.73157429e-03, 1.60436497e-03,
  5.72037025e-05, 2.73376400e-02, 8.78252742e-03, 1.57779728e-03,
 -2.40179901e-03, 2.73714488e-02, 8.79712225e-03, 1.69234016e-03,
  1.77510368e-04,-1.78804163e-03, 0.00000000e+00,-2.33259311e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0005364087475449308
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646205, -0.07070451,  0.0497318 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004643086235401883
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886285,  0.01803971,  0.04976785])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004981946007758531
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005354,  0.0558208 ,  0.0497509 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.96190069e-05, 1.45808082e-05, 1.38257692e-05, 7.55341717e-06,
  1.50242524e-05,-3.58304282e-05,-1.16203435e-05,-6.65409711e-06,
 -2.38835397e-05,-1.05804951e-04,-1.99033918e-05, 1.93725965e-05,
 -4.74491927e-05,-3.83345243e-05,-7.68022330e-06, 4.42304640e-05,
  7.36985856e-07, 1.23948173e-05,-7.84799918e+00, 5.33723256e-03,
 -1.59406154e-01,-1.00026434e-03]


--- Step 1843 ---
qpos:
[-5.38956462e-04, 8.77250609e-01,-2.02575302e-02,-2.75807164e-02,
  7.59603769e-03, 8.64681244e-01,-2.80319872e-02, 9.43731225e-03,
  2.22464721e-02, 8.72967889e-01,-2.02289868e-02, 2.24551671e-02,
  1.37590022e+00,-9.90222554e-03, 1.07262841e+00, 6.10709293e-02,
 -1.46336957e+00,-1.25475763e-02, 6.26933142e-02, 5.26789511e-01,
 -4.54229851e-01,-5.39312487e-01,-4.74668405e-01]

qacc:
[ 7.15837687e-02,-1.14501059e+00, 5.23536650e+00,-9.93842042e+00,
 -2.01677868e-01, 4.36951649e+00,-1.98361082e+01, 3.85337879e+01,
 -2.69152816e-01, 2.97077581e+00,-7.12019493e+00,-2.16345858e-01,
  2.43204973e-01,-6.16261653e-01,-8.28051096e+00, 2.82014753e+01,
 -1.57927500e-02,-1.29680668e-02,-5.14597539e-01,-2.12004833e-02,
  8.52342756e-01,-1.36576447e+00]

qfrc_actuator:
[ 2.43606479e-03, 2.76408806e-02, 8.74422110e-03, 1.59183234e-03,
  1.35010961e-05, 2.73404152e-02, 8.74138691e-03, 1.62835235e-03,
 -2.44002227e-03, 2.74905566e-02, 8.77132866e-03, 1.67277326e-03,
  1.77039567e-04,-1.79879187e-03, 0.00000000e+00,-2.19728381e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000508034183127809
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646205, -0.07070453,  0.04974598])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00044051642064231455
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886286,  0.0180397 ,  0.04977974])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00047641990546764407
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005354,  0.05582079,  0.04976179])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.32555905e-05, 1.42221012e-05, 1.76231909e-05,-1.12818703e-05,
 -3.65558154e-05,-1.99367857e-05,-5.02107901e-05, 4.84882410e-05,
 -4.97311736e-05, 5.66987429e-05,-4.94202978e-05,-2.44111113e-05,
 -3.61595647e-05,-3.11020198e-05,-2.10277846e-06, 1.35997056e-04,
 -3.46009842e-07, 1.07569623e-05,-7.84799930e+00, 5.33639938e-03,
 -1.59406714e-01,-1.00021488e-03]


--- Step 1844 ---
qpos:
[-5.38640100e-04, 8.77251294e-01,-2.02578809e-02,-2.75814258e-02,
  7.59619833e-03, 8.64680600e-01,-2.80318019e-02, 9.43678416e-03,
  2.22461853e-02, 8.72967462e-01,-2.02299480e-02, 2.24535967e-02,
  1.37598063e+00,-9.90219784e-03, 1.07283100e+00, 6.10741503e-02,
 -1.46336971e+00,-1.25470192e-02, 6.27146677e-02, 5.26776576e-01,
 -4.54238565e-01,-5.39325792e-01,-4.74659305e-01]

qacc:
[-3.83792819e-02, 3.25103024e-01,-3.56250712e-01,-1.71628324e+00,
 -2.41122105e-01, 3.55383054e+00,-1.17104163e+01, 1.17832461e+01,
 -6.00761105e-02, 4.91034420e-01, 5.34694436e+00,-2.73701114e+01,
 -2.39349160e-02,-5.32316492e-03,-1.56913524e+01, 5.38755911e+01,
 -1.54600194e-02,-1.28901684e-02,-4.83580755e-01,-2.11476317e-02,
  8.46279612e-01,-1.33480825e+00]

qfrc_actuator:
[ 2.42259803e-03, 2.76423674e-02, 8.73398414e-03, 1.58469294e-03,
 -1.27378378e-05, 2.73602138e-02, 8.68114054e-03, 1.62275181e-03,
 -2.42707213e-03, 2.75443343e-02, 8.73883555e-03, 1.60817673e-03,
  1.68534839e-04,-1.78727890e-03, 0.00000000e+00,-1.93941743e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0004818743641277143
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646205, -0.07070454,  0.04975906])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004185846254631323
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886285,  0.01803968,  0.04979071])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00045655337668972645
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005354,  0.05582077,  0.04977172])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.08828094e-06, 1.25863768e-05,-5.52168729e-06,-6.14046439e-06,
 -4.36404775e-05, 3.65480849e-07,-6.88746667e-05,-7.24826779e-06,
 -1.09733249e-05, 7.42545288e-05,-2.77025137e-05,-6.43487351e-05,
 -3.60183410e-05,-4.50520852e-06, 1.09136697e-05, 2.64429427e-04,
 -1.28636024e-06, 9.24525605e-06,-7.84799939e+00, 5.33643162e-03,
 -1.59407209e-01,-1.00021682e-03]


--- Step 1845 ---
qpos:
[-5.38443933e-04, 8.77252440e-01,-2.02587862e-02,-2.75822282e-02,
  7.59635061e-03, 8.64679992e-01,-2.80317424e-02, 9.43580613e-03,
  2.22459262e-02, 8.72967363e-01,-2.02311629e-02, 2.24512939e-02,
  1.37606080e+00,-9.90207463e-03, 1.07303407e+00, 6.10764092e-02,
 -1.46336992e+00,-1.25465124e-02, 6.27342130e-02, 5.26763305e-01,
 -4.54245142e-01,-5.39339362e-01,-4.74652319e-01]

qacc:
[-6.29548245e-02, 1.96732684e+00,-5.73865170e+00, 4.68056801e+00,
 -4.51186580e-03,-5.27977930e-01, 3.84966468e+00,-1.14624788e+01,
  1.41124347e-02,-3.64134348e-01, 5.02065269e+00,-1.75325285e+01,
 -3.37784068e-01, 4.61741359e-01, 3.63927422e+00,-1.16490452e+01,
 -1.47543014e-02,-1.25873274e-02,-4.52046372e-01,-2.08246627e-02,
  8.27178555e-01,-1.27335245e+00]

qfrc_actuator:
[ 2.41443558e-03, 2.76784074e-02, 8.71031635e-03, 1.58076950e-03,
  7.23425405e-06, 2.73721739e-02, 8.68114644e-03, 1.60190697e-03,
 -2.41911887e-03, 2.75407719e-02, 8.72017297e-03, 1.57083084e-03,
  1.60553806e-04,-1.78044700e-03, 0.00000000e+00,-2.00199551e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00045780486423421807
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646205, -0.07070456,  0.0497711 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00039839216195883265
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886285,  0.01803967,  0.0498008 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004384705711340184
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005354,  0.05582076,  0.04978076])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.15722974e-05, 4.16610530e-05,-2.19629109e-05,-3.69482476e-06,
 -7.97907991e-07,-2.36123158e-06,-8.65071100e-06,-2.33519453e-05,
  2.68188105e-06, 2.94986757e-05,-8.95170653e-06,-3.63702708e-05,
 -2.87910844e-05,-2.85590490e-06, 3.10155057e-05,-4.72305839e-05,
 -2.07049130e-06, 7.85834654e-06,-7.84799947e+00, 5.33730886e-03,
 -1.59407640e-01,-1.00026895e-03]


--- Step 1846 ---
qpos:
[-5.38172212e-04, 8.77253707e-01,-2.02596295e-02,-2.75823799e-02,
  7.59643791e-03, 8.64679011e-01,-2.80307577e-02, 9.43560060e-03,
  2.22460994e-02, 8.72967203e-01,-2.02324910e-02, 2.24496383e-02,
  1.37614099e+00,-9.90245373e-03, 1.07323772e+00, 6.10742627e-02,
 -1.46337018e+00,-1.25460541e-02, 6.27520757e-02, 5.26749748e-01,
 -4.54249699e-01,-5.39353152e-01,-4.74647334e-01]

qacc:
[ 3.92844868e-02, 1.32655139e+00,-7.23780224e+00, 1.82962548e+01,
 -3.33702723e-02,-1.48517455e+00, 1.32087539e+00, 1.08425628e+01,
  2.24598071e-01, 1.56669875e+00,-8.43760267e+00, 1.98678089e+01,
  1.23888552e-01,-5.09270254e-01, 1.41384450e+01,-4.82617041e+01,
 -1.37755268e-02,-1.21115846e-02,-4.20652720e-01,-2.02864167e-02,
  7.98009104e-01,-1.18967422e+00]

qfrc_actuator:
[ 2.42728439e-03, 2.76815435e-02, 8.71456325e-03, 1.61429739e-03,
  1.40898608e-06, 2.73618198e-02, 8.73445953e-03, 1.64331914e-03,
 -2.37875466e-03, 2.75207245e-02, 8.70961357e-03, 1.60304173e-03,
  1.58218303e-04,-1.81195971e-03, 0.00000000e+00,-2.23514758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00043569713076835326
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646204, -0.07070457,  0.04978215])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00037981962308270695
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886285,  0.01803966,  0.04981009])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0004220466143897428
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005353,  0.05582075,  0.04978898])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.28462816e-06, 2.17176915e-05, 1.00162706e-05, 3.44798662e-05,
 -6.20486935e-06,-1.44461154e-05, 5.09571616e-05, 4.05593940e-05,
  4.16575012e-05,-6.94459112e-06,-6.81444534e-06, 3.24626556e-05,
 -1.90577529e-05,-3.89310550e-05, 2.98344414e-06,-2.33195393e-04,
 -2.68894923e-06, 6.61308696e-06,-7.84799952e+00, 5.33899128e-03,
 -1.59408010e-01,-1.00036895e-03]


--- Step 1847 ---
qpos:
[-5.37785659e-04, 8.77254678e-01,-2.02599289e-02,-2.75821085e-02,
  7.59664368e-03, 8.64678077e-01,-2.80295435e-02, 9.43588635e-03,
  2.22465444e-02, 8.72966273e-01,-2.02319836e-02, 2.24493735e-02,
  1.37622098e+00,-9.90290960e-03, 1.07344100e+00, 6.10723665e-02,
 -1.46337050e+00,-1.25456419e-02, 6.27683787e-02, 5.26735958e-01,
 -4.54252377e-01,-5.39367113e-01,-4.74644211e-01]

qacc:
[ 6.01195302e-02,-1.03842806e+00, 1.35423071e+00, 5.30567895e+00,
  6.23787349e-02, 4.31829266e-01,-3.52371097e+00, 1.16254894e+01,
  1.42671772e-01,-3.28302743e+00, 4.35727002e+00, 1.73454405e+01,
 -6.28675467e-02,-3.16873251e-02,-1.30199752e+00, 3.76219380e+00,
 -1.26132392e-02,-1.15162574e-02,-3.89925797e-01,-1.95984842e-02,
  7.61932152e-01,-1.09122903e+00]

qfrc_actuator:
[ 2.43483965e-03, 2.76473409e-02, 8.73516409e-03, 1.63408441e-03,
  1.56705180e-05, 2.73739760e-02, 8.74774580e-03, 1.66778515e-03,
 -2.37261743e-03, 2.74910441e-02, 8.81039294e-03, 1.67589998e-03,
  1.48603249e-04,-1.81266167e-03, 0.00000000e+00,-2.21176330e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00041542153920036407
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646204, -0.07070458,  0.04979229])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00036275095338106356
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886285,  0.01803965,  0.04981862])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00040715855151356173
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005353,  0.05582074,  0.04979642])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.10601322e-05,-1.85372709e-05, 2.75094327e-05, 2.17341263e-05,
  1.13052458e-05, 1.63551756e-05, 1.79854469e-05, 2.64006044e-05,
  2.61783146e-05,-3.35583927e-05, 9.96423335e-05, 7.29606362e-05,
 -3.00436199e-05,-1.42935465e-05,-2.97924957e-05, 9.55448975e-06,
 -3.14574020e-06, 5.51528876e-06,-7.84799956e+00, 5.34142558e-03,
 -1.59408321e-01,-1.00051366e-03]


--- Step 1848 ---
qpos:
[-5.36930661e-04, 8.77255288e-01,-2.02601548e-02,-2.75815602e-02,
  7.59699386e-03, 8.64677513e-01,-2.80290962e-02, 9.43580041e-03,
  2.22464178e-02, 8.72965181e-01,-2.02306433e-02, 2.24492835e-02,
  1.37630069e+00,-9.90289851e-03, 1.07364396e+00, 6.10717142e-02,
 -1.46337085e+00,-1.25452730e-02, 6.27832407e-02, 5.26721995e-01,
 -4.54253327e-01,-5.39381189e-01,-4.74642800e-01]

qacc:
[ 2.43584437e-01,-1.11636310e-01,-1.46044164e+00, 6.39498814e+00,
  7.52232928e-02, 1.86457845e+00,-4.37093517e+00,-1.10582458e+00,
 -2.96403234e-01,-2.18017651e+00, 6.72489175e+00,-4.90941801e+00,
 -4.87336041e-01, 9.14074028e-01,-4.19513904e+00, 1.40666178e+01,
 -1.13384717e-02,-1.08432866e-02,-3.60244230e-01,-1.88116670e-02,
  7.21414743e-01,-9.83898599e-01]

qfrc_actuator:
[ 2.47465456e-03, 2.76088556e-02, 8.72956533e-03, 1.64559426e-03,
  2.40740538e-05, 2.73816148e-02, 8.70183623e-03, 1.64655042e-03,
 -2.44028667e-03, 2.74918225e-02, 8.85180369e-03, 1.68338125e-03,
  1.50616522e-04,-1.77734918e-03, 0.00000000e+00,-2.14386652e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00039684999326638354
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646203, -0.07070459,  0.04980158])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00034707464169559527
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886284,  0.01803965,  0.04982646])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0003936870575928231
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005352,  0.05582073,  0.04980316])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.51316432e-05,-4.22599584e-05,-5.29202240e-06, 1.20901529e-05,
  1.37857311e-05, 2.16435522e-05,-3.94047904e-05,-1.93986746e-05,
 -5.50814168e-05, 5.74290095e-06, 4.92823989e-05, 1.09117708e-05,
 -1.85963540e-05, 2.50792183e-05,-1.51111308e-05, 6.40338255e-05,
 -3.45389153e-06, 4.56199769e-06,-7.84799958e+00, 5.34454953e-03,
 -1.59408576e-01,-1.00069939e-03]


--- Step 1849 ---
qpos:
[-5.35424708e-04, 8.77255840e-01,-2.02605505e-02,-2.75808999e-02,
  7.59709120e-03, 8.64677020e-01,-2.80290704e-02, 9.43478560e-03,
  2.22457830e-02, 8.72964706e-01,-2.02301973e-02, 2.24489587e-02,
  1.37638038e+00,-9.90258764e-03, 1.07384687e+00, 6.10711758e-02,
 -1.46337125e+00,-1.25449446e-02, 6.27967752e-02, 5.26707919e-01,
 -4.54252712e-01,-5.39395326e-01,-4.74642944e-01]

qacc:
[ 3.38157532e-01, 6.28440827e-01,-2.82328663e+00, 5.07352248e+00,
 -1.33154026e-01,-6.40573256e-01, 6.34168434e+00,-2.17976734e+01,
 -2.64817043e-01, 2.82961491e+00,-7.91444793e+00, 4.82476813e+00,
 -2.34115020e-01, 5.31238612e-01,-3.93788329e-01, 1.31940851e+00,
 -1.00070174e-02,-1.01253561e-02,-3.31870007e-01,-1.79649097e-02,
  6.78362974e-01,-8.72274807e-01]

qfrc_actuator:
[ 2.51567306e-03, 2.76212425e-02, 8.72625243e-03, 1.65211469e-03,
 -6.61581234e-06, 2.73684489e-02, 8.67457176e-03, 1.59856172e-03,
 -2.46274201e-03, 2.75283290e-02, 8.80460373e-03, 1.67004839e-03,
  1.64947604e-04,-1.75644630e-03, 0.00000000e+00,-2.13911920e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00038151764959191287
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005351,  0.05582072,  0.04980924])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00037985782459607625
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646203, -0.0707046 ,  0.04981007])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0003326845198669409
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886284,  0.01803964,  0.04983366])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.27267508e-05,-1.18287444e-05,-1.22783799e-05, 4.76195684e-06,
 -2.41250003e-05,-1.00209088e-05,-2.83201650e-05,-4.88027293e-05,
 -4.89594878e-05, 5.03733642e-05,-3.95663123e-05,-1.11684823e-05,
  9.61260931e-06, 2.28439236e-05,-2.88305467e-06, 5.67508604e-06,
 -3.63148576e-06, 3.74468391e-06,-7.84799958e+00, 5.34829553e-03,
 -1.59408781e-01,-1.00092209e-03]


--- Step 1850 ---
qpos:
[-5.33913304e-04, 8.77256898e-01,-2.02612333e-02,-2.75809224e-02,
  7.59687642e-03, 8.64676315e-01,-2.80287228e-02, 9.43318861e-03,
  2.22449540e-02, 8.72964679e-01,-2.02303290e-02, 2.24488222e-02,
  1.37646013e+00,-9.90182861e-03, 1.07404972e+00, 6.10706865e-02,
 -1.46337168e+00,-1.25446538e-02, 6.28090899e-02, 5.26693791e-01,
 -4.54250693e-01,-5.39409468e-01,-4.74644482e-01]

qacc:
[ 2.45382494e-03, 6.24884780e-02, 3.62065470e+00,-1.53348829e+01,
 -1.63697754e-01,-2.37434856e+00, 1.05200055e+01,-2.09581151e+01,
 -1.01446805e-01, 2.59359723e+00,-9.18274335e+00, 1.30344970e+01,
 -2.85624395e-01, 7.34849450e-01,-2.09518317e-01, 6.62990951e-01,
 -8.66214873e-03,-9.38764583e-03,-3.04973599e-01,-1.70877131e-02,
  6.34231709e-01,-7.59895263e-01]

qfrc_actuator:
[ 2.48603332e-03, 2.76817463e-02, 8.72452482e-03, 1.62019034e-03,
 -2.49169575e-05, 2.73607043e-02, 8.69396088e-03, 1.57073174e-03,
 -2.45790377e-03, 2.75500526e-02, 8.77664186e-03, 1.68007211e-03,
  1.81330243e-04,-1.72645615e-03, 0.00000000e+00,-2.13612373e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003705415037757176
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005351,  0.05582071,  0.04981473])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00036432513661724397
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646202, -0.0707046 ,  0.04981784])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00031948025418273435
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886283,  0.01803964,  0.04984026])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.38244500e-07, 5.15513934e-05,-5.52207839e-06,-3.27651015e-05,
 -2.97837455e-05,-2.12777142e-05, 1.21465676e-05,-3.01867904e-05,
 -1.87127870e-05, 4.12420856e-05,-2.28169547e-05, 1.05970765e-05,
  2.67930532e-05, 3.80539575e-05,-4.41637319e-06, 2.07061706e-06,
 -3.69877841e-06, 3.05161228e-06,-7.84799958e+00, 5.35259335e-03,
 -1.59408939e-01,-1.00117757e-03]


--- Step 1851 ---
qpos:
[-5.33142730e-04, 8.77257933e-01,-2.02609468e-02,-2.75810024e-02,
  7.59621489e-03, 8.64675236e-01,-2.80286980e-02, 9.43271769e-03,
  2.22444349e-02, 8.72964311e-01,-2.02305081e-02, 2.24495630e-02,
  1.37653988e+00,-9.90087709e-03, 1.07425226e+00, 6.10722314e-02,
 -1.46337215e+00,-1.25443976e-02, 6.28202859e-02, 5.26679667e-01,
 -4.54247429e-01,-5.39423564e-01,-4.74647258e-01]

qacc:
[-3.84336452e-01,-2.85500523e+00, 1.03784311e+01,-1.29036936e+01,
 -2.34666302e-01, 2.72150443e+00,-1.51787201e+01, 3.54637561e+01,
  1.61167467e-01, 1.48452645e+00,-9.65401639e+00, 2.51654994e+01,
 -1.30734963e-02, 1.50521992e-01,-6.60033839e+00, 2.24291660e+01,
 -7.33688357e-03,-8.64927910e-03,-2.79654409e-01,-1.62021066e-02,
  5.90114714e-01,-6.49438947e-01]

qfrc_actuator:
[ 2.41438374e-03, 2.76818172e-02, 8.77719151e-03, 1.61920708e-03,
 -5.33770975e-05, 2.73209613e-02, 8.66975699e-03, 1.62603238e-03,
 -2.41904736e-03, 2.74918174e-02, 8.76026414e-03, 1.72153326e-03,
  1.66982529e-04,-1.72678721e-03, 0.00000000e+00,-2.02764441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003606559639462159
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900535 ,  0.05582071,  0.04981967])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0003501377112441681
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646201, -0.07070461,  0.04982493])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0003073676001340703
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886282,  0.01803963,  0.04984632])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.13856483e-05, 2.63317293e-05, 6.14944420e-05, 3.92989983e-07,
 -4.26382380e-05,-5.04128154e-05,-2.81408922e-05, 5.42252713e-05,
  2.98576549e-05,-3.94336629e-05,-1.03021678e-05, 4.26458260e-05,
  9.16144356e-06, 1.55143207e-05,-5.37412436e-06, 1.07185189e-04,
 -3.67620976e-06, 2.46954024e-06,-7.84799957e+00, 5.35737229e-03,
 -1.59409055e-01,-1.00146163e-03]


--- Step 1852 ---
qpos:
[-5.32620611e-04, 8.77258910e-01,-2.02602662e-02,-2.75803584e-02,
  7.59535335e-03, 8.64673927e-01,-2.80289906e-02, 9.43254907e-03,
  2.22444912e-02, 8.72963608e-01,-2.02305149e-02, 2.24500888e-02,
  1.37661927e+00,-9.89943743e-03, 1.07445522e+00, 6.10710236e-02,
 -1.46337263e+00,-1.25441730e-02, 6.28304581e-02, 5.26665604e-01,
 -4.54243077e-01,-5.39437562e-01,-4.74651119e-01]

qacc:
[-1.28803181e-01, 3.13296742e-01,-4.27745452e+00, 1.62030236e+01,
 -1.05156282e-01, 1.20469105e+00,-6.01245229e+00, 1.19224019e+01,
  2.99217365e-01,-1.36552854e+00, 5.13407180e+00,-8.88216809e+00,
 -8.24836452e-01, 1.38248676e+00, 8.99120376e+00,-3.04259696e+01,
 -6.05587406e-03,-7.92451294e-03,-2.55957305e-01,-1.53242473e-02,
  5.46818409e-01,-5.42888611e-01]

qfrc_actuator:
[ 2.42478816e-03, 2.76637061e-02, 8.79034266e-03, 1.65418881e-03,
 -5.21678850e-05, 2.73155248e-02, 8.65541840e-03, 1.64097286e-03,
 -2.37795920e-03, 2.74749811e-02, 8.76829011e-03, 1.71008204e-03,
  1.28873502e-04,-1.70972930e-03, 0.00000000e+00,-2.17742683e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003517648098509407
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005349,  0.05582071,  0.04982412])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000337187574834856
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646201, -0.07070461,  0.04983141])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00029625847749206735
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886282,  0.01803963,  0.04985187])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.39419745e-05, 9.29215435e-06, 2.61678268e-05, 3.82434149e-05,
 -1.90913868e-05,-3.70938149e-05,-2.63311209e-05, 1.28649997e-05,
  5.54483048e-05,-3.91762756e-05, 8.99671664e-08,-1.26684337e-05,
 -2.95435135e-05, 2.31471014e-05, 6.41431330e-06,-1.45220251e-04,
 -3.58311830e-06, 1.98488609e-06,-7.84799956e+00, 5.36256284e-03,
 -1.59409132e-01,-1.00177011e-03]


--- Step 1853 ---
qpos:
[-5.31785590e-04, 8.77260465e-01,-2.02601805e-02,-2.75800040e-02,
  7.59459500e-03, 8.64672810e-01,-2.80290605e-02, 9.43143244e-03,
  2.22447079e-02, 8.72962843e-01,-2.02299494e-02, 2.24497194e-02,
  1.37669839e+00,-9.89775416e-03, 1.07465865e+00, 6.10643617e-02,
 -1.46337314e+00,-1.25439774e-02, 6.28396947e-02, 5.26651654e-01,
 -4.54237784e-01,-5.39451415e-01,-4.74655920e-01]

qacc:
[ 1.62009219e-01, 1.82997358e+00,-4.19577421e+00,-2.82682155e-01,
  5.42151728e-02,-2.31763574e+00, 1.26359101e+01,-2.95442429e+01,
  8.36421776e-02,-3.52162661e+00, 1.62190055e+01,-3.25836698e+01,
 -7.10421074e-01, 1.09192812e+00, 1.71990997e+01,-5.90766976e+01,
 -4.83698217e-03,-7.22371602e-03,-2.33885935e-01,-1.44657108e-02,
  5.04921955e-01,-4.41665483e-01]

qfrc_actuator:
[ 2.46647630e-03, 2.77057420e-02, 8.76221942e-03, 1.63898067e-03,
 -3.32251066e-05, 2.73661818e-02, 8.68262801e-03, 1.59656532e-03,
 -2.38917940e-03, 2.75008668e-02, 8.80851037e-03, 1.66762466e-03,
  1.13821814e-04,-1.70036331e-03, 0.00000000e+00,-2.46044051e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003437783419417556
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005348,  0.0558207 ,  0.04982811])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0003253733015423019
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.446462  , -0.07070462,  0.04983731])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00028607091144464136
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886281,  0.01803963,  0.04985696])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.01663838e-05, 5.42392500e-05,-2.16713142e-05,-1.31632814e-05,
  9.85168625e-06, 2.50596032e-05, 1.67628449e-05,-4.66547560e-05,
  1.54530870e-05, 3.47679729e-06, 3.17051627e-05,-4.43802145e-05,
 -2.64196690e-05, 8.28568223e-06,-1.85637587e-05,-2.91506782e-04,
 -3.43698289e-06, 1.58449365e-06,-7.84799955e+00, 5.36809788e-03,
 -1.59409174e-01,-1.00209901e-03]


--- Step 1854 ---
qpos:
[-5.30729973e-04, 8.77261883e-01,-2.02596002e-02,-2.75798177e-02,
  7.59400734e-03, 8.64672266e-01,-2.80298425e-02, 9.42946188e-03,
  2.22447458e-02, 8.72962048e-01,-2.02298166e-02, 2.24499453e-02,
  1.37677768e+00,-9.89681760e-03, 1.07486130e+00, 6.10597008e-02,
 -1.46337366e+00,-1.25438080e-02, 6.28480777e-02, 5.26637863e-01,
 -4.54231690e-01,-5.39465080e-01,-4.74661522e-01]

qacc:
[ 1.14963374e-01,-1.91058248e+00, 7.25446818e+00,-1.08484949e+01,
  8.89640011e-02, 9.88778429e-01, 1.17919360e+00,-1.52414069e+01,
 -9.31252576e-02, 2.39367345e+00,-1.11066369e+01, 2.21251781e+01,
  8.36290173e-01,-1.64553127e+00,-7.25365908e+00, 2.35682132e+01,
 -3.69259203e-03,-6.55416907e-03,-2.13413371e-01,-1.36345264e-02,
  4.64826026e-01,-3.46740809e-01]

qfrc_actuator:
[ 2.47321480e-03, 2.76767360e-02, 8.78117344e-03, 1.62988775e-03,
 -2.16180080e-05, 2.73969079e-02, 8.64559020e-03, 1.55318362e-03,
 -2.41384703e-03, 2.74812364e-02, 8.77881502e-03, 1.69609304e-03,
  1.17933941e-04,-1.74882109e-03, 0.00000000e+00,-2.34026945e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003366133277558428
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005347,  0.0558207 ,  0.04983169])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0003146001169721316
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646199, -0.07070462,  0.0498427 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00027672887622358366
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4488628 ,  0.01803962,  0.04986164])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.12563718e-05,-3.75139264e-06, 2.70155335e-05,-7.78156022e-06,
  1.62996308e-05, 4.62320931e-05,-3.14007613e-05,-4.26326127e-05,
 -1.72329117e-05,-1.30228748e-05,-2.66052009e-05, 2.88514154e-05,
 -9.51574402e-06,-5.21790635e-05,-4.56408370e-05, 1.00482412e-04,
 -3.25304737e-06, 1.25609882e-06,-7.84799954e+00, 5.37391357e-03,
 -1.59409187e-01,-1.00244452e-03]


--- Step 1855 ---
qpos:
[-5.29531917e-04, 8.77262812e-01,-2.02591160e-02,-2.75800001e-02,
  7.59357540e-03, 8.64672018e-01,-2.80313209e-02, 9.42771273e-03,
  2.22445451e-02, 8.72961121e-01,-2.02305450e-02, 2.24505546e-02,
  1.37685700e+00,-9.89644836e-03, 1.07506307e+00, 6.10611160e-02,
 -1.46337419e+00,-1.25436622e-02, 6.28556827e-02, 5.26624274e-01,
 -4.54224925e-01,-5.39478519e-01,-4.74667798e-01]

qacc:
[ 7.41022004e-02,-1.13616247e+00, 4.66776245e+00,-1.05297329e+01,
  8.12617032e-02, 2.78800665e+00,-1.03124558e+01, 1.50447525e+01,
 -1.24447950e-01, 3.01808021e+00,-1.26350185e+01, 2.07437729e+01,
  8.28589001e-01,-1.56240110e+00,-1.96946574e+01, 6.69004794e+01,
 -2.63070128e-03,-5.92071832e-03,-1.94490573e-01,-1.28360022e-02,
  4.26792237e-01,-2.58728025e-01]

qfrc_actuator:
[ 2.47670330e-03, 2.76055904e-02, 8.75651169e-03, 1.60670569e-03,
 -1.45211080e-05, 2.73974640e-02, 8.60635491e-03, 1.56396045e-03,
 -2.42855549e-03, 2.74520413e-02, 8.72569907e-03, 1.71272647e-03,
  1.17537736e-04,-1.77782235e-03, 0.00000000e+00,-2.01896613e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00033019284619973527
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005346,  0.0558207 ,  0.0498349 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0003047798525129819
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646198, -0.07070462,  0.04984761])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002681620700095977
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4488628 ,  0.01803962,  0.04986592])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.37117711e-05,-6.80350184e-05,-2.23946207e-05,-2.25630728e-05,
  1.48615149e-05, 1.81204877e-05,-3.50183568e-05, 1.08457225e-05,
 -2.30033006e-05,-4.07210154e-05,-5.80798709e-05, 1.57170947e-05,
 -1.85924265e-05,-4.36412901e-05,-1.05710560e-05, 3.20852158e-04,
 -3.04421030e-06, 9.88582166e-07,-7.84799953e+00, 5.37994998e-03,
 -1.59409172e-01,-1.00280308e-03]


--- Step 1856 ---
qpos:
[-5.28433688e-04, 8.77263306e-01,-2.02594312e-02,-2.75811057e-02,
  7.59326322e-03, 8.64671316e-01,-2.80327106e-02, 9.42683943e-03,
  2.22443245e-02, 8.72960021e-01,-2.02310869e-02, 2.24512911e-02,
  1.37693622e+00,-9.89621001e-03, 1.07526534e+00, 6.10613020e-02,
 -1.46337473e+00,-1.25435378e-02, 6.28625795e-02, 5.26610928e-01,
 -4.54217609e-01,-5.39491696e-01,-4.74674630e-01]

qacc:
[-5.22525823e-02,-2.44381976e-01, 3.92401126e+00,-1.82843099e+01,
  6.31693387e-02, 9.54938640e-01,-7.97300909e+00, 2.33254386e+01,
 -1.01711180e-02,-4.86946336e-01, 8.67850579e-01, 1.16377801e+00,
 -6.75677756e-02,-2.63504506e-02, 4.43942504e+00,-1.44728874e+01,
 -1.65582662e-03,-5.32630720e-03,-1.77053069e-01,-1.20733804e-02,
  3.90974879e-01,-1.77958709e-01]

qfrc_actuator:
[ 2.46047908e-03, 2.75628241e-02, 8.70607335e-03, 1.55758540e-03,
 -1.01836187e-05, 2.73444621e-02, 8.60157558e-03, 1.60649863e-03,
 -2.41940449e-03, 2.74704799e-02, 8.74789545e-03, 1.72223283e-03,
  1.19768455e-04,-1.77727778e-03, 0.00000000e+00,-2.09668543e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003244460586280251
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005345,  0.05582069,  0.04983778])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00029583079041165666
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646198, -0.07070462,  0.04985208])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002603056436646309
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886279,  0.01803962,  0.04986985])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.63660973e-06,-8.64257923e-05,-6.80392448e-05,-5.32487311e-05,
  1.14134133e-05,-4.96149030e-05,-4.96015235e-06, 4.23186439e-05,
 -1.92379500e-06,-1.56318088e-05, 7.18664324e-06, 6.05923925e-06,
 -1.82792638e-05,-1.45151587e-05, 2.92177186e-05,-6.15881169e-05,
 -2.82108919e-06, 7.72073182e-07,-7.84799953e+00, 5.38615146e-03,
 -1.59409135e-01,-1.00317137e-03]


--- Step 1857 ---
qpos:
[-5.27304286e-04, 8.77263440e-01,-2.02598853e-02,-2.75828465e-02,
  7.59284980e-03, 8.64670219e-01,-2.80343814e-02, 9.42615650e-03,
  2.22439679e-02, 8.72959322e-01,-2.02313498e-02, 2.24517084e-02,
  1.37701510e+00,-9.89521012e-03, 1.07546802e+00, 6.10582570e-02,
 -1.46337527e+00,-1.25434324e-02, 6.28688322e-02, 5.26597857e-01,
 -4.54209853e-01,-5.39504580e-01,-4.74681909e-01]

qacc:
[ 1.62063464e-02,-1.39705505e+00, 6.96419471e+00,-1.74568557e+01,
 -5.31980897e-02, 6.52766952e-01,-3.89187056e+00, 7.92884760e+00,
 -7.06399872e-02,-9.05684777e-01, 5.34748067e+00,-1.16143798e+01,
 -1.03906731e+00, 1.88129506e+00, 1.04427150e+01,-3.54799894e+01,
 -7.69752841e-04,-4.77240737e-03,-1.61026183e-01,-1.13483536e-02,
  3.57446364e-01,-1.04544973e-01]

qfrc_actuator:
[ 2.46811779e-03, 2.75727332e-02, 8.71192129e-03, 1.52910935e-03,
 -2.52807365e-05, 2.73132134e-02, 8.58145805e-03, 1.61409271e-03,
 -2.43156631e-03, 2.75353446e-02, 8.77907085e-03, 1.70981306e-03,
  1.18260116e-04,-1.72370995e-03, 0.00000000e+00,-2.26692223e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003193079295618559
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005345,  0.05582069,  0.04984035])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00028767743125836936
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646197, -0.07070462,  0.04985616])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002530999007814144
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886279,  0.01803962,  0.04987345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.99286171e-06,-5.47579993e-05,-2.22240558e-05,-3.55651529e-05,
 -9.67150802e-06,-5.81730073e-05,-2.94931330e-05, 6.12472065e-06,
 -1.30920398e-05, 5.78958217e-05, 2.90531364e-05,-1.27217253e-05,
 -1.51891699e-05, 4.58082334e-05, 7.59563013e-07,-1.71268205e-04,
 -2.59219127e-06, 5.97955641e-07,-7.84799953e+00, 5.39246689e-03,
 -1.59409077e-01,-1.00354637e-03]


--- Step 1858 ---
qpos:
[-5.26117287e-04, 8.77263436e-01,-2.02601751e-02,-2.75846209e-02,
  7.59210954e-03, 8.64668770e-01,-2.80360865e-02, 9.42658327e-03,
  2.22432882e-02, 8.72958806e-01,-2.02312254e-02, 2.24530293e-02,
  1.37709365e+00,-9.89331664e-03, 1.07567027e+00, 6.10565499e-02,
 -1.46337581e+00,-1.25433441e-02, 6.28744996e-02, 5.26585092e-01,
 -4.54201756e-01,-5.39517145e-01,-4.74689535e-01]

qacc:
[ 3.00733059e-02,-7.09945763e-01, 2.40920427e+00,-3.15269890e+00,
 -1.71511867e-01, 1.91409770e+00,-1.21840921e+01, 3.17058381e+01,
 -1.67608501e-01, 1.01825420e+00,-7.09621090e+00, 2.19818472e+01,
 -8.33837308e-01, 1.68025229e+00,-4.61541938e+00, 1.53591463e+01,
  2.78499234e-05,-4.25936683e-03,-1.46329089e-01,-1.06614700e-02,
  3.26217518e-01,-3.84305174e-02]

qfrc_actuator:
[ 2.47223055e-03, 2.75965942e-02, 8.73344770e-03, 1.53085379e-03,
 -5.18655354e-05, 2.73128938e-02, 8.58797718e-03, 1.67206601e-03,
 -2.45639179e-03, 2.75387968e-02, 8.79771377e-03, 1.75564370e-03,
  1.09208514e-04,-1.67467350e-03, 0.00000000e+00,-2.18838150e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00031471891496237525
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005344,  0.05582069,  0.04984264])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00028025020870847683
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646196, -0.07070462,  0.04985987])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002464899824568545
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886278,  0.01803962,  0.04987676])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.54731050e-06,-1.28684356e-05, 6.25439334e-06,-2.05790324e-06,
 -3.11948523e-05,-3.86381315e-05,-8.89406879e-06, 5.45847351e-05,
 -3.11195213e-05, 4.12985206e-05, 3.37468108e-05, 4.90704183e-05,
 -7.19525371e-06, 5.69529092e-05,-2.38667399e-05, 6.79188659e-05,
 -2.36414202e-06, 4.58810392e-07,-7.84799953e+00, 5.39884972e-03,
 -1.59409002e-01,-1.00392530e-03]


--- Step 1859 ---
qpos:
[-5.25066468e-04, 8.77263273e-01,-2.02602594e-02,-2.75856711e-02,
  7.59123768e-03, 8.64667149e-01,-2.80372130e-02, 9.42728956e-03,
  2.22424879e-02, 8.72957536e-01,-2.02307409e-02, 2.24563939e-02,
  1.37717216e+00,-9.89156758e-03, 1.07587225e+00, 6.10564156e-02,
 -1.46337635e+00,-1.25432710e-02, 6.28796355e-02, 5.26572658e-01,
 -4.54193410e-01,-5.39529369e-01,-4.74697421e-01]

qacc:
[-7.05456586e-02, 7.07752580e-01,-5.87760875e+00, 1.81835503e+01,
 -6.86890687e-02,-1.26811981e+00, 3.01074545e+00, 1.02781155e+00,
 -6.21136344e-02, 2.20080881e+00,-1.79256488e+01, 5.32806111e+01,
  1.85294301e-01,-3.74061334e-01,-5.15141146e+00, 1.74277136e+01,
  7.38919507e-04,-3.78668978e-03,-1.32877919e-01,-1.00124494e-02,
  2.97253691e-01, 2.05677744e-02]

qfrc_actuator:
[ 2.45643621e-03, 2.75932423e-02, 8.74638094e-03, 1.56813569e-03,
 -4.95715738e-05, 2.73312444e-02, 8.62809644e-03, 1.68826082e-03,
 -2.45306879e-03, 2.74344491e-02, 8.79086481e-03, 1.85308215e-03,
  9.03162649e-05,-1.69980307e-03, 0.00000000e+00,-2.10587163e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003106246319712416
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005343,  0.05582069,  0.04984469])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002734851707365052
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646195, -0.07070463,  0.04986326])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00024042554692295381
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886278,  0.01803962,  0.04987979])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.31264308e-05,-9.34072312e-06, 1.09791595e-05, 3.69104598e-05,
 -1.25587963e-05,-2.70963308e-06, 3.29574830e-05, 1.52986039e-05,
 -1.16471778e-05,-7.21764068e-05, 7.53751167e-06, 1.01330022e-04,
 -9.81972137e-06,-1.26869055e-05,-6.03472923e-06, 8.26381060e-05,
 -2.14193711e-06, 3.48321794e-07,-7.84799953e+00, 5.40525799e-03,
 -1.59408913e-01,-1.00430567e-03]


--- Step 1860 ---
qpos:
[-5.24183043e-04, 8.77263100e-01,-2.02605108e-02,-2.75862600e-02,
  7.59032196e-03, 8.64665833e-01,-2.80382729e-02, 9.42712147e-03,
  2.22414700e-02, 8.72956267e-01,-2.02310272e-02, 2.24595015e-02,
  1.37725087e+00,-9.89085736e-03, 1.07607431e+00, 6.10559089e-02,
 -1.46337688e+00,-1.25432112e-02, 6.28842891e-02, 5.26560577e-01,
 -4.54184896e-01,-5.39541233e-01,-4.74705486e-01]

qacc:
[-8.70560925e-02, 1.40521770e+00,-6.97025194e+00, 1.52186325e+01,
 -2.31486728e-02,-1.57891085e+00, 9.91046876e+00,-2.53782658e+01,
 -1.13597309e-01, 1.62575301e+00,-4.70944786e+00, 1.49216417e+00,
  9.06523964e-01,-1.93101462e+00, 1.16984678e+00,-4.08129514e+00,
  1.36658798e-03,-3.35326041e-03,-1.20588112e-01,-9.40042632e-03,
  2.70487468e-01, 7.27261067e-02]

qfrc_actuator:
[ 2.44662099e-03, 2.75913920e-02, 8.73629863e-03, 1.59049039e-03,
 -4.77674850e-05, 2.73607598e-02, 8.63451884e-03, 1.64426959e-03,
 -2.46843512e-03, 2.74438117e-02, 8.75084022e-03, 1.83796255e-03,
  8.14817029e-05,-1.76875168e-03, 0.00000000e+00,-2.12826620e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030697552079543555
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005342,  0.05582069,  0.04984651])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002673236422602518
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646195, -0.07070463,  0.04986634])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002348604515596195
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886277,  0.01803962,  0.04988257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.61321649e-05,-3.22399455e-06,-9.37847493e-06, 2.30558364e-05,
 -4.17428865e-06, 3.55073715e-05, 1.04738621e-05,-4.26655847e-05,
 -2.09824633e-05,-2.50805970e-05,-5.04968922e-05,-1.59834810e-05,
 -1.75006241e-05,-7.42310943e-05, 3.26868196e-06,-1.93032713e-05,
 -1.92919522e-06, 2.61165998e-07,-7.84799954e+00, 5.41165423e-03,
 -1.59408811e-01,-1.00468527e-03]


--- Step 1861 ---
qpos:
[-5.23812348e-04, 8.77262956e-01,-2.02608394e-02,-2.75876233e-02,
  7.58958693e-03, 8.64664777e-01,-2.80394873e-02, 9.42575863e-03,
  2.22406257e-02, 8.72954564e-01,-2.02315894e-02, 2.24613904e-02,
  1.37732954e+00,-9.89047000e-03, 1.07627615e+00, 6.10568119e-02,
 -1.46337740e+00,-1.25431633e-02, 6.28885051e-02, 5.26548864e-01,
 -4.54176285e-01,-5.39552721e-01,-4.74713658e-01]

qacc:
[-2.66505649e-01,-1.34132508e+00, 8.09909242e+00,-2.13832311e+01,
  9.46489854e-02,-1.68391230e+00, 1.15462088e+01,-3.21707200e+01,
  9.01618758e-02,-2.30868749e+00, 1.25474936e+01,-3.28820865e+01,
  2.94630817e-01,-6.57467167e-01,-4.61309215e+00, 1.56033037e+01,
  1.91484560e-03,-2.95752097e-03,-1.09376159e-01,-8.82413799e-03,
  2.45828637e-01, 1.18386589e-01]

qfrc_actuator:
[ 2.40497366e-03, 2.75903565e-02, 8.73045007e-03, 1.55060402e-03,
 -2.85398056e-05, 2.73610587e-02, 8.62100370e-03, 1.58296145e-03,
 -2.44161185e-03, 2.73966782e-02, 8.72740250e-03, 1.77454404e-03,
  8.93141773e-05,-1.77427637e-03, 0.00000000e+00,-2.05251367e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00030372650681191604
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005341,  0.05582069,  0.04984814])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00026171188040011173
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646194, -0.07070463,  0.04986914])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00022975244274903162
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886277,  0.01803962,  0.04988512])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.94091937e-05,-3.78506124e-06,-6.86794905e-06,-3.98981686e-05,
  1.72457874e-05, 2.05284998e-05,-6.34899736e-06,-6.02508873e-05,
  1.67230205e-05,-7.22505471e-05,-3.53847623e-05,-6.65538515e-05,
 -1.97270906e-05,-2.76046425e-05,-4.56737271e-06, 7.41646328e-05,
 -1.72839721e-06, 1.92893387e-07,-7.84799956e+00, 5.41800523e-03,
 -1.59408700e-01,-1.00506212e-03]


--- Step 1862 ---
qpos:
[-5.24130259e-04, 8.77262980e-01,-2.02612994e-02,-2.75898131e-02,
  7.58887461e-03, 8.64664229e-01,-2.80407387e-02, 9.42397675e-03,
  2.22404029e-02, 8.72952014e-01,-2.02322958e-02, 2.24632403e-02,
  1.37740787e+00,-9.88942116e-03, 1.07647788e+00, 6.10589310e-02,
 -1.46337792e+00,-1.25431258e-02, 6.28923245e-02, 5.26537535e-01,
 -4.54167641e-01,-5.39563823e-01,-4.74721876e-01]

qacc:
[-3.57971538e-01,-1.11477009e+00, 7.77524008e+00,-2.19739055e+01,
  1.17017347e-02,-8.70761981e-02, 3.05481701e+00,-1.06226460e+01,
  3.23130464e-01,-7.96868487e-01, 1.38134849e+00,-1.20163986e+00,
 -6.76735446e-01, 1.29871115e+00,-3.78310089e+00, 1.31133164e+01,
  2.38826974e-03,-2.59761236e-03,-9.91608683e-02,-8.28206582e-03,
  2.23171937e-01, 1.57935466e-01]

qfrc_actuator:
[ 2.36239199e-03, 2.76075277e-02, 8.72711870e-03, 1.50992954e-03,
 -3.45702273e-05, 2.74147632e-02, 8.63122566e-03, 1.56519118e-03,
 -2.38977911e-03, 2.73338343e-02, 8.71373037e-03, 1.77197390e-03,
  9.11842807e-05,-1.72429451e-03, 0.00000000e+00,-1.99051649e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0003008366688859315
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005341,  0.05582069,  0.04984958])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002566007307912149
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646194, -0.07070463,  0.0498717 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00022506285740769155
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886276,  0.01803962,  0.04988747])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.63536087e-05, 1.19301594e-05,-6.33362732e-06,-4.18477677e-05,
  2.18123221e-06, 6.13299246e-05, 1.16138151e-05,-1.82779659e-05,
  5.98681662e-05,-1.13364955e-04,-3.52434975e-05,-8.18586892e-06,
 -1.58099889e-05, 3.87296027e-05, 2.85775394e-06, 6.47694514e-05,
 -1.54110364e-06, 1.39813138e-07,-7.84799957e+00, 5.42428191e-03,
 -1.59408581e-01,-1.00543450e-03]


--- Step 1863 ---
qpos:
[-5.24486325e-04, 8.77263195e-01,-2.02621620e-02,-2.75917669e-02,
  7.58795182e-03, 8.64664570e-01,-2.80418465e-02, 9.42262332e-03,
  2.22406145e-02, 8.72949014e-01,-2.02327675e-02, 2.24646220e-02,
  1.37748607e+00,-9.88807896e-03, 1.07667966e+00, 6.10610998e-02,
 -1.46337842e+00,-1.25430974e-02, 6.28957844e-02, 5.26526599e-01,
 -4.54159019e-01,-5.39574530e-01,-4.74730084e-01]

qacc:
[-2.01271196e-02, 1.86277169e+00,-7.26917533e+00, 1.18509637e+01,
 -1.10746565e-01, 1.65380210e+00,-6.00225856e+00, 1.25359095e+01,
  2.25988185e-01,-2.21426517e+00, 9.00813986e+00,-1.71566193e+01,
 -3.30182899e-01, 6.19764563e-01,-5.34481081e-02, 3.46138210e-01,
  2.79180778e-03,-2.27148435e-03,-8.98642553e-02,-7.77254220e-03,
  2.02403038e-01, 1.91785829e-01]

qfrc_actuator:
[ 2.39064121e-03, 2.76177205e-02, 8.70763008e-03, 1.52240193e-03,
 -5.56698084e-05, 2.75001579e-02, 8.65563423e-03, 1.59099846e-03,
 -2.37671589e-03, 2.73509139e-02, 8.74140131e-03, 1.75196259e-03,
  8.41781014e-05,-1.71287445e-03, 0.00000000e+00,-1.99040079e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029826891824066143
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900534 ,  0.05582069,  0.04985087])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002519452911077108
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646193, -0.07070463,  0.04987403])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00022075633876780104
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886276,  0.01803962,  0.04988962])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.67362796e-06, 1.37638923e-05,-1.92455217e-05, 1.19537435e-05,
 -2.00537565e-05, 1.21330436e-04, 3.78901145e-05, 2.84864771e-05,
  4.18503596e-05,-5.38743001e-05,-3.47856110e-07,-2.62471751e-05,
 -6.76118244e-06, 1.72638320e-05, 4.48334866e-06, 3.16190268e-06,
 -1.36814655e-06, 9.88847669e-08,-7.84799959e+00, 5.43045905e-03,
 -1.59408456e-01,-1.00580093e-03]


--- Step 1864 ---
qpos:
[-5.24867260e-04, 8.77263132e-01,-2.02628058e-02,-2.75931936e-02,
  7.58717361e-03, 8.64665445e-01,-2.80427739e-02, 9.42128664e-03,
  2.22409284e-02, 8.72945943e-01,-2.02322679e-02, 2.24653055e-02,
  1.37756423e+00,-9.88705350e-03, 1.07688117e+00, 6.10652619e-02,
 -1.46337891e+00,-1.25430768e-02, 6.28989187e-02, 5.26516063e-01,
 -4.54150469e-01,-5.39584837e-01,-4.74738234e-01]

qacc:
[-1.26693526e-02, 1.08717812e-01,-3.13737753e+00, 1.21004575e+01,
  7.58661914e-02, 2.36110764e-01, 1.11799508e-01,-5.03246061e-01,
  5.37559815e-02,-4.24037835e+00, 1.79349901e+01,-3.15201834e+01,
  3.34345487e-01,-7.05379429e-01,-6.43757909e+00, 2.18944309e+01,
  3.13060489e-03,-1.97698114e-03,-8.14121341e-02,-7.29382916e-03,
  1.83403097e-01, 2.20364001e-01]

qfrc_actuator:
[ 2.39000344e-03, 2.75881307e-02, 8.71427616e-03, 1.54827796e-03,
 -3.23289013e-05, 2.74974672e-02, 8.65288374e-03, 1.58901450e-03,
 -2.38697588e-03, 2.73981380e-02, 8.81130967e-03, 1.72193151e-03,
  6.65155696e-05,-1.74224058e-03, 0.00000000e+00,-1.88471293e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029598969090932625
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005339,  0.05582069,  0.04985201])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00024770458618032787
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646193, -0.07070463,  0.04987615])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021680056800361946
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886275,  0.01803962,  0.0498916 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.40318500e-06,-2.53512477e-05, 7.53967805e-06, 2.60359951e-05,
  1.38103621e-05, 7.42005302e-05, 2.79704248e-05, 5.08368277e-06,
  9.86396750e-06, 1.59789050e-05, 5.78539711e-05,-3.28601967e-05,
 -1.75737649e-05,-2.65848702e-05,-1.83005523e-06, 1.05448499e-04,
 -1.20979447e-06, 6.76192952e-08,-7.84799961e+00, 5.43651505e-03,
 -1.59408327e-01,-1.00616012e-03]


--- Step 1865 ---
qpos:
[-5.25446558e-04, 8.77262568e-01,-2.02629430e-02,-2.75942898e-02,
  7.58661359e-03, 8.64666002e-01,-2.80433014e-02, 9.42037833e-03,
  2.22412255e-02, 8.72943789e-01,-2.02311552e-02, 2.24662095e-02,
  1.37764225e+00,-9.88653406e-03, 1.07708283e+00, 6.10689664e-02,
 -1.46337939e+00,-1.25430631e-02, 6.29017580e-02, 5.26505932e-01,
 -4.54142032e-01,-5.39594740e-01,-4.74746285e-01]

qacc:
[-1.02572756e-01,-1.39707577e+00, 2.62665189e+00, 2.64605748e+00,
  1.14997265e-01,-6.55551899e-01,-8.15352379e-02, 7.09011913e+00,
 -8.71947377e-03,-4.68391482e-02, 9.94602235e-01, 1.16792210e+00,
  2.37799036e-01,-7.32636242e-01, 1.57637828e+00,-5.25004646e+00,
  3.40986891e-03,-1.71190706e-03,-7.37344841e-02,-6.84417560e-03,
  1.66052182e-01, 2.44098956e-01]

qfrc_actuator:
[ 2.37203543e-03, 2.75528153e-02, 8.73614259e-03, 1.56405805e-03,
 -1.80998163e-05, 2.74241717e-02, 8.65149612e-03, 1.60610138e-03,
 -2.39331885e-03, 2.75165059e-02, 8.87022472e-03, 1.73956361e-03,
  4.24545667e-05,-1.77783303e-03, 0.00000000e+00,-1.91292419e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002939686557730248
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005339,  0.05582069,  0.04985302])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00024384125769852383
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646192, -0.07070463,  0.04987808])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021316601255264023
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886275,  0.01803962,  0.04989342])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.91270246e-05,-4.68106128e-05, 1.84689259e-05, 1.54665057e-05,
  2.08108076e-05,-2.58197192e-05, 1.75613176e-05, 2.13348381e-05,
 -1.60117181e-06, 1.37913989e-04, 6.82242994e-05, 1.96819757e-05,
 -4.02288240e-05,-4.61418214e-05, 7.62072317e-06,-2.33496020e-05,
 -1.06589157e-06, 4.39912123e-08,-7.84799963e+00, 5.44243161e-03,
 -1.59408194e-01,-1.00651100e-03]


--- Step 1866 ---
qpos:
[-5.25676947e-04, 8.77261895e-01,-2.02629646e-02,-2.75948666e-02,
  7.58606179e-03, 8.64666343e-01,-2.80434942e-02, 9.41932916e-03,
  2.22416580e-02, 8.72942558e-01,-2.02301432e-02, 2.24663291e-02,
  1.37772011e+00,-9.88668152e-03, 1.07728523e+00, 6.10662846e-02,
 -1.46337985e+00,-1.25430554e-02, 6.29043303e-02, 5.26496206e-01,
 -4.54133743e-01,-5.39604240e-01,-4.74754202e-01]

qacc:
[ 1.81423783e-01, 6.04807814e-01,-4.55014013e+00, 1.34227612e+01,
  4.59114791e-03,-1.50844843e+00, 5.56108658e+00,-8.37760996e+00,
  6.99672637e-02,-1.13233012e-01, 5.48638246e+00,-1.95818857e+01,
 -1.32585767e-02,-4.86415449e-01, 2.03780334e+01,-6.97126075e+01,
  3.63476573e-03,-1.47407616e-03,-6.67656412e-02,-6.42185764e-03,
  1.50231811e-01, 2.63414209e-01]

qfrc_actuator:
[ 2.41486326e-03, 2.75676585e-02, 8.74901343e-03, 1.59151885e-03,
 -2.72219051e-05, 2.74156681e-02, 8.66838728e-03, 1.59870718e-03,
 -2.37948065e-03, 2.75345800e-02, 8.85150297e-03, 1.69639103e-03,
  2.52169634e-05,-1.81684529e-03, 0.00000000e+00,-2.25060552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00029217843939376154
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005338,  0.05582069,  0.04985391])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00024032127041022366
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646192, -0.07070463,  0.04987984])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002098256914219651
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886275,  0.01803962,  0.04989509])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.36203548e-05,-6.84110025e-06, 6.02216661e-06, 2.64009261e-05,
  7.79069277e-07,-1.84056553e-05, 1.44617445e-05,-7.47631900e-06,
  1.30795896e-05, 1.10171094e-04, 1.88567691e-05,-3.45182792e-05,
 -5.06873921e-05,-5.96474127e-05,-3.63853541e-06,-3.39070401e-04,
 -9.35972734e-07, 2.63614217e-08,-7.84799965e+00, 5.44819356e-03,
 -1.59408060e-01,-1.00685267e-03]


--- Step 1867 ---
qpos:
[-5.25658346e-04, 8.77261558e-01,-2.02630380e-02,-2.75951559e-02,
  7.58564479e-03, 8.64666758e-01,-2.80438926e-02, 9.41854518e-03,
  2.22426076e-02, 8.72942146e-01,-2.02297957e-02, 2.24649488e-02,
  1.37779781e+00,-9.88736243e-03, 1.07748766e+00, 6.10592548e-02,
 -1.46338030e+00,-1.25430526e-02, 6.29066608e-02, 5.26486887e-01,
 -4.54125632e-01,-5.39613338e-01,-4.74761955e-01]

qacc:
[ 1.29241428e-01, 1.17919379e+00,-4.77289306e+00, 9.57866523e+00,
  7.06732377e-02, 1.21688057e+00,-5.31769094e+00, 1.01837004e+01,
  2.67962034e-01,-1.47156211e-01, 8.42948162e+00,-3.39321593e+01,
  3.27580991e-02,-4.62566736e-01, 1.31457847e+01,-4.59772137e+01,
  3.81033976e-03,-1.26134914e-03,-6.04443562e-02,-6.02520633e-03,
  1.35826772e-01, 2.78721709e-01]

qfrc_actuator:
[ 2.42269014e-03, 2.76124033e-02, 8.75667522e-03, 1.60791438e-03,
 -1.47267309e-05, 2.74283115e-02, 8.66064556e-03, 1.61252747e-03,
 -2.33592674e-03, 2.75453630e-02, 8.80442015e-03, 1.61765237e-03,
  2.27316256e-05,-1.83979352e-03, 0.00000000e+00,-2.46606249e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002905943682361342
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005337,  0.05582069,  0.0498547 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002371136359062137
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646191, -0.07070463,  0.04988144])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020675495735471977
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886274,  0.01803962,  0.04989662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.40032255e-05, 4.33143461e-05, 7.91050963e-06, 1.68268622e-05,
  1.28636354e-05, 5.01289425e-06,-1.00194883e-05, 1.33880939e-05,
  4.98587327e-05, 7.48290726e-05,-2.31969288e-05,-7.40366324e-05,
 -4.55370328e-05,-4.90375511e-05,-4.49872606e-05,-2.36110906e-04,
 -8.19357102e-07, 1.34107368e-08,-7.84799967e+00, 5.45378850e-03,
 -1.59407925e-01,-1.00718440e-03]


--- Step 1868 ---
qpos:
[-5.25657026e-04, 8.77261431e-01,-2.02630257e-02,-2.75945500e-02,
  7.58537140e-03, 8.64667385e-01,-2.80445025e-02, 9.41860587e-03,
  2.22440702e-02, 8.72942227e-01,-2.02302456e-02, 2.24637242e-02,
  1.37787517e+00,-9.88808434e-03, 1.07768893e+00, 6.10570032e-02,
 -1.46338073e+00,-1.25430542e-02, 6.29087724e-02, 5.26477971e-01,
 -4.54117723e-01,-5.39622037e-01,-4.74769520e-01]

qacc:
[-8.95834827e-03, 1.88333143e+00,-1.00803204e+01, 2.52629525e+01,
  7.52703474e-02, 2.60689586e+00,-1.24568955e+01, 2.72618933e+01,
  2.65873644e-01, 3.19801858e+00,-1.11162291e+01, 1.47241838e+01,
  8.58142661e-02,-2.73341824e-01,-1.61449378e+01, 5.39834546e+01,
  3.94145489e-03,-1.07165993e-03,-5.47137555e-02,-5.65262560e-03,
  1.22726407e-01, 2.90417377e-01]

qfrc_actuator:
[ 2.40947680e-03, 2.76214318e-02, 8.76133276e-03, 1.65320022e-03,
 -7.14371670e-06, 2.74534397e-02, 8.65628329e-03, 1.65647938e-03,
 -2.31048456e-03, 2.75515063e-02, 8.75867764e-03, 1.62511920e-03,
  1.31259670e-05,-1.83521740e-03, 0.00000000e+00,-2.19935802e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028919422840952
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005337,  0.05582069,  0.0498554 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00023419015444815783
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646191, -0.07070463,  0.0498829 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020393129543268274
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886274,  0.01803962,  0.04989803])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.65878358e-06, 3.56140708e-05, 1.51623566e-05, 4.77418076e-05,
  1.37059917e-05, 2.64315850e-05,-4.09723114e-06, 4.40814531e-05,
  4.94410118e-05, 4.00401515e-05,-3.57036180e-05, 8.43149555e-06,
 -4.75244379e-05,-1.75684050e-05,-4.98299448e-05, 2.47117437e-04,
 -7.15222786e-07, 4.08314414e-09,-7.84799969e+00, 5.45920660e-03,
 -1.59407791e-01,-1.00750561e-03]


--- Step 1869 ---
qpos:
[-5.25746142e-04, 8.77261407e-01,-2.02631587e-02,-2.75933760e-02,
  7.58521435e-03, 8.64667811e-01,-2.80443895e-02, 9.41849004e-03,
  2.22455604e-02, 8.72942449e-01,-2.02314360e-02, 2.24633313e-02,
  1.37795222e+00,-9.88879888e-03, 1.07788954e+00, 6.10605405e-02,
 -1.46338115e+00,-1.25430593e-02, 6.29106860e-02, 5.26469453e-01,
 -4.54110038e-01,-5.39630343e-01,-4.74776876e-01]

qacc:
[-4.70897671e-02, 1.71338580e+00,-8.30089997e+00, 1.82738449e+01,
  6.16282682e-02,-2.64606249e+00, 9.79601909e+00,-1.38621884e+01,
  1.38796353e-02, 3.96336716e+00,-1.73762032e+01, 3.28520080e+01,
  1.11873834e-01,-2.65461920e-01,-1.84589577e+01, 6.31523192e+01,
  4.03275199e-03,-9.03034294e-04,-4.95212313e-02,-5.30260292e-03,
  1.10825453e-01, 2.98877944e-01]

qfrc_actuator:
[ 2.40155863e-03, 2.76090209e-02, 8.74631826e-03, 1.67959219e-03,
 -2.57071053e-06, 2.74326331e-02, 8.68954208e-03, 1.64681419e-03,
 -2.33161734e-03, 2.75371113e-02, 8.71413786e-03, 1.66550095e-03,
  4.59595400e-06,-1.83215836e-03, 0.00000000e+00,-1.89928056e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002879580427141079
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005336,  0.05582069,  0.04985602])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00023152517483356755
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4464619 , -0.07070463,  0.04988424])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002013341374824812
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886274,  0.01803962,  0.04989933])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.71272964e-06, 1.26794850e-05,-4.14001469e-06, 2.93700236e-05,
  1.10990006e-05,-4.99274645e-06, 3.97381126e-05,-7.81689214e-06,
  2.66031621e-06, 9.94286706e-07,-4.03710109e-05, 4.10280441e-05,
 -3.93577276e-05,-1.22361634e-05, 4.26019142e-06, 3.07390547e-04,
 -6.22665496e-07,-2.46213535e-09,-7.84799971e+00, 5.46444033e-03,
 -1.59407657e-01,-1.00781586e-03]


--- Step 1870 ---
qpos:
[-5.26111383e-04, 8.77261565e-01,-2.02634644e-02,-2.75922478e-02,
  7.58551374e-03, 8.64667251e-01,-2.80435083e-02, 9.41939416e-03,
  2.22465576e-02, 8.72942309e-01,-2.02320482e-02, 2.24623627e-02,
  1.37802896e+00,-9.88902538e-03, 1.07809044e+00, 6.10649475e-02,
 -1.46338155e+00,-1.25430675e-02, 6.29124203e-02, 5.26461327e-01,
 -4.54102591e-01,-5.39638262e-01,-4.74784008e-01]

qacc:
[-1.43643960e-01, 6.28758237e-01,-1.70080323e+00, 1.05373623e+00,
  2.40634145e-01,-1.34793834e+00,-1.38910887e+00, 1.85380853e+01,
 -2.55719696e-01,-3.27501627e+00, 1.34172161e+01,-2.40394071e+01,
 -5.77968744e-01, 1.04073800e+00,-2.16221741e+00, 8.27140312e+00,
  4.08861993e-03,-7.53602077e-04,-4.48182800e-02,-4.97371462e-03,
  1.00024568e-01, 3.04458859e-01]

qfrc_actuator:
[ 2.37914501e-03, 2.76192741e-02, 8.73744994e-03, 1.67686440e-03,
  3.56713655e-05, 2.73313366e-02, 8.70901846e-03, 1.69442522e-03,
 -2.38041492e-03, 2.75105487e-02, 8.74159231e-03, 1.63613025e-03,
  7.37196499e-06,-1.79453628e-03, 0.00000000e+00,-1.86614347e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002868678645216588
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005336,  0.05582069,  0.04985657])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002290953719467012
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4464619 , -0.07070463,  0.04988545])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00019894469151198607
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886274,  0.01803962,  0.04990053])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.66045441e-05, 1.77440906e-05,-5.74393559e-06,-1.75779307e-06,
  4.35236262e-05,-9.62257425e-05, 2.30666795e-05, 4.86195464e-05,
 -4.75179978e-05,-3.25789541e-05, 2.41153302e-05,-2.99244524e-05,
 -2.16513865e-05, 2.52442538e-05, 3.33400634e-05, 5.01628432e-05,
 -5.40743625e-07,-6.89081239e-09,-7.84799973e+00, 5.46948421e-03,
 -1.59407526e-01,-1.00811484e-03]


--- Step 1871 ---
qpos:
[-5.26561613e-04, 8.77262020e-01,-2.02639415e-02,-2.75911759e-02,
  7.58589466e-03, 8.64665617e-01,-2.80425563e-02, 9.42195937e-03,
  2.22466444e-02, 8.72941271e-01,-2.02314651e-02, 2.24607314e-02,
  1.37810546e+00,-9.88883333e-03, 1.07829146e+00, 6.10697605e-02,
 -1.46338193e+00,-1.25430781e-02, 6.29139923e-02, 5.26453586e-01,
 -4.54095395e-01,-5.39645802e-01,-4.74790903e-01]

qacc:
[-4.43680692e-02, 7.53426692e-01,-1.88178854e+00, 9.65158764e-01,
  4.33474268e-02, 1.79914986e+00,-1.54907633e+01, 4.49210131e+01,
 -4.72044945e-01,-5.88809908e+00, 2.20717548e+01,-3.47941076e+01,
 -4.77103287e-01, 8.80957119e-01,-9.96973233e-01, 3.84748109e+00,
  4.11317725e-03,-6.21604474e-04,-4.05603081e-02,-4.66462739e-03,
  9.02305918e-02, 3.07493014e-01]

qfrc_actuator:
[ 2.38376124e-03, 2.76430062e-02, 8.73235493e-03, 1.67480384e-03,
  2.27177375e-05, 2.72536212e-02, 8.70213816e-03, 1.77527611e-03,
 -2.44530179e-03, 2.74416258e-02, 8.79346821e-03, 1.60148799e-03,
  0.00000000e+00,-1.77216526e-03, 0.00000000e+00,-1.84854582e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002859075878434286
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005335,  0.05582069,  0.04985705])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00022687954140384464
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4464619 , -0.07070462,  0.04988656])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00019674578531989756
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886273,  0.01803962,  0.04990163])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.18234092e-06, 3.23872326e-05,-2.19909993e-06,-1.53523435e-06,
  7.74859734e-06,-1.24665328e-04,-2.22331484e-05, 7.84703957e-05,
 -8.77545902e-05,-8.34365702e-05, 4.70904623e-05,-3.57829711e-05,
 -1.32712086e-05, 2.34259119e-05, 1.52126169e-05, 2.33553286e-05,
 -4.68512134e-07,-9.72694001e-09,-7.84799975e+00, 5.47433463e-03,
 -1.59407397e-01,-1.00840232e-03]


--- Step 1872 ---
qpos:
[-5.27021555e-04, 8.77262522e-01,-2.02640882e-02,-2.75904856e-02,
  7.58585853e-03, 8.64663553e-01,-2.80424173e-02, 9.42441660e-03,
  2.22460786e-02, 8.72939622e-01,-2.02306922e-02, 2.24608026e-02,
  1.37818204e+00,-9.88893270e-03, 1.07849301e+00, 6.10707424e-02,
 -1.46338230e+00,-1.25430908e-02, 6.29154175e-02, 5.26446222e-01,
 -4.54088460e-01,-5.39652973e-01,-4.74797552e-01]

qacc:
[-4.87776864e-03,-1.64546831e+00, 7.56514468e+00,-1.47232928e+01,
 -2.19422282e-01, 1.47885385e+00,-5.64320531e+00, 5.39261987e+00,
 -3.38667673e-01, 2.16596676e+00,-1.60827923e+01, 4.56976489e+01,
  4.37851781e-02,-2.28913009e-01, 1.23372151e+01,-4.20505022e+01,
  4.11026247e-03,-5.05397522e-04,-3.67064164e-02,-4.37409694e-03,
  8.13566287e-02, 3.08290150e-01]

qfrc_actuator:
[ 2.38676206e-03, 2.76391336e-02, 8.74734414e-03, 1.65541990e-03,
 -2.07609925e-05, 2.72437956e-02, 8.66208148e-03, 1.76850601e-03,
 -2.46596973e-03, 2.74189797e-02, 8.80589078e-03, 1.68826868e-03,
  0.00000000e+00,-1.79457585e-03, 0.00000000e+00,-2.05318755e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028506277281647313
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005335,  0.05582069,  0.04985747])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00022485841053287298
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646189, -0.07070462,  0.04988757])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00019472172337487575
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886273,  0.01803962,  0.04990264])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.32855011e-07, 1.37088610e-05, 2.13523432e-05,-1.81052873e-05,
 -3.98069258e-05,-8.07368075e-05,-6.58255333e-05,-1.13563641e-05,
 -6.29027072e-05,-6.10983776e-05,-2.41339488e-07, 8.41425302e-05,
 -1.91323762e-06,-1.97069265e-05, 4.79595822e-06,-2.02507156e-04,
 -4.05047304e-07,-1.13805245e-08,-7.84799977e+00, 5.47898957e-03,
 -1.59407270e-01,-1.00867819e-03]


--- Step 1873 ---
qpos:
[-5.27465421e-04, 8.77262653e-01,-2.02635779e-02,-2.75896559e-02,
  7.58572522e-03, 8.64661724e-01,-2.80433559e-02, 9.42567014e-03,
  2.22450764e-02, 8.72937782e-01,-2.02307569e-02, 2.24619307e-02,
  1.37825875e+00,-9.88954967e-03, 1.07869466e+00, 6.10686096e-02,
 -1.46338265e+00,-1.25431051e-02, 6.29167099e-02, 5.26439225e-01,
 -4.54081790e-01,-5.39659783e-01,-4.74803948e-01]

qacc:
[ 8.88901064e-03,-2.03950050e+00, 5.97171354e+00,-4.34027665e+00,
 -5.18815689e-02, 8.42774316e-01, 2.52713650e+00,-2.18095361e+01,
 -2.27126527e-01, 4.25903095e+00,-2.00186210e+01, 3.97915798e+01,
  3.04984169e-01,-7.39854576e-01, 9.50740778e+00,-3.31348022e+01,
  4.08343102e-03,-4.03452678e-04,-3.32191727e-02,-4.10096488e-03,
  7.33219850e-02, 3.07136760e-01]

qfrc_actuator:
[ 2.38875236e-03, 2.76010749e-02, 8.77395076e-03, 1.66149496e-03,
 -1.10782949e-05, 2.72922419e-02, 8.62072700e-03, 1.71026795e-03,
 -2.47775261e-03, 2.74064171e-02, 8.75966331e-03, 1.73928702e-03,
  0.00000000e+00,-1.82556025e-03, 0.00000000e+00,-2.20957202e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002843204857637324
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005334,  0.05582069,  0.04985784])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00022301446482198006
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646189, -0.07070462,  0.04988849])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00019285815604765805
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886273,  0.01803962,  0.04990357])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.54207303e-06,-2.67694424e-05, 3.14378285e-05, 7.04651853e-06,
 -9.27228282e-06,-1.07416158e-05,-6.65203962e-05,-6.41966773e-05,
 -4.20596326e-05,-4.31484157e-05,-5.59582979e-05, 5.00312502e-05,
 -6.31099059e-06,-3.59062358e-05,-2.53979479e-05,-1.68250812e-04,
 -3.49464167e-07,-1.21702099e-08,-7.84799979e+00, 5.48344846e-03,
 -1.59407147e-01,-1.00894243e-03]


--- Step 1874 ---
qpos:
[-5.27887462e-04, 8.77262607e-01,-2.02627712e-02,-2.75887598e-02,
  7.58579372e-03, 8.64660136e-01,-2.80443990e-02, 9.42649151e-03,
  2.22434293e-02, 8.72935884e-01,-2.02316477e-02, 2.24619173e-02,
  1.37833548e+00,-9.89052739e-03, 1.07889560e+00, 6.10689367e-02,
 -1.46338298e+00,-1.25431207e-02, 6.29178819e-02, 5.26432584e-01,
 -4.54075390e-01,-5.39666243e-01,-4.74810089e-01]

qacc:
[ 1.15841937e-02,-9.23508716e-01, 2.67576996e+00,-1.87259070e+00,
  1.05828915e-01,-2.78151396e-01, 3.28021530e+00,-1.07715666e+01,
 -3.35661369e-01,-1.16100642e-01, 5.12545784e+00,-2.35216222e+01,
  4.53604220e-01,-8.84972152e-01,-8.48435059e+00, 2.81214894e+01,
  4.03595750e-03,-3.14355223e-04,-3.00643811e-02,-3.84415437e-03,
  6.60520079e-02, 3.04296400e-01]

qfrc_actuator:
[ 2.39011444e-03, 2.75961632e-02, 8.78931642e-03, 1.66472452e-03,
  1.25955966e-05, 2.73396530e-02, 8.63244164e-03, 1.69329855e-03,
 -2.51966493e-03, 2.73997310e-02, 8.71470270e-03, 1.68004952e-03,
  0.00000000e+00,-1.84359353e-03, 0.00000000e+00,-2.06989653e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028366915294221473
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005334,  0.05582069,  0.04985817])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00022133178891070582
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646189, -0.07070462,  0.04988933])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00019114196028712643
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886273,  0.01803962,  0.04990443])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.09960276e-06,-1.30938132e-05, 1.39480912e-05, 3.30685876e-06,
  1.92612423e-05, 2.49639007e-05,-9.01731864e-07,-2.09790452e-05,
 -6.21579466e-05,-4.01935707e-05,-5.90220824e-05,-6.20476382e-05,
 -1.28124383e-05,-2.78351809e-05,-3.36549762e-05, 1.26265097e-04,
 -3.00928126e-07,-1.23418146e-08,-7.84799981e+00, 5.48771197e-03,
 -1.59407027e-01,-1.00919507e-03]


--- Step 1875 ---
qpos:
[-5.28473209e-04, 8.77262784e-01,-2.02624823e-02,-2.75881719e-02,
  7.58591954e-03, 8.64658632e-01,-2.80450282e-02, 9.42743125e-03,
  2.22412217e-02, 8.72933815e-01,-2.02331368e-02, 2.24618843e-02,
  1.37841208e+00,-9.89146622e-03, 1.07909612e+00, 6.10725400e-02,
 -1.46338330e+00,-1.25431372e-02, 6.29189452e-02, 5.26426290e-01,
 -4.54069261e-01,-5.39672365e-01,-4.74815971e-01]

qacc:
[-8.54671049e-02, 1.10450706e+00,-2.21476599e+00,-2.44794281e+00,
  3.03478817e-02,-8.01488932e-01, 2.51846690e+00,-1.19368510e+00,
 -2.91517862e-01, 1.40284800e+00,-5.24973082e+00, 5.99343918e+00,
  7.96344329e-02,-1.31775485e-01,-1.05385861e+01, 3.59286080e+01,
  3.97084188e-03,-2.36801078e-04,-2.72108512e-02,-3.60266510e-03,
  5.94778530e-02, 3.00010293e-01]

qfrc_actuator:
[ 2.37333478e-03, 2.76110925e-02, 8.76253005e-03, 1.64851135e-03,
  8.89881457e-06, 2.73508369e-02, 8.65770292e-03, 1.70080029e-03,
 -2.54376649e-03, 2.73965126e-02, 8.68857830e-03, 1.68070257e-03,
  0.00000000e+00,-1.83605333e-03, 0.00000000e+00,-1.89893478e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028309842707946453
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005334,  0.05582069,  0.04985845])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002197959211694689
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646188, -0.07070462,  0.0498901 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001895611308560738
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886273,  0.01803962,  0.04990522])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.57718229e-05, 1.06240802e-05,-2.76647521e-05,-1.62289801e-05,
  5.47396906e-06, 2.41053538e-05, 2.95990945e-05, 8.13420473e-06,
 -5.40161666e-05,-4.05035812e-05,-4.38229939e-05,-4.31454873e-06,
 -1.40957714e-05,-2.02487930e-06,-2.84172351e-06, 1.73331642e-04,
 -2.58662051e-07,-1.20834017e-08,-7.84799983e+00, 5.49178188e-03,
 -1.59406911e-01,-1.00943623e-03]


--- Step 1876 ---
qpos:
[-5.29054551e-04, 8.77263242e-01,-2.02626278e-02,-2.75871056e-02,
  7.58586242e-03, 8.64657352e-01,-2.80456509e-02, 9.42811810e-03,
  2.22387912e-02, 8.72931717e-01,-2.02350754e-02, 2.24621750e-02,
  1.37848851e+00,-9.89207624e-03, 1.07929644e+00, 6.10791461e-02,
 -1.46338360e+00,-1.25431543e-02, 6.29199099e-02, 5.26420329e-01,
 -4.54063402e-01,-5.39678160e-01,-4.74821595e-01]

qacc:
[ 1.94745658e-03, 2.57057091e+00,-1.06398652e+01, 1.93961594e+01,
 -9.61817600e-02,-2.42145553e-01, 2.36089650e+00,-6.91338536e+00,
 -1.16097122e-01, 1.88505287e+00,-8.14165573e+00, 1.44837964e+01,
 -2.02280450e-01, 4.48361061e-01,-9.33405601e+00, 3.22815257e+01,
  3.89081866e-03,-1.69592476e-04,-2.46301745e-02,-3.37556792e-03,
  5.35362063e-02, 2.94498157e-01]

qfrc_actuator:
[ 2.38135214e-03, 2.76375990e-02, 8.74665334e-03, 1.67423847e-03,
 -1.11566093e-05, 2.73580989e-02, 8.65511043e-03, 1.68710179e-03,
 -2.53925549e-03, 2.74132655e-02, 8.67385818e-03, 1.69887199e-03,
  0.00000000e+00,-1.81342439e-03, 0.00000000e+00,-1.74650696e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028259906580260785
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005333,  0.05582069,  0.0498587 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021839372091370796
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646188, -0.07070462,  0.0498908 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00018810468127775093
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04990595])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.30108045e-07, 2.60316365e-05,-1.76561440e-05, 2.49070391e-05,
 -1.74476483e-05, 2.72428553e-05, 6.32979484e-06,-1.14812340e-05,
 -2.14880181e-05,-1.50836996e-05,-2.86071033e-05, 1.48390287e-05,
 -8.32022057e-06, 1.88894416e-05, 1.50332570e-05, 1.61026599e-04,
 -2.21949921e-07,-1.15374733e-08,-7.84799984e+00, 5.49566084e-03,
 -1.59406800e-01,-1.00966606e-03]


--- Step 1877 ---
qpos:
[-5.29397261e-04, 8.77263950e-01,-2.02629881e-02,-2.75857513e-02,
  7.58559351e-03, 8.64656257e-01,-2.80462598e-02, 9.42829496e-03,
  2.22366612e-02, 8.72929837e-01,-2.02362150e-02, 2.24622161e-02,
  1.37856487e+00,-9.89244006e-03, 1.07949728e+00, 6.10835150e-02,
 -1.46338389e+00,-1.25431720e-02, 6.29207854e-02, 5.26414691e-01,
 -4.54057812e-01,-5.39683640e-01,-4.74826963e-01]

qacc:
[ 1.23788380e-01, 1.52435019e+00,-6.16775877e+00, 1.13067153e+01,
 -1.11333240e-01,-8.42444345e-01, 5.51366853e+00,-1.45007499e+01,
  1.56564996e-01,-2.45847371e+00, 1.02359397e+01,-1.59924345e+01,
 -3.92665929e-01, 6.99433135e-01, 7.54863724e+00,-2.52356522e+01,
  3.79836823e-03,-1.11632880e-04,-2.22965073e-02,-3.16199935e-03,
  4.81689750e-02, 2.87959185e-01]

qfrc_actuator:
[ 2.40414508e-03, 2.76531511e-02, 8.73744613e-03, 1.68896122e-03,
 -2.30572532e-05, 2.73628339e-02, 8.65380020e-03, 1.66100705e-03,
 -2.49993765e-03, 2.74774305e-02, 8.73708186e-03, 1.69171049e-03,
  0.00000000e+00,-1.79980029e-03, 0.00000000e+00,-1.87252598e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028216282108516066
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005333,  0.05582069,  0.04985892])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021711324731574222
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646188, -0.07070462,  0.04989144])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00018676255368755418
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04990662])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.30018873e-05, 2.75181019e-05,-5.14816413e-06, 1.57089034e-05,
 -2.02013717e-05, 2.08162248e-05, 4.71292499e-06,-2.49298454e-05,
  2.89718831e-05, 5.05137864e-05, 5.71269964e-05,-8.50353633e-06,
 -2.38740893e-08, 1.62958965e-05, 2.08189446e-05,-1.16061336e-04,
 -1.90137861e-07,-1.08107907e-08,-7.84799986e+00, 5.49935235e-03,
 -1.59406692e-01,-1.00988477e-03]


--- Step 1878 ---
qpos:
[-5.29483320e-04, 8.77264947e-01,-2.02637466e-02,-2.75845687e-02,
  7.58515142e-03, 8.64655343e-01,-2.80466449e-02, 9.42883435e-03,
  2.22349275e-02, 8.72928138e-01,-2.02369153e-02, 2.24632351e-02,
  1.37864129e+00,-9.89290449e-03, 1.07969824e+00, 6.10860394e-02,
 -1.46338416e+00,-1.25431898e-02, 6.29215802e-02, 5.26409364e-01,
 -4.54052487e-01,-5.39688816e-01,-4.74832078e-01]

qacc:
[ 1.33005251e-01, 1.14115698e+00,-2.79047911e+00, 2.46043962e-01,
 -9.08744821e-02, 3.60036681e-01,-2.46718708e+00, 8.25110365e+00,
  2.06204699e-01, 1.02480616e+00,-7.43449452e+00, 2.35233237e+01,
  1.44816857e-02,-6.58214792e-02, 5.74750542e+00,-1.98515732e+01,
  3.69572975e-03,-6.19213932e-05,-2.01863646e-02,-2.96115631e-03,
  4.33229658e-02, 2.80573135e-01]

qfrc_actuator:
[ 2.41781474e-03, 2.76620490e-02, 8.71444216e-03, 1.67932766e-03,
 -2.99630027e-05, 2.73837541e-02, 8.67100190e-03, 1.68109072e-03,
 -2.47567527e-03, 2.74810466e-02, 8.75723988e-03, 1.74080478e-03,
  0.00000000e+00,-1.80938066e-03, 0.00000000e+00,-1.96629521e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002817823388655827
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005333,  0.05582069,  0.04985911])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021594364910908909
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646188, -0.07070462,  0.04989203])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001855255368314393
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04990724])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.47385726e-05, 2.38818836e-05,-1.74166544e-05,-8.33094687e-06,
 -1.65176532e-05, 3.24936522e-05, 2.12321183e-05, 2.06560180e-05,
  3.82029990e-05, 4.33502953e-05, 3.73561980e-05, 5.30739912e-05,
  3.55196785e-06,-5.37893321e-06,-8.98179455e-06,-9.88895095e-05,
 -1.62633284e-07,-9.98224729e-09,-7.84799987e+00, 5.50286051e-03,
 -1.59406588e-01,-1.01009261e-03]


--- Step 1879 ---
qpos:
[-5.29730495e-04, 8.77266202e-01,-2.02645104e-02,-2.75835339e-02,
  7.58458635e-03, 8.64654736e-01,-2.80465940e-02, 9.42957848e-03,
  2.22331721e-02, 8.72926072e-01,-2.02373266e-02, 2.24649166e-02,
  1.37871773e+00,-9.89345393e-03, 1.07989863e+00, 6.10914236e-02,
 -1.46338442e+00,-1.25432078e-02, 6.29223019e-02, 5.26404334e-01,
 -4.54047422e-01,-5.39693702e-01,-4.74836945e-01]

qacc:
[-8.38133144e-02, 5.01874670e-02, 9.36745861e-01,-3.67129326e+00,
 -6.44124612e-02,-3.90687115e-01, 1.11721789e+00, 1.50302489e+00,
 -1.09973786e-02, 6.91934474e-02,-3.75079291e+00, 1.50283844e+01,
  2.69990394e-01,-4.33788246e-01,-9.49856221e+00, 3.19634706e+01,
  3.58491491e-03,-1.95469212e-05,-1.82784248e-02,-2.77229099e-03,
  3.89495557e-02, 2.72501485e-01]

qfrc_actuator:
[ 2.39039171e-03, 2.76845676e-02, 8.71893482e-03, 1.67317754e-03,
 -3.38256980e-05, 2.74143157e-02, 8.69909529e-03, 1.69270765e-03,
 -2.49616747e-03, 2.74127758e-02, 8.75159862e-03, 1.76926708e-03,
  0.00000000e+00,-1.81488275e-03, 0.00000000e+00,-1.80942821e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028145106803022235
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005332,  0.05582069,  0.04985927])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021487506421995206
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646187, -0.07070462,  0.04989256])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00018438519150255211
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04990781])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.55187680e-05, 3.19032077e-05, 6.98676096e-06,-5.89554655e-06,
 -1.17207865e-05, 5.40232749e-05, 3.81448724e-05, 1.41473869e-05,
 -2.11090172e-06,-3.39944466e-05, 9.76649484e-06, 3.26468475e-05,
  1.36418252e-07,-5.63099191e-06,-1.89683962e-05, 1.49287776e-04,
 -1.38902688e-07,-9.10915063e-09,-7.84799988e+00, 5.50619002e-03,
 -1.59406489e-01,-1.01028986e-03]


--- Step 1880 ---
qpos:
[-5.30223845e-04, 8.77267400e-01,-2.02650654e-02,-2.75829007e-02,
  7.58412770e-03, 8.64654435e-01,-2.80464223e-02, 9.42978723e-03,
  2.22314702e-02, 8.72923564e-01,-2.02367266e-02, 2.24648148e-02,
  1.37879418e+00,-9.89405871e-03, 1.08009907e+00, 6.10969236e-02,
 -1.46338467e+00,-1.25432257e-02, 6.29229574e-02, 5.26399591e-01,
 -4.54042611e-01,-5.39698308e-01,-4.74841568e-01]

qacc:
[-1.27782453e-01,-1.48600464e+00, 6.87962813e+00,-1.41133328e+01,
  5.58325956e-02,-1.03447307e+00, 6.53604836e+00,-1.62219151e+01,
  2.84856838e-02,-7.07391175e+00, 3.19103109e+01,-6.40699760e+01,
  4.94941268e-02,-1.06128875e-01,-2.75553037e-01, 1.06893666e+00,
  3.46772238e-03, 1.63177790e-05,-1.65533465e-02,-2.59470606e-03,
  3.50043675e-02, 2.63888618e-01]

qfrc_actuator:
[ 2.37413344e-03, 2.76619169e-02, 8.72193900e-03, 1.65140957e-03,
 -1.80908784e-05, 2.74149588e-02, 8.69791677e-03, 1.66375204e-03,
 -2.48999489e-03, 2.73906133e-02, 8.80146279e-03, 1.67875848e-03,
  0.00000000e+00,-1.81791322e-03, 0.00000000e+00,-1.80794076e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002811631779934959
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005332,  0.05582069,  0.04985942])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021389852850648566
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646187, -0.07070462,  0.04989305])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00018333378275745688
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04990833])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.37233845e-05,-3.64726163e-06, 1.02440490e-05,-2.02777253e-05,
  1.01623138e-05, 3.93473105e-05, 1.51717556e-05,-2.50455549e-05,
  5.14801117e-06,-3.77102120e-05, 4.51909929e-05,-9.09911090e-05,
 -1.50291611e-06,-4.18672413e-06, 5.81568874e-06, 6.85911218e-06,
 -1.18468542e-07,-8.23221261e-09,-7.84799990e+00, 5.50934597e-03,
 -1.59406394e-01,-1.01047681e-03]


--- Step 1881 ---
qpos:
[-5.30564800e-04, 8.77268315e-01,-2.02654467e-02,-2.75825010e-02,
  7.58400597e-03, 8.64654585e-01,-2.80469282e-02, 9.43072090e-03,
  2.22303916e-02, 8.72921259e-01,-2.02361266e-02, 2.24646525e-02,
  1.37887071e+00,-9.89496480e-03, 1.08029975e+00, 6.11003926e-02,
 -1.46338490e+00,-1.25432434e-02, 6.29235529e-02, 5.26395122e-01,
 -4.54038047e-01,-5.39702647e-01,-4.74845954e-01]

qacc:
[ 7.93770376e-02,-1.34053946e+00, 5.21965929e+00,-9.32566058e+00,
  1.76433046e-01, 3.97732134e+00,-1.63800434e+01, 2.96835902e+01,
  3.23843260e-01, 1.43239322e-01, 1.33144907e-01,-1.32944839e+00,
  1.64356116e-01,-4.07590284e-01, 6.47299321e+00,-2.21630393e+01,
  3.34575227e-03, 4.64220157e-05,-1.49935972e-02,-2.42775026e-03,
  3.14469526e-02, 2.54863016e-01]

qfrc_actuator:
[ 2.40022878e-03, 2.76301289e-02, 8.72383827e-03, 1.63833648e-03,
  9.22225850e-06, 2.74330344e-02, 8.66156318e-03, 1.69987430e-03,
 -2.43238477e-03, 2.74318414e-02, 8.81278191e-03, 1.67882195e-03,
  0.00000000e+00,-1.83720901e-03, 0.00000000e+00,-1.91583357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000280913484154488
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005332,  0.05582069,  0.04985954])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021300589283626548
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646187, -0.07070462,  0.0498935 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000182364218303796
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04990882])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.46785906e-05,-3.26063580e-05, 1.70093475e-06,-1.32711740e-05,
  3.21548442e-05, 4.21448401e-05,-2.72242265e-05, 3.78453996e-05,
  6.00785450e-05, 2.56272528e-05, 5.96215653e-06,-1.75698163e-06,
 -2.05932914e-06,-2.04918143e-05,-6.93477232e-07,-1.07749764e-04,
 -1.00905614e-07,-7.37949336e-09,-7.84799991e+00, 5.51233384e-03,
 -1.59406304e-01,-1.01065381e-03]


--- Step 1882 ---
qpos:
[-5.30669530e-04, 8.77269071e-01,-2.02658529e-02,-2.75819176e-02,
  7.58384261e-03, 8.64655094e-01,-2.80476155e-02, 9.43274817e-03,
  2.22299722e-02, 8.72919107e-01,-2.02354043e-02, 2.24644892e-02,
  1.37894719e+00,-9.89582166e-03, 1.08050061e+00, 6.11008679e-02,
 -1.46338512e+00,-1.25432608e-02, 6.29240940e-02, 5.26390914e-01,
 -4.54033725e-01,-5.39706731e-01,-4.74850110e-01]

qacc:
[ 1.22788332e-01, 2.37603596e-01,-1.92623982e+00, 5.25883806e+00,
 -2.20405627e-02, 3.22837017e+00,-1.54429918e+01, 3.44011917e+01,
  3.42545454e-01,-1.42583863e-01, 8.04646589e-01,-1.12890247e+00,
 -2.56935047e-01, 3.80052013e-01, 9.31937114e+00,-3.21864944e+01,
  3.22042073e-03, 7.14429584e-05,-1.35832942e-02,-2.27081434e-03,
  2.82404855e-02, 2.45538447e-01]

qfrc_actuator:
[ 2.41593093e-03, 2.76286127e-02, 8.72502615e-03, 1.64822551e-03,
 -1.00485821e-05, 2.74613014e-02, 8.65811263e-03, 1.75624450e-03,
 -2.39776131e-03, 2.74396261e-02, 8.81933347e-03, 1.67896128e-03,
  0.00000000e+00,-1.83049063e-03, 0.00000000e+00,-2.06950144e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028069738055333526
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005332,  0.05582069,  0.04985965])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021218974778288574
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646187, -0.07070462,  0.04989391])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00018146999249867707
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04990927])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.27592399e-05,-1.99820506e-05,-5.80003834e-06, 8.29232960e-06,
 -3.96197717e-06, 4.78352808e-05, 3.21000463e-06, 5.79688510e-05,
  6.35283054e-05, 2.33261862e-05, 1.25304055e-05, 1.41139842e-06,
 -6.47701135e-06, 1.52176102e-06,-1.66013150e-05,-1.60786181e-04,
 -8.58369724e-08,-6.56950267e-09,-7.84799992e+00, 5.51515935e-03,
 -1.59406217e-01,-1.01082118e-03]


--- Step 1883 ---
qpos:
[-5.30563898e-04, 8.77269706e-01,-2.02662847e-02,-2.75808802e-02,
  7.58335325e-03, 8.64655514e-01,-2.80480767e-02, 9.43442848e-03,
  2.22302674e-02, 8.72917300e-01,-2.02346319e-02, 2.24632728e-02,
  1.37902353e+00,-9.89633993e-03, 1.08070107e+00, 6.11018208e-02,
 -1.46338532e+00,-1.25432778e-02, 6.29245859e-02, 5.26386955e-01,
 -4.54029635e-01,-5.39710573e-01,-4.74854042e-01]

qacc:
[ 1.09348437e-01, 8.48257370e-01,-5.16566051e+00, 1.31412736e+01,
 -1.71089243e-01,-1.46157121e+00, 6.50747424e+00,-1.28111417e+01,
  3.71124911e-01,-1.84852971e+00, 1.17024142e+01,-3.02644732e+01,
 -3.10912874e-01, 6.24255820e-01,-2.00289013e+00, 6.21049008e+00,
  3.09297414e-03, 9.19912432e-05,-1.23080575e-02,-2.12332742e-03,
  2.53514739e-02, 2.36015111e-01]

qfrc_actuator:
[ 2.42525238e-03, 2.76274964e-02, 8.72591631e-03, 1.67156795e-03,
 -3.92734002e-05, 2.74245849e-02, 8.65642609e-03, 1.73534166e-03,
 -2.35946238e-03, 2.74628189e-02, 8.82290202e-03, 1.62585288e-03,
  0.00000000e+00,-1.80839377e-03, 0.00000000e+00,-2.03582757e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00028051077909754807
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005331,  0.05582069,  0.04985974])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021144335527337188
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646187, -0.07070462,  0.04989428])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00018064513544348987
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04990968])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.02681084e-05,-1.31450270e-05,-3.66761845e-06, 2.24463026e-05,
 -3.11055294e-05,-6.83189284e-06, 1.05930232e-05,-1.76167368e-05,
  6.88634692e-05, 3.89373903e-05, 9.98917226e-06,-5.16463575e-05,
 -3.94457961e-06, 2.13797659e-05,-2.93981579e-05, 2.16709636e-05,
 -7.29298873e-08,-5.81362554e-09,-7.84799993e+00, 5.51782842e-03,
 -1.59406135e-01,-1.01097927e-03]


--- Step 1884 ---
qpos:
[-5.30116583e-04, 8.77270312e-01,-2.02666849e-02,-2.75806230e-02,
  7.58271522e-03, 8.64655527e-01,-2.80485969e-02, 9.43521704e-03,
  2.22311391e-02, 8.72915999e-01,-2.02342342e-02, 2.24621293e-02,
  1.37909989e+00,-9.89686649e-03, 1.08090118e+00, 6.11044540e-02,
 -1.46338552e+00,-1.25432944e-02, 6.29250332e-02, 5.26383235e-01,
 -4.54025770e-01,-5.39714183e-01,-4.74857759e-01]

qacc:
[ 1.77531400e-01,-1.73495462e+00, 9.41378161e+00,-2.29278298e+01,
 -7.80346295e-02,-2.20653769e+00, 1.08534470e+01,-2.58966456e+01,
  2.99157078e-01, 1.86262272e+00,-5.98225389e+00, 7.47153103e+00,
  1.31928172e-01,-1.87009791e-01,-5.61783714e+00, 1.88572583e+01,
  2.96450295e-03, 1.08616340e-04,-1.11548739e-02,-1.98475364e-03,
  2.27494839e-02, 2.26380763e-01]

qfrc_actuator:
[ 2.44842941e-03, 2.76266445e-02, 8.72663846e-03, 1.63162817e-03,
 -3.86643097e-05, 2.73669349e-02, 8.63771031e-03, 1.68683074e-03,
 -2.33702979e-03, 2.74950022e-02, 8.80695149e-03, 1.63061152e-03,
  0.00000000e+00,-1.81288413e-03, 0.00000000e+00,-1.94528049e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000280350054773372
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005331,  0.05582069,  0.04985982])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00021076058656860353
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646187, -0.07070462,  0.04989462])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017988416670512014
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04991006])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.29258981e-05,-8.00993432e-06,-1.67092249e-06,-4.01942932e-05,
 -1.41961036e-05,-6.00499790e-05,-1.94331133e-05,-4.87818918e-05,
  5.55672511e-05, 5.38539515e-05,-8.45555527e-06, 5.77012642e-06,
  2.33079717e-06, 1.75512141e-07,-1.34460799e-05, 8.74285824e-05,
 -6.18917434e-08,-5.11800771e-09,-7.84799993e+00, 5.52034712e-03,
 -1.59406057e-01,-1.01112846e-03]


--- Step 1885 ---
qpos:
[-5.29732908e-04, 8.77270558e-01,-2.02669504e-02,-2.75804652e-02,
  7.58219978e-03, 8.64655635e-01,-2.80490386e-02, 9.43603494e-03,
  2.22318680e-02, 8.72914816e-01,-2.02338665e-02, 2.24607321e-02,
  1.37917627e+00,-9.89742300e-03, 1.08110128e+00, 6.11071136e-02,
 -1.46338570e+00,-1.25433105e-02, 6.29254401e-02, 5.26379740e-01,
 -4.54022121e-01,-5.39717573e-01,-4.74861269e-01]

qacc:
[-3.28658415e-02,-1.05672023e+00, 3.49563928e+00,-5.16470317e+00,
  6.44112174e-02,-3.36952562e-02, 1.77625477e-01, 1.35199882e-01,
 -7.42504685e-02,-2.80381670e-01, 2.29970477e+00,-6.73037005e+00,
  3.67415859e-02,-6.64880629e-02,-7.30277565e-02, 2.63403337e-01,
  2.83595497e-03, 1.21811647e-04,-1.01119720e-02,-1.85458925e-03,
  2.04068829e-02, 2.16711783e-01]

qfrc_actuator:
[ 2.42644642e-03, 2.75904032e-02, 8.72721285e-03, 1.62578218e-03,
 -2.02018149e-05, 2.74213473e-02, 8.66222955e-03, 1.69344908e-03,
 -2.37752270e-03, 2.74790247e-02, 8.79744694e-03, 1.61612775e-03,
  0.00000000e+00,-1.81536275e-03, 0.00000000e+00,-1.94627156e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002802119963005653
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005331,  0.05582069,  0.04985989])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002101358660062183
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646187, -0.07070462,  0.04989493])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017918205323345232
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04991041])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.14225761e-06,-4.27938913e-05,-2.67923350e-06,-7.03073405e-06,
  1.16995339e-05, 1.47312540e-05, 8.03748622e-06, 2.42326771e-06,
 -1.37536549e-05, 1.26758711e-05, 7.85529019e-07,-1.23538986e-05,
  1.03738843e-06,-1.66760508e-06, 8.71442008e-07, 1.51303907e-06,
 -5.24660847e-08,-4.48501169e-09,-7.84799994e+00, 5.52272156e-03,
 -1.59405983e-01,-1.01126910e-03]


--- Step 1886 ---
qpos:
[-5.29886232e-04, 8.77269967e-01,-2.02669590e-02,-2.75803252e-02,
  7.58204611e-03, 8.64656275e-01,-2.80491621e-02, 9.43685041e-03,
  2.22320897e-02, 8.72913499e-01,-2.02332834e-02, 2.24605698e-02,
  1.37925258e+00,-9.89772993e-03, 1.08130140e+00, 6.11094012e-02,
 -1.46338587e+00,-1.25433261e-02, 6.29258103e-02, 5.26376460e-01,
 -4.54018681e-01,-5.39720753e-01,-4.74864579e-01]

qacc:
[-2.78580023e-01,-1.85931536e+00, 5.10059266e+00,-5.20458598e+00,
  1.90035358e-01,-1.89995406e-01, 1.70906528e+00,-2.65197699e+00,
 -2.63273458e-01, 1.76023989e+00,-1.17493501e+01, 3.28774952e+01,
 -2.68401627e-01, 5.22689747e-01, 1.15763068e+00,-3.98508269e+00,
  2.70814802e-03, 1.32019302e-04,-9.16870812e-03,-1.73235993e-03,
  1.82985992e-02, 2.07074189e-01]

qfrc_actuator:
[ 2.37763609e-03, 2.75155184e-02, 8.72758293e-03, 1.62227111e-03,
  8.76093386e-06, 2.74894003e-02, 8.69482336e-03, 1.69707532e-03,
 -2.41977699e-03, 2.74698398e-02, 8.80936780e-03, 1.67915911e-03,
  0.00000000e+00,-1.79885671e-03, 0.00000000e+00,-1.96569855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002800937617318741
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005331,  0.05582069,  0.04985995])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020956411998316465
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646186, -0.07070462,  0.04989522])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017853417108483483
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04991073])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.17709630e-05,-9.96735606e-05,-9.04080783e-06,-5.57237666e-06,
  3.45327461e-05, 7.80552759e-05, 3.67116633e-05, 4.58182797e-06,
 -4.88723543e-05,-2.43695331e-06, 1.42173432e-05, 6.33648534e-05,
 -1.15038635e-07, 1.65574470e-05,-3.30116368e-06,-2.01484014e-05,
 -4.44288514e-08,-3.91433266e-09,-7.84799995e+00, 5.52495789e-03,
 -1.59405913e-01,-1.01140155e-03]


--- Step 1887 ---
qpos:
[-5.30413753e-04, 8.77269000e-01,-2.02668081e-02,-2.75809709e-02,
  7.58187331e-03, 8.64656269e-01,-2.80484017e-02, 9.43850597e-03,
  2.22318065e-02, 8.72912473e-01,-2.02330153e-02, 2.24614911e-02,
  1.37932885e+00,-9.89784287e-03, 1.08150175e+00, 6.11090835e-02,
 -1.46338603e+00,-1.25433412e-02, 6.29261472e-02, 5.26373384e-01,
 -4.54015439e-01,-5.39723736e-01,-4.74867697e-01]

qacc:
[-1.94240309e-01,-2.56258304e+00, 1.17226389e+01,-2.52838968e+01,
 -9.21402198e-03,-1.59238321e+00, 8.93339784e-01, 1.27069549e+01,
 -2.62631588e-01, 3.49233409e+00,-1.64722580e+01, 3.55182438e+01,
 -3.24954262e-01, 5.83469028e-01, 8.23454488e+00,-2.82573975e+01,
  2.58178202e-03, 1.39634689e-04,-8.31546064e-03,-1.61761848e-03,
  1.64018993e-02, 1.97524602e-01]

qfrc_actuator:
[ 2.36648604e-03, 2.75245835e-02, 8.74540686e-03, 1.58461381e-03,
 -9.52226725e-06, 2.73876355e-02, 8.71423815e-03, 1.73443160e-03,
 -2.44491398e-03, 2.75004415e-02, 8.79840511e-03, 1.73405457e-03,
  0.00000000e+00,-1.78898007e-03, 0.00000000e+00,-2.10231496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027999283853726714
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005331,  0.05582069,  0.04986   ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020904073069655943
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646186, -0.07070462,  0.04989548])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017793627059506378
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04991103])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.60698606e-05,-4.87669194e-05,-4.06075364e-06,-4.23430167e-05,
 -1.83850659e-06,-5.03510798e-05, 4.02114848e-05, 4.20577441e-05,
 -4.86549000e-05, 3.49123176e-05,-7.51528826e-06, 5.65182326e-05,
  3.48860643e-06, 1.41680073e-05,-7.62480350e-06,-1.39072607e-04,
 -3.75848531e-08,-3.40384636e-09,-7.84799995e+00, 5.52706225e-03,
 -1.59405847e-01,-1.01152619e-03]


--- Step 1888 ---
qpos:
[-5.31186378e-04, 8.77268304e-01,-2.02667998e-02,-2.75817813e-02,
  7.58157738e-03, 8.64655350e-01,-2.80471502e-02, 9.44100527e-03,
  2.22316807e-02, 8.72912375e-01,-2.02342811e-02, 2.24627201e-02,
  1.37940511e+00,-9.89782095e-03, 1.08170175e+00, 6.11094663e-02,
 -1.46338619e+00,-1.25433556e-02, 6.29264539e-02, 5.26370501e-01,
 -4.54012389e-01,-5.39726531e-01,-4.74870632e-01]

qacc:
[-1.27541720e-01, 4.18251134e-01,-2.77468491e-01,-2.53870647e+00,
 -6.39987590e-02,-8.39622746e-01,-2.31721495e+00, 1.68058554e+01,
  8.05274154e-02, 6.14255410e+00,-2.14221756e+01, 2.85165727e+01,
 -4.93788257e-02, 1.59253328e-01,-2.63299744e+00, 8.46280321e+00,
  2.45745019e-03, 1.45010645e-04,-7.54353483e-03,-1.50994275e-03,
  1.46961815e-02, 1.88111149e-01]

qfrc_actuator:
[ 2.36023155e-03, 2.75838936e-02, 8.75594515e-03, 1.58050185e-03,
 -2.04115946e-05, 2.73092141e-02, 8.72505244e-03, 1.77343172e-03,
 -2.40632201e-03, 2.75545441e-02, 8.72089883e-03, 1.74822052e-03,
  0.00000000e+00,-1.78312530e-03, 0.00000000e+00,-2.05832618e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002799070077519547
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900533 ,  0.05582069,  0.04986005])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020856149420464543
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646186, -0.07070462,  0.04989572])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001773844446796638
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886272,  0.01803962,  0.04991131])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.36125215e-05, 2.94096606e-05,-1.48985189e-06,-7.16147536e-06,
 -1.17716720e-05,-9.64784931e-05, 6.81717102e-06, 3.90496392e-05,
  1.51841338e-05, 7.45094137e-05,-6.92602541e-05, 1.65023974e-05,
  4.67672072e-06, 1.05316888e-05,-2.31731093e-05, 3.42773042e-05,
 -3.17645047e-08,-2.95024671e-09,-7.84799996e+00, 5.52904072e-03,
 -1.59405784e-01,-1.01164336e-03]


--- Step 1889 ---
qpos:
[-5.32295347e-04, 8.77267842e-01,-2.02667313e-02,-2.75822998e-02,
  7.58152836e-03, 8.64654199e-01,-2.80462167e-02, 9.44288600e-03,
  2.22316862e-02, 8.72913126e-01,-2.02365221e-02, 2.24637357e-02,
  1.37948130e+00,-9.89744154e-03, 1.08190154e+00, 6.11106618e-02,
 -1.46338633e+00,-1.25433695e-02, 6.29267333e-02, 5.26367801e-01,
 -4.54009520e-01,-5.39729149e-01,-4.74873393e-01]

qacc:
[-1.74793022e-01, 7.42161071e-01,-3.42592648e+00, 8.20095667e+00,
  1.29539019e-01,-6.92173007e-01, 4.63305680e+00,-1.46598337e+01,
  6.73284356e-02, 3.40541630e+00,-9.61466705e+00, 6.85528748e+00,
 -2.72289121e-01, 6.00467093e-01,-2.73563466e+00, 9.17815807e+00,
  2.33564976e-03, 1.48461376e-04,-6.84507520e-03,-1.40893378e-03,
  1.31627854e-02, 1.78874309e-01]

qfrc_actuator:
[ 2.33918233e-03, 2.76018425e-02, 8.76235040e-03, 1.59621020e-03,
  8.75232221e-06, 2.73163338e-02, 8.71299318e-03, 1.74206794e-03,
 -2.40096356e-03, 2.76042401e-02, 8.67582163e-03, 1.73829123e-03,
  0.00000000e+00,-1.76194949e-03, 0.00000000e+00,-2.01475369e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027983431180171603
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900533 ,  0.05582069,  0.04986008])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020812258240630876
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646186, -0.07070462,  0.04989594])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017687509996813788
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991156])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.24050697e-05, 3.37959045e-05, 1.20546254e-05, 1.67787100e-05,
  2.35487464e-05,-4.37411083e-05,-2.97994739e-05,-3.45053947e-05,
  1.26727627e-05, 7.77745587e-05,-3.76398817e-05,-8.81179136e-06,
  4.60404349e-06, 2.51721207e-05,-9.29580634e-06, 4.19235786e-05,
 -2.68208344e-08,-2.54951951e-09,-7.84799996e+00, 5.53089928e-03,
 -1.59405725e-01,-1.01175344e-03]


--- Step 1890 ---
qpos:
[-5.33506265e-04, 8.77267519e-01,-2.02662829e-02,-2.75822912e-02,
  7.58159275e-03, 8.64653087e-01,-2.80455900e-02, 9.44399474e-03,
  2.22314190e-02, 8.72914005e-01,-2.02381737e-02, 2.24639175e-02,
  1.37955739e+00,-9.89653340e-03, 1.08210116e+00, 6.11130161e-02,
 -1.46338646e+00,-1.25433827e-02, 6.29269878e-02, 5.26365274e-01,
 -4.54006825e-01,-5.39731598e-01,-4.74875987e-01]

qacc:
[-5.27631142e-02, 2.08535039e-01,-2.69721415e+00, 1.11013778e+01,
  5.93236151e-02,-6.79144762e-01, 5.75721942e+00,-1.86584641e+01,
 -1.41376247e-01,-3.19071048e+00, 1.51445915e+01,-3.06115782e+01,
 -4.04219611e-01, 8.93099232e-01,-3.72167840e+00, 1.27222780e+01,
  2.21679174e-03, 1.50266071e-04,-6.21298596e-03,-1.31421419e-03,
  1.17848172e-02, 1.69847697e-01]

qfrc_actuator:
[ 2.34495082e-03, 2.76126562e-02, 8.78388268e-03, 1.62342022e-03,
  8.36950557e-06, 2.73389586e-02, 8.70557502e-03, 1.70511587e-03,
 -2.43333473e-03, 2.75977428e-02, 8.70351475e-03, 1.69655021e-03,
  0.00000000e+00,-1.73185763e-03, 0.00000000e+00,-1.95407072e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002797730256527825
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900533 ,  0.05582069,  0.04986011])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020772050857371938
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646186, -0.07070462,  0.04989614])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001764049305071902
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.0499118 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.81836657e-06, 3.29283717e-05, 3.05820066e-05, 2.94023853e-05,
  1.08206157e-05,-9.44683379e-06,-2.13192536e-05,-4.05319653e-05,
 -2.62637734e-05, 2.88413535e-05, 3.88255635e-05,-3.98815266e-05,
  8.17791553e-06, 3.75886546e-05,-2.83026919e-06, 6.10690558e-05,
 -2.26267642e-08,-2.19728902e-09,-7.84799997e+00, 5.53264382e-03,
 -1.59405669e-01,-1.01185675e-03]


--- Step 1891 ---
qpos:
[-5.34540445e-04, 8.77267455e-01,-2.02658585e-02,-2.75822894e-02,
  7.58152168e-03, 8.64651936e-01,-2.80450435e-02, 9.44395513e-03,
  2.22310063e-02, 8.72914553e-01,-2.02389777e-02, 2.24639846e-02,
  1.37963328e+00,-9.89471630e-03, 1.08230039e+00, 6.11187428e-02,
 -1.46338659e+00,-1.25433954e-02, 6.29272197e-02, 5.26362910e-01,
 -4.54004295e-01,-5.39733889e-01,-4.74878422e-01]

qacc:
[ 9.17287355e-02, 3.95508350e-01,-8.84191023e-01, 6.14044687e-01,
 -7.12604110e-02,-2.18884907e+00, 1.25797911e+01,-3.23011910e+01,
 -7.50043972e-02,-3.04045977e+00, 1.06921325e+01,-1.37907784e+01,
 -6.20528451e-01, 1.42545640e+00,-1.07041757e+01, 3.67324315e+01,
  2.10121017e-03, 1.50672255e-04,-5.64085860e-03,-1.22542671e-03,
  1.05469890e-02, 1.61058797e-01]

qfrc_actuator:
[ 2.36671009e-03, 2.76191904e-02, 8.77864208e-03, 1.62167379e-03,
 -9.70662509e-06, 2.73352019e-02, 8.70105749e-03, 1.64745908e-03,
 -2.43473437e-03, 2.75579106e-02, 8.73819035e-03, 1.68968569e-03,
  0.00000000e+00,-1.67897775e-03, 0.00000000e+00,-1.77727688e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279721630964104
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900533 ,  0.05582069,  0.04986014])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020735209610569377
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646186, -0.07070462,  0.04989632])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017597089379273179
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991201])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70387332e-05, 3.25258989e-05, 6.34405281e-06, 1.29392581e-06,
 -1.29263964e-05,-1.51574692e-05,-1.04961827e-05,-5.95894255e-05,
 -1.40317188e-05,-1.74058437e-05, 4.40414391e-05,-5.05998192e-06,
  1.31846553e-05, 6.42213742e-05, 1.99986836e-06, 1.79013138e-04,
 -1.90726569e-08,-1.88906666e-09,-7.84799997e+00, 5.53428009e-03,
 -1.59405616e-01,-1.01195366e-03]


--- Step 1892 ---
qpos:
[-5.35166597e-04, 8.77267281e-01,-2.02652976e-02,-2.75826166e-02,
  7.58145981e-03, 8.64650342e-01,-2.80446535e-02, 9.44293741e-03,
  2.22305174e-02, 8.72915107e-01,-2.02394330e-02, 2.24639605e-02,
  1.37970930e+00,-9.89279239e-03, 1.08249952e+00, 6.11268609e-02,
 -1.46338670e+00,-1.25434075e-02, 6.29274312e-02, 5.26360700e-01,
 -4.54001922e-01,-5.39736030e-01,-4.74880706e-01]

qacc:
[ 2.12116641e-01,-1.20493877e+00, 5.46991094e+00,-1.12943698e+01,
  4.83048720e-03,-2.15933129e+00, 1.09807838e+01,-2.73361583e+01,
 -3.93832988e-02,-1.15402416e+00, 4.51089020e+00,-6.65124055e+00,
  1.58533512e-01,-1.08651762e-01,-7.36706196e+00, 2.55564571e+01,
  1.98917055e-03, 1.49898857e-04,-5.12290617e-03,-1.14223295e-03,
  9.43547179e-03, 1.52529632e-01]

qfrc_actuator:
[ 2.39782591e-03, 2.75874755e-02, 8.77534234e-03, 1.60287669e-03,
 -2.68996349e-06, 2.72801739e-02, 8.68042386e-03, 1.59581723e-03,
 -2.43532174e-03, 2.75694959e-02, 8.75880866e-03, 1.68560903e-03,
  0.00000000e+00,-1.68402730e-03, 0.00000000e+00,-1.65776212e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027967879294857334
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900533 ,  0.05582069,  0.04986016])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002070144501991611
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646186, -0.07070462,  0.04989649])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017557018891335707
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991221])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.93175436e-05,-1.21596128e-05, 4.24104563e-06,-1.71609911e-05,
  8.63574733e-07,-6.82028491e-05,-2.71147693e-05,-5.38132209e-05,
 -7.34045581e-06, 1.07226336e-05, 2.22752288e-05,-3.39662635e-06,
  2.24939205e-05, 1.38943043e-05, 1.75984396e-05, 1.28982908e-04,
 -1.60641155e-08,-1.62042492e-09,-7.84799998e+00, 5.53581369e-03,
 -1.59405567e-01,-1.01204448e-03]


--- Step 1893 ---
qpos:
[-5.35218451e-04, 8.77267180e-01,-2.02648920e-02,-2.75821332e-02,
  7.58163257e-03, 8.64648932e-01,-2.80454379e-02, 9.44268057e-03,
  2.22299906e-02, 8.72916144e-01,-2.02401027e-02, 2.24635196e-02,
  1.37978551e+00,-9.89113464e-03, 1.08269873e+00, 6.11360246e-02,
 -1.46338681e+00,-1.25434189e-02, 6.29276240e-02, 5.26358636e-01,
 -4.53999698e-01,-5.39738031e-01,-4.74882848e-01]

qacc:
[ 2.98319411e-01, 2.19955530e+00,-1.11168367e+01, 2.53239236e+01,
  1.22491925e-01, 5.08442123e+00,-2.09933777e+01, 3.59118930e+01,
 -2.00189109e-02, 3.79691502e-01, 1.33241355e+00,-8.55890247e+00,
  4.06781542e-01,-6.87829216e-01,-3.06745221e+00, 1.08412245e+01,
  1.88087763e-03, 1.48139037e-04,-4.65390354e-03,-1.06431219e-03,
  8.43776101e-03, 1.44277386e-01]

qfrc_actuator:
[ 2.43425367e-03, 2.76040874e-02, 8.77305624e-03, 1.64518466e-03,
  1.92918981e-05, 2.73190712e-02, 8.63247632e-03, 1.63683659e-03,
 -2.43543288e-03, 2.76117276e-02, 8.75339992e-03, 1.66547478e-03,
  0.00000000e+00,-1.70564331e-03, 0.00000000e+00,-1.60848793e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027964333967588767
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900533 ,  0.05582069,  0.04986018])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020670493216392444
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646186, -0.07070462,  0.04989665])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017520023660878153
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.0499124 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.53438874e-05, 9.96018220e-06,-4.87119208e-06, 4.15995023e-05,
  2.23856589e-05,-7.10899904e-06,-6.72256491e-05, 3.61147570e-05,
 -3.64097174e-06, 5.26718000e-05,-5.68426643e-07,-1.89700999e-05,
  1.57803461e-05,-1.28847079e-05, 1.84667799e-05, 5.77578610e-05,
 -1.35200220e-08,-1.38711461e-09,-7.84799998e+00, 5.53725004e-03,
 -1.59405520e-01,-1.01212954e-03]


--- Step 1894 ---
qpos:
[-5.35139003e-04, 8.77267267e-01,-2.02648575e-02,-2.75811471e-02,
  7.58223905e-03, 8.64647786e-01,-2.80466786e-02, 9.44320097e-03,
  2.22298159e-02, 8.72917246e-01,-2.02409361e-02, 2.24625460e-02,
  1.37986193e+00,-9.88996890e-03, 1.08289875e+00, 6.11396982e-02,
 -1.46338692e+00,-1.25434298e-02, 6.29278000e-02, 5.26356707e-01,
 -4.53997615e-01,-5.39739899e-01,-4.74884853e-01]

qacc:
[ 6.79543204e-02, 2.32218834e+00,-1.00332369e+01, 1.91763950e+01,
  2.27485142e-01, 3.22038645e+00,-1.42596695e+01, 2.82514997e+01,
  1.82793018e-01,-5.51747285e-01, 4.34282089e+00,-1.33496236e+01,
  1.79880181e-01,-5.13232244e-01, 1.77331523e+01,-6.03763590e+01,
  1.77648262e-03, 1.45562775e-04,-4.22913327e-03,-9.91360414e-04,
  7.54255371e-03, 1.36314970e-01]

qfrc_actuator:
[ 2.42028123e-03, 2.76140519e-02, 8.75386292e-03, 1.66988969e-03,
  5.00237590e-05, 2.73606160e-02, 8.62247891e-03, 1.67884705e-03,
 -2.39976083e-03, 2.75831043e-02, 8.73279859e-03, 1.63606802e-03,
  0.00000000e+00,-1.73686895e-03, 0.00000000e+00,-1.90276370e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796142435748314
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900533 ,  0.05582069,  0.04986019])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020642113613193735
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646186, -0.07070462,  0.04989679])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001748586610660352
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991257])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26564092e-05, 1.63135444e-05,-1.63007063e-05, 2.57709705e-05,
  4.13856440e-05, 2.52759005e-05,-1.84812149e-05, 4.00854521e-05,
  3.39285305e-05,-1.19929158e-07,-1.04509595e-05,-2.75383203e-05,
  5.62424505e-06,-3.06171376e-05, 1.05969200e-05,-2.89738657e-04,
 -1.13707959e-08,-1.18513971e-09,-7.84799998e+00, 5.53859441e-03,
 -1.59405476e-01,-1.01220915e-03]


--- Step 1895 ---
qpos:
[-5.35268667e-04, 8.77267150e-01,-2.02645496e-02,-2.75809024e-02,
  7.58324009e-03, 8.64646193e-01,-2.80471784e-02, 9.44388329e-03,
  2.22300313e-02, 8.72918294e-01,-2.02422427e-02, 2.24616109e-02,
  1.37993869e+00,-9.88996391e-03, 1.08309901e+00, 6.11381729e-02,
 -1.46338701e+00,-1.25434401e-02, 6.29279605e-02, 5.26354908e-01,
 -4.53995665e-01,-5.39741642e-01,-4.74886731e-01]

qacc:
[-1.08449923e-01,-2.56103987e+00, 1.18611703e+01,-2.49635756e+01,
  2.07887124e-01,-2.32491933e+00, 6.75043298e+00,-4.80638838e+00,
  2.02430998e-01, 1.32914211e+00,-5.00582186e+00, 6.46888195e+00,
  8.26534828e-01,-1.83307602e+00, 1.59996682e+01,-5.55905854e+01,
  1.67608968e-03, 1.42319228e-04,-3.84433654e-03,-9.23089348e-04,
  6.73963671e-03, 1.28651540e-01]

qfrc_actuator:
[ 2.39403458e-03, 2.75843769e-02, 8.76030839e-03, 1.63075874e-03,
  6.79600557e-05, 2.73148316e-02, 8.65275574e-03, 1.68562619e-03,
 -2.37849896e-03, 2.75654501e-02, 8.70311675e-03, 1.63688566e-03,
  0.00000000e+00,-1.80903331e-03, 0.00000000e+00,-2.16626758e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795906049141289
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.4900533 ,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002061608679345961
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646186, -0.07070462,  0.04989692])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017454327329240876
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991273])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.01556621e-05,-2.28187020e-05, 8.69551456e-06,-3.84968116e-05,
  3.76362615e-05,-3.37086323e-05, 3.46248297e-05, 8.00482565e-06,
  3.75880975e-05,-2.10744116e-05,-3.19481909e-05,-8.45693251e-08,
 -4.82396222e-06,-7.79916081e-05,-3.30504226e-05,-2.79646191e-04,
 -9.55685685e-09,-1.01080078e-09,-7.84799998e+00, 5.53985187e-03,
 -1.59405435e-01,-1.01228362e-03]


--- Step 1896 ---
qpos:
[-5.35844763e-04, 8.77266877e-01,-2.02638862e-02,-2.75811400e-02,
  7.58416288e-03, 8.64644268e-01,-2.80470265e-02, 9.44497873e-03,
  2.22303792e-02, 8.72919048e-01,-2.02437849e-02, 2.24603627e-02,
  1.38001547e+00,-9.89052881e-03, 1.08329843e+00, 6.11388200e-02,
 -1.46338710e+00,-1.25434499e-02, 6.29281071e-02, 5.26353229e-01,
 -4.53993842e-01,-5.39743267e-01,-4.74888487e-01]

qacc:
[-2.31714508e-01,-2.19340429e+00, 9.55023280e+00,-1.83384108e+01,
 -4.05566274e-02,-1.40900944e+00, 2.64220439e+00, 3.70936787e+00,
  6.88410178e-02,-3.75175902e-01, 2.09477096e+00,-6.92094423e+00,
  5.98499228e-01,-1.22818362e+00,-7.84674242e+00, 2.55459117e+01,
  1.57976192e-03, 1.38538891e-04,-3.49566876e-03,-8.59225640e-04,
  6.01978465e-03, 1.21292975e-01]

qfrc_actuator:
[ 2.36071128e-03, 2.75844937e-02, 8.78164113e-03, 1.60762717e-03,
  4.25794132e-05, 2.73060190e-02, 8.68842987e-03, 1.70707623e-03,
 -2.38381467e-03, 2.75367179e-02, 8.68611414e-03, 1.61997453e-03,
  0.00000000e+00,-1.83388486e-03, 0.00000000e+00,-2.03659843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279571637062645
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986021])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020592212594339188
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646186, -0.07070462,  0.04989704])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017425205592046938
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991287])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.30233359e-05,-1.24967933e-05, 1.63579133e-05,-2.45574142e-05,
 -7.47262339e-06,-2.01221762e-05, 3.32706632e-05, 2.13616201e-05,
  1.27681727e-05,-4.71276471e-05,-2.52910720e-05,-1.89202035e-05,
 -2.22148901e-05,-4.45920721e-05,-4.94908843e-05, 1.09066798e-04,
 -8.02727035e-09,-8.60715506e-10,-7.84799999e+00, 5.54102730e-03,
 -1.59405397e-01,-1.01235323e-03]


--- Step 1897 ---
qpos:
[-5.36653751e-04, 8.77266502e-01,-2.02630285e-02,-2.75809585e-02,
  7.58488533e-03, 8.64642507e-01,-2.80471433e-02, 9.44563168e-03,
  2.22305716e-02, 8.72918910e-01,-2.02449961e-02, 2.24593050e-02,
  1.38009201e+00,-9.89090074e-03, 1.08349726e+00, 6.11432675e-02,
 -1.46338718e+00,-1.25434591e-02, 6.29282409e-02, 5.26351664e-01,
 -4.53992137e-01,-5.39744783e-01,-4.74890128e-01]

qacc:
[-1.20836789e-01, 1.85619516e-01,-2.62187333e+00, 9.62960610e+00,
 -1.05482990e-01, 5.78517569e-02, 1.97831089e+00,-9.32872963e+00,
 -8.03553917e-02,-1.70953470e+00, 3.58252744e+00,-1.57522608e-01,
 -8.89867053e-02, 1.70159123e-01,-1.23444465e+01, 4.19315078e+01,
  1.48752680e-03, 1.34335553e-04,-3.17965929e-03,-7.99510099e-04,
  5.37466718e-03, 1.14242300e-01]

qfrc_actuator:
[ 2.35896824e-03, 2.75847671e-02, 8.79396216e-03, 1.62963784e-03,
  2.70288680e-05, 2.73194543e-02, 8.67387726e-03, 1.68375494e-03,
 -2.40497549e-03, 2.74660961e-02, 8.69442355e-03, 1.62826766e-03,
  0.00000000e+00,-1.81272262e-03, 0.00000000e+00,-1.83609073e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027955665334773727
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986022])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002057030836887519
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989715])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001739831493141608
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991301])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.24446385e-05,-4.38975504e-06, 1.09038336e-05, 2.15640748e-05,
 -1.91102915e-05, 1.00121128e-05,-1.38572341e-05,-2.26149506e-05,
 -1.50223388e-05,-1.03011658e-04,-5.18706330e-06, 5.03296491e-06,
 -2.34198129e-05, 5.28726242e-06,-1.12788232e-05, 2.00058091e-04,
 -6.73856129e-09,-7.31823057e-10,-7.84799999e+00, 5.54212540e-03,
 -1.59405361e-01,-1.01241825e-03]


--- Step 1898 ---
qpos:
[-5.37212451e-04, 8.77266305e-01,-2.02624393e-02,-2.75801737e-02,
  7.58559899e-03, 8.64640789e-01,-2.80477002e-02, 9.44637358e-03,
  2.22301889e-02, 8.72918282e-01,-2.02465896e-02, 2.24597346e-02,
  1.38016832e+00,-9.89081983e-03, 1.08369642e+00, 6.11463632e-02,
 -1.46338726e+00,-1.25434678e-02, 6.29283632e-02, 5.26350206e-01,
 -4.53990545e-01,-5.39746195e-01,-4.74891662e-01]

qacc:
[ 1.29849799e-01, 2.22983539e+00,-1.01463262e+01, 2.08708936e+01,
 -4.90521288e-03, 1.46810451e+00,-5.52861706e+00, 7.74189776e+00,
 -2.98776599e-01, 3.47786032e+00,-1.96233795e+01, 4.63376499e+01,
 -6.07721839e-01, 1.08629732e+00, 4.62881046e+00,-1.53660188e+01,
  1.39938106e-03, 1.29808083e-04,-2.89317512e-03,-7.43696996e-04,
  4.79676456e-03, 1.07500077e-01]

qfrc_actuator:
[ 2.39389101e-03, 2.76028952e-02, 8.78314240e-03, 1.66027281e-03,
  3.52823920e-05, 2.73103682e-02, 8.64760100e-03, 1.68751911e-03,
 -2.45316078e-03, 2.74598179e-02, 8.68194239e-03, 1.70456277e-03,
  0.00000000e+00,-1.78223965e-03, 0.00000000e+00,-1.91512437e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279545055348461
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986023])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020550207408842613
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989725])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017373483885717994
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991313])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.41228721e-05, 1.88489582e-05,-9.64003188e-06, 3.12438586e-05,
 -8.40114550e-07,-7.27874677e-06,-2.66845040e-05, 3.27547416e-06,
 -5.54266551e-05,-6.47247013e-05,-3.42107003e-05, 7.18028623e-05,
 -1.17492224e-05, 2.63356045e-05, 1.45985542e-05,-6.99149977e-05,
 -5.65367643e-09,-6.21377029e-10,-7.84799999e+00, 5.54315065e-03,
 -1.59405327e-01,-1.01247896e-03]


--- Step 1899 ---
qpos:
[-5.37432545e-04, 8.77266318e-01,-2.02619729e-02,-2.75797326e-02,
  7.58617138e-03, 8.64638897e-01,-2.80479138e-02, 9.44678320e-03,
  2.22294188e-02, 8.72917616e-01,-2.02487491e-02, 2.24596477e-02,
  1.38024453e+00,-9.89041224e-03, 1.08389617e+00, 6.11441575e-02,
 -1.46338734e+00,-1.25434760e-02, 6.29284749e-02, 5.26348848e-01,
 -4.53989058e-01,-5.39747510e-01,-4.74893094e-01]

qacc:
[ 1.75776706e-01,-8.95390143e-02, 2.16583921e+00,-8.06297086e+00,
 -7.39460709e-02,-1.87182270e+00, 7.74365174e+00,-1.39174837e+01,
 -2.01674077e-01, 4.68073747e-01, 4.39536811e-01,-8.44836924e+00,
 -6.44322355e-01, 1.10140536e+00, 1.69130852e+01,-5.78226409e+01,
  1.31529510e-03, 1.25042042e-04,-2.63338798e-03,-6.91553413e-04,
  4.27929106e-03, 1.01064758e-01]

qfrc_actuator:
[ 2.41491797e-03, 2.76137430e-02, 8.77657596e-03, 1.64247266e-03,
  2.22016873e-05, 2.73055776e-02, 8.66782734e-03, 1.67167485e-03,
 -2.46382125e-03, 2.74743493e-02, 8.65756778e-03, 1.67826512e-03,
  0.00000000e+00,-1.76425394e-03, 0.00000000e+00,-2.19375594e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279536322475335
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986023])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020531757513406884
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989734])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001735055433170346
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991325])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26353536e-05, 2.07368613e-05,-2.78444487e-06,-1.67206024e-05,
 -1.34811401e-05,-1.41872377e-05, 1.55654648e-05,-1.70135956e-05,
 -3.73387760e-05,-2.56324118e-05,-3.94561649e-05,-2.88544000e-05,
 -5.17303376e-07, 2.18805620e-05,-6.28093422e-06,-2.81865414e-04,
 -4.74108038e-09,-5.26930957e-10,-7.84799999e+00, 5.54410735e-03,
 -1.59405295e-01,-1.01253562e-03]


--- Step 1900 ---
qpos:
[-5.36807276e-04, 8.77266259e-01,-2.02611960e-02,-2.75795021e-02,
  7.58640662e-03, 8.64637165e-01,-2.80482671e-02, 9.44629921e-03,
  2.22284014e-02, 8.72917155e-01,-2.02512899e-02, 2.24578205e-02,
  1.38032079e+00,-9.89005003e-03, 1.08409522e+00, 6.11439904e-02,
 -1.46338740e+00,-1.25434837e-02, 6.29285771e-02, 5.26347583e-01,
 -4.53987671e-01,-5.39748735e-01,-4.74894430e-01]

qacc:
[ 4.39452052e-01,-1.39621463e+00, 5.72727671e+00,-9.81121415e+00,
 -1.77294429e-01,-1.23563144e+00, 8.48747203e+00,-2.38506310e+01,
 -1.28881285e-01,-2.24247755e+00, 1.57389596e+01,-4.53999748e+01,
  2.17391567e-01,-3.22647504e-01,-7.21339254e+00, 2.36881695e+01,
  1.23521700e-03, 1.20111152e-04,-2.39774457e-03,-6.42858651e-04,
  3.81612522e-03, 9.49329969e-02]

qfrc_actuator:
[ 2.48067692e-03, 2.76023690e-02, 8.79027593e-03, 1.63182236e-03,
 -3.54356565e-06, 2.73213177e-02, 8.66208996e-03, 1.62669855e-03,
 -2.46967702e-03, 2.75011102e-02, 8.64414646e-03, 1.59182076e-03,
  0.00000000e+00,-1.77157420e-03, 0.00000000e+00,-2.07282967e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027953000270334455
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986023])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002051481968978544
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989743])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017329380418745766
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991335])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.14635837e-05,-1.06942455e-06, 1.70559929e-05,-1.01866917e-05,
 -3.21631506e-05, 1.03372786e-05,-7.32224757e-06,-4.53737851e-05,
 -2.38256734e-05, 3.06766877e-06,-2.45527559e-05,-8.94649962e-05,
  4.07209583e-06,-1.58096678e-06,-3.93084927e-05, 1.03238874e-04,
 -3.97397017e-09,-4.46319105e-10,-7.84799999e+00, 5.54499962e-03,
 -1.59405266e-01,-1.01258845e-03]


--- Step 1901 ---
qpos:
[-5.35189473e-04, 8.77266202e-01,-2.02605465e-02,-2.75793800e-02,
  7.58632056e-03, 8.64635847e-01,-2.80488985e-02, 9.44629262e-03,
  2.22274184e-02, 8.72916949e-01,-2.02541813e-02, 2.24566893e-02,
  1.38039724e+00,-9.89027900e-03, 1.08429342e+00, 6.11498829e-02,
 -1.46338747e+00,-1.25434910e-02, 6.29286705e-02, 5.26346406e-01,
 -4.53986378e-01,-5.39749874e-01,-4.74895676e-01]

qacc:
[ 5.15632582e-01, 1.35597557e-01,-2.31565601e-02,-1.64703939e+00,
 -1.69067374e-01, 2.30503934e+00,-9.44124081e+00, 1.78463851e+01,
  1.76583735e-02, 2.74689101e+00,-1.22448408e+01, 2.46625669e+01,
  9.65976153e-01,-1.70341420e+00,-1.96074481e+01, 6.66426094e+01,
  1.15907610e-03, 1.15078615e-04,-2.18393978e-03,-5.97403665e-04,
  3.40174668e-03, 8.90999333e-02]

qfrc_actuator:
[ 2.53712760e-03, 2.75956111e-02, 8.78024615e-03, 1.62546639e-03,
 -1.88825241e-05, 2.73668637e-02, 8.65887266e-03, 1.65370043e-03,
 -2.45488251e-03, 2.75349807e-02, 8.63733880e-03, 1.63049222e-03,
  0.00000000e+00,-1.81158927e-03, 0.00000000e+00,-1.75289337e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795257043376742
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986024])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002049926697353724
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498975 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017309827592222604
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991345])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.56456809e-05,-4.26626950e-06,-8.50950304e-06,-6.01262693e-06,
 -3.06446279e-05, 4.79109892e-05,-3.53736837e-06, 2.63125477e-05,
  3.33031876e-06, 2.67088435e-05,-1.22689757e-05, 3.62194467e-05,
  1.35557699e-06,-3.91252745e-05,-7.76841156e-06, 3.20350499e-04,
 -3.32959439e-09,-3.77634642e-10,-7.84799999e+00, 5.54583134e-03,
 -1.59405238e-01,-1.01263770e-03]


--- Step 1902 ---
qpos:
[-5.33308151e-04, 8.77266011e-01,-2.02602557e-02,-2.75789555e-02,
  7.58617351e-03, 8.64635102e-01,-2.80496991e-02, 9.44692595e-03,
  2.22265482e-02, 8.72916664e-01,-2.02565270e-02, 2.24570458e-02,
  1.38047376e+00,-9.89096073e-03, 1.08449197e+00, 6.11558389e-02,
 -1.46338752e+00,-1.25434978e-02, 6.29287559e-02, 5.26345311e-01,
 -4.53985172e-01,-5.39750934e-01,-4.74896837e-01]

qacc:
[ 1.36762910e-01, 1.44763345e+00,-6.69235528e+00, 1.25918151e+01,
 -3.23053519e-02, 2.54324890e+00,-1.06745961e+01, 2.16028566e+01,
  5.89461622e-02, 1.43170348e+00,-1.15394092e+01, 3.64761106e+01,
  3.83725856e-01,-8.22451420e-01, 2.84689798e-01,-3.26936154e-01,
  1.08678613e-03, 1.09998308e-04,-1.98989239e-03,-5.54990533e-04,
  3.03117881e-03, 8.35594460e-02]

qfrc_actuator:
[ 2.51649747e-03, 2.75738248e-02, 8.75629230e-03, 1.63942160e-03,
 -1.01060595e-05, 2.74122221e-02, 8.65736174e-03, 1.68737038e-03,
 -2.44563335e-03, 2.75374797e-02, 8.67012635e-03, 1.70698794e-03,
  0.00000000e+00,-1.83515201e-03, 0.00000000e+00,-1.76220333e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027952308870365927
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986024])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020484983357113573
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989758])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017291771698057373
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991354])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.53884866e-05,-2.61821326e-05,-2.60982559e-05, 1.33583458e-05,
 -5.80295875e-06, 7.25786414e-05, 8.87468079e-06, 3.61157752e-05,
  1.08518719e-05, 1.64796773e-05, 3.80710651e-05, 7.79266580e-05,
 -8.37344375e-06,-3.29067546e-05, 3.04997402e-05, 7.13992300e-06,
 -2.78866454e-09,-3.19206696e-10,-7.84799999e+00, 5.54660625e-03,
 -1.59405212e-01,-1.01268359e-03]


--- Step 1903 ---
qpos:
[-5.31990571e-04, 8.77265518e-01,-2.02599423e-02,-2.75776810e-02,
  7.58642581e-03, 8.64634768e-01,-2.80504164e-02, 9.44727007e-03,
  2.22250556e-02, 8.72916318e-01,-2.02577806e-02, 2.24568940e-02,
  1.38055021e+00,-9.89167742e-03, 1.08469146e+00, 6.11549827e-02,
 -1.46338758e+00,-1.25435042e-02, 6.29288341e-02, 5.26344293e-01,
 -4.53984049e-01,-5.39751919e-01,-4.74897919e-01]

qacc:
[-2.92763205e-01, 1.28969474e+00,-8.75414116e+00, 2.36287830e+01,
  2.09657978e-01,-2.84143144e-01, 3.02293492e+00,-8.46448345e+00,
 -3.22674732e-01,-4.17529455e+00, 1.69195787e+01,-2.74203385e+01,
 -4.57701629e-01, 6.01671934e-01, 2.20009692e+01,-7.48712011e+01,
  1.01824814e-03, 1.04915859e-04,-1.81372320e-03,-5.15431957e-04,
  2.69993665e-03, 7.83043775e-02]

qfrc_actuator:
[ 2.44995085e-03, 2.75609102e-02, 8.75977159e-03, 1.68294870e-03,
  3.07604952e-05, 2.74216393e-02, 8.65687693e-03, 1.67142981e-03,
 -2.51081383e-03, 2.75391404e-02, 8.72591508e-03, 1.68083961e-03,
  0.00000000e+00,-1.83099268e-03, 0.00000000e+00,-2.12526234e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027952186366260456
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986024])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020471862816620612
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989764])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017275098161296382
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803962,  0.04991362])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.43339338e-05,-3.23718382e-05,-4.68314920e-06, 4.17621768e-05,
  3.81129636e-05, 5.34040970e-05, 1.68594746e-05,-1.18194434e-05,
 -5.99610010e-05, 2.21028107e-05, 6.65981486e-05,-2.26050727e-05,
 -1.24055574e-05,-5.88358840e-06, 9.49661114e-06,-3.60009272e-04,
 -2.33484724e-09,-2.69577361e-10,-7.84799999e+00, 5.54732787e-03,
 -1.59405188e-01,-1.01272632e-03]


--- Step 1904 ---
qpos:
[-5.31360636e-04, 8.77265132e-01,-2.02597462e-02,-2.75762836e-02,
  7.58712175e-03, 8.64634272e-01,-2.80508335e-02, 9.44713499e-03,
  2.22230520e-02, 8.72916258e-01,-2.02587242e-02, 2.24564400e-02,
  1.38062652e+00,-9.89210990e-03, 1.08489114e+00, 6.11488122e-02,
 -1.46338763e+00,-1.25435102e-02, 6.29289057e-02, 5.26343347e-01,
 -4.53983004e-01,-5.39752835e-01,-4.74898926e-01]

qacc:
[-3.57399594e-01, 7.21421603e-01,-2.88587997e+00, 5.12040157e+00,
  2.33261561e-01,-2.03763015e+00, 8.97886058e+00,-1.76359105e+01,
 -2.65452936e-01,-1.10955971e+00, 5.78068486e+00,-1.17168529e+01,
 -6.30098382e-01, 1.03571961e+00, 1.63450002e+01,-5.67194290e+01,
  9.53352939e-04, 9.98696197e-05,-1.65373523e-03,-4.78550788e-04,
  2.40397974e-03, 7.33267336e-02]

qfrc_actuator:
[ 2.40983410e-03, 2.75890449e-02, 8.76172021e-03, 1.69029260e-03,
  5.49399051e-05, 2.73739185e-02, 8.65682303e-03, 1.64414871e-03,
 -2.53119908e-03, 2.75580640e-02, 8.74148178e-03, 1.66551636e-03,
  0.00000000e+00,-1.81043680e-03, 0.00000000e+00,-2.39192592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795217778660125
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986024])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020459808427468473
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498977 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017259701232189006
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.0499137 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.62629461e-05, 1.08514090e-05,-3.86887044e-06, 6.60873178e-06,
  4.23252610e-05,-1.48650753e-05, 1.26510226e-05,-2.46390877e-05,
 -4.92337049e-05, 4.40783534e-05, 2.75663112e-05,-1.25081949e-05,
 -9.03257170e-06, 1.66363368e-05,-4.19542266e-05,-2.86964087e-04,
 -1.95432703e-09,-2.27479371e-10,-7.84800000e+00, 5.54799956e-03,
 -1.59405166e-01,-1.01276609e-03]


--- Step 1905 ---
qpos:
[-5.31125472e-04, 8.77265000e-01,-2.02599020e-02,-2.75748124e-02,
  7.58798907e-03, 8.64633856e-01,-2.80510695e-02, 9.44734240e-03,
  2.22212398e-02, 8.72916420e-01,-2.02600402e-02, 2.24568979e-02,
  1.38070283e+00,-9.89257756e-03, 1.08508991e+00, 6.11447976e-02,
 -1.46338768e+00,-1.25435158e-02, 6.29289713e-02, 5.26342468e-01,
 -4.53982031e-01,-5.39753686e-01,-4.74899864e-01]

qacc:
[-2.05421468e-01, 1.47270972e+00,-5.07165769e+00, 6.72221467e+00,
  9.01201154e-02, 3.05576949e-01,-2.38096922e+00, 7.96032059e+00,
  9.92085706e-02, 3.20850372e+00,-1.48667461e+01, 3.10836085e+01,
  1.87686091e-01,-2.90347765e-01,-7.84459212e+00, 2.54951627e+01,
  8.91983348e-04, 9.48915314e-05,-1.50839595e-03,-4.44179567e-04,
  2.13966935e-03, 6.86178605e-02]

qfrc_actuator:
[ 2.40367729e-03, 2.76060166e-02, 8.74512864e-03, 1.69406618e-03,
  5.11503463e-05, 2.73988398e-02, 8.67452995e-03, 1.66362687e-03,
 -2.48906428e-03, 2.75515183e-02, 8.71550800e-03, 1.70994320e-03,
  0.00000000e+00,-1.81585343e-03, 0.00000000e+00,-2.26222517e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027952261566875636
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986024])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020448731560611388
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989776])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001724548329390882
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991377])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.80370870e-05, 2.25195525e-05,-1.45988092e-05, 4.23184748e-06,
  1.63529407e-05, 1.81868167e-05, 1.53497371e-05, 1.88005298e-05,
  1.84514118e-05, 2.32597815e-05,-1.38986654e-05, 4.70288519e-05,
 -2.21814097e-06,-2.78546220e-06,-5.44684638e-05, 1.07579114e-04,
 -1.63543085e-09,-1.91814938e-10,-7.84800000e+00, 5.54862449e-03,
 -1.59405145e-01,-1.01280310e-03]


--- Step 1906 ---
qpos:
[-5.31116976e-04, 8.77264630e-01,-2.02600139e-02,-2.75739616e-02,
  7.58890929e-03, 8.64633842e-01,-2.80509863e-02, 9.44807490e-03,
  2.22201569e-02, 8.72916858e-01,-2.02616342e-02, 2.24571810e-02,
  1.38077913e+00,-9.89309099e-03, 1.08528831e+00, 6.11426023e-02,
 -1.46338772e+00,-1.25435211e-02, 6.29290313e-02, 5.26341651e-01,
 -4.53981125e-01,-5.39754476e-01,-4.74900736e-01]

qacc:
[-1.17695065e-01,-1.71616888e+00, 8.27398723e+00,-1.88939657e+01,
  2.78813350e-02, 7.18534615e-01,-4.01028691e+00, 1.22939924e+01,
  3.78631820e-01, 7.81146372e-01,-1.51838750e+00,-1.26633490e+00,
  1.49787585e-01,-2.45420795e-01,-6.06435067e+00, 2.03790749e+01,
  8.34016177e-04, 9.00079084e-05,-1.37632110e-03,-4.12160090e-04,
  1.90372971e-03, 6.41685995e-02]

qfrc_actuator:
[ 2.40012600e-03, 2.75628411e-02, 8.73544720e-03, 1.66019229e-03,
  4.84268665e-05, 2.74494156e-02, 8.70289252e-03, 1.69277794e-03,
 -2.42766814e-03, 2.75651453e-02, 8.70067353e-03, 1.70036369e-03,
  0.00000000e+00,-1.81889524e-03, 0.00000000e+00,-2.16633980e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027952419262984585
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986024])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002043855115188703
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989781])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017232354226573432
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991384])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.18495933e-05,-3.34199105e-05,-6.68257569e-06,-3.33341922e-05,
  5.06121037e-06, 6.47345319e-05, 3.46652479e-05, 3.08278929e-05,
  7.02755826e-05, 2.57825534e-05,-1.01081820e-05,-8.14790378e-06,
 -2.53692261e-06,-3.85440575e-06,-1.34723816e-05, 9.47905219e-05,
 -1.36830593e-09,-1.61636022e-10,-7.84800000e+00, 5.54920566e-03,
 -1.59405125e-01,-1.01283751e-03]


--- Step 1907 ---
qpos:
[-5.31422414e-04, 8.77263711e-01,-2.02597759e-02,-2.75738489e-02,
  7.59001936e-03, 8.64634451e-01,-2.80503296e-02, 9.44806757e-03,
  2.22198070e-02, 8.72917304e-01,-2.02624233e-02, 2.24566158e-02,
  1.38085542e+00,-9.89363796e-03, 1.08548696e+00, 6.11385260e-02,
 -1.46338776e+00,-1.25435260e-02, 6.29290863e-02, 5.26340893e-01,
 -4.53980284e-01,-5.39755210e-01,-4.74901547e-01]

qacc:
[-1.62749523e-01,-3.22470248e+00, 1.35502526e+01,-2.64627701e+01,
  9.98227660e-02,-2.29902551e+00, 1.25181971e+01,-2.67020723e+01,
  3.81378656e-01,-3.98308456e+00, 1.77993058e+01,-3.37743995e+01,
 -9.74563850e-02, 1.13866403e-01, 6.05725518e+00,-2.06390404e+01,
  7.79323917e-04, 8.52401375e-05,-1.25626025e-03,-3.82342988e-04,
  1.69321291e-03, 5.99694238e-02]

qfrc_actuator:
[ 2.38037520e-03, 2.75194742e-02, 8.74740939e-03, 1.62214731e-03,
  6.41455776e-05, 2.74972787e-02, 8.73743793e-03, 1.65640262e-03,
 -2.39083479e-03, 2.75729808e-02, 8.74583524e-03, 1.65910241e-03,
  0.00000000e+00,-1.82048749e-03, 0.00000000e+00,-2.26879569e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027952635153744715
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986024])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020429193037551502
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989785])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017220230822712068
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.0499139 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02662956e-05,-6.48553521e-05, 3.08666844e-06,-4.03560453e-05,
  1.81345125e-05, 9.25405359e-05, 5.32513201e-05,-3.18032943e-05,
  7.06482977e-05, 1.98236871e-05, 4.89667651e-05,-4.06646369e-05,
 -2.58730220e-06,-2.94103867e-06, 1.73503609e-06,-9.95135405e-05,
 -1.14464414e-09,-1.36126218e-10,-7.84800000e+00, 5.54974591e-03,
 -1.59405107e-01,-1.01286950e-03]


--- Step 1908 ---
qpos:
[-5.32182976e-04, 8.77262673e-01,-2.02593142e-02,-2.75738946e-02,
  7.59131275e-03, 8.64635923e-01,-2.80496200e-02, 9.44728405e-03,
  2.22194835e-02, 8.72917645e-01,-2.02626221e-02, 2.24562801e-02,
  1.38093179e+00,-9.89446652e-03, 1.08568521e+00, 6.11362701e-02,
 -1.46338780e+00,-1.25435306e-02, 6.29291368e-02, 5.26340190e-01,
 -4.53979501e-01,-5.39755891e-01,-4.74902301e-01]

qacc:
[-2.36310524e-01,-1.10723970e+00, 4.38873839e+00,-7.39898042e+00,
  9.59768999e-02,-6.04000759e-01, 7.08650858e+00,-2.12412350e+01,
  1.40829444e-02,-1.31332592e+00, 3.51481067e+00,-4.08626700e-01,
  3.83634808e-01,-7.08878187e-01,-6.10929837e+00, 2.04624240e+01,
  7.27776248e-04, 8.06053039e-05,-1.14708367e-03,-3.54587322e-04,
  1.50546707e-03, 5.60105576e-02]

qfrc_actuator:
[ 2.35108262e-03, 2.75474098e-02, 8.77203418e-03, 1.61747068e-03,
  7.30188651e-05, 2.75431319e-02, 8.73980571e-03, 1.61727164e-03,
 -2.42229260e-03, 2.75597471e-02, 8.77276492e-03, 1.67058600e-03,
  0.00000000e+00,-1.83895656e-03, 0.00000000e+00,-2.16773644e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279528958900023
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986024])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020420589349941232
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498979 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017209036249801746
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991395])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.38605155e-05,-9.40271528e-06, 1.02210343e-05,-8.13013857e-06,
  1.75152022e-05, 1.07217489e-04, 2.69301807e-05,-3.39442992e-05,
  2.53585746e-06, 6.22718150e-06, 3.56515701e-05, 1.32363973e-05,
 -2.56922400e-06,-1.95181718e-05,-1.46886107e-05, 9.47160796e-05,
 -9.57446418e-10,-1.14584280e-10,-7.84800000e+00, 5.55024792e-03,
 -1.59405090e-01,-1.01289923e-03]


--- Step 1909 ---
qpos:
[-5.33154771e-04, 8.77261875e-01,-2.02587317e-02,-2.75743817e-02,
  7.59255671e-03, 8.64637880e-01,-2.80498887e-02, 9.44719491e-03,
  2.22187938e-02, 8.72917623e-01,-2.02632056e-02, 2.24572227e-02,
  1.38100800e+00,-9.89496650e-03, 1.08588325e+00, 6.11358745e-02,
 -1.46338784e+00,-1.25435349e-02, 6.29291830e-02, 5.26339537e-01,
 -4.53978775e-01,-5.39756522e-01,-4.74903002e-01]

qacc:
[-1.09783637e-01,-9.29798744e-01, 5.63269989e+00,-1.36291440e+01,
 -2.67058215e-02, 4.79890078e+00,-1.91151177e+01, 3.23461664e+01,
 -1.90290465e-01, 3.22286344e+00,-1.75879877e+01, 4.05963316e+01,
 -2.49198174e-01, 5.18860592e-01,-5.90807142e+00, 2.02625552e+01,
  6.79241326e-04, 7.61167497e-05,-1.04777050e-03,-3.28760192e-04,
  1.33810758e-03, 5.22820784e-02]

qfrc_actuator:
[ 2.35183700e-03, 2.75824097e-02, 8.78649017e-03, 1.59702545e-03,
  5.99628612e-05, 2.75162793e-02, 8.66990028e-03, 1.64783006e-03,
 -2.45880629e-03, 2.74984746e-02, 8.73539017e-03, 1.73073057e-03,
  0.00000000e+00,-1.81403236e-03, 0.00000000e+00,-2.07178552e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795319018529391
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986023])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020412677967572568
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989794])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.000171986995558579
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991401])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.03481338e-05, 3.15221428e-05, 1.34975911e-05,-2.06505932e-05,
 -4.70668914e-06, 3.71710674e-05,-4.56350754e-05, 3.54210440e-05,
 -3.52929743e-05,-4.98655736e-05,-3.12395021e-05, 6.19029218e-05,
 -6.32758081e-06, 1.97101568e-05, 1.31329690e-06, 9.87616216e-05,
 -8.00821786e-10,-9.64093087e-11,-7.84800000e+00, 5.55071420e-03,
 -1.59405075e-01,-1.01292684e-03]


--- Step 1910 ---
qpos:
[-5.33849709e-04, 8.77261364e-01,-2.02580449e-02,-2.75747702e-02,
  7.59369029e-03, 8.64639638e-01,-2.80501224e-02, 9.44749224e-03,
  2.22180743e-02, 8.72916740e-01,-2.02636553e-02, 2.24585631e-02,
  1.38108421e+00,-9.89545849e-03, 1.08608116e+00, 6.11372892e-02,
 -1.46338787e+00,-1.25435389e-02, 6.29292254e-02, 5.26338931e-01,
 -4.53978100e-01,-5.39757108e-01,-4.74903652e-01]

qacc:
[ 1.43824257e-01, 2.91042721e-01,-9.02212723e-01, 2.22842780e+00,
 -5.78663903e-02, 4.32204136e-01,-3.55789819e+00, 1.03393177e+01,
 -1.50828623e-02,-6.92106070e-01,-8.62064168e-01, 8.16617852e+00,
  1.03378456e-01,-1.41045627e-01,-5.66437393e+00, 1.95248701e+01,
  6.33586905e-04, 7.17845728e-05,-9.57398146e-04,-3.04736361e-04,
  1.18899099e-03, 4.87740069e-02]

qfrc_actuator:
[ 2.38831036e-03, 2.76035849e-02, 8.79485828e-03, 1.60297054e-03,
  5.16613283e-05, 2.74813405e-02, 8.66415675e-03, 1.66578415e-03,
 -2.44471370e-03, 2.74264329e-02, 8.73118215e-03, 1.74792064e-03,
  0.00000000e+00,-1.81682764e-03, 0.00000000e+00,-1.97966763e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027953508543410166
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986023])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020405402014724017
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989797])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001718915521445874
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991405])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.66882063e-05, 4.07194712e-05, 1.58290818e-05, 7.36054619e-06,
 -1.05370059e-05,-2.21059925e-05,-2.47668361e-06, 1.86542414e-05,
 -2.89469330e-06,-1.03728014e-04,-1.62107047e-05, 1.51767918e-05,
  1.05804696e-06, 6.98880998e-07, 8.05781069e-06, 9.69740244e-05,
 -6.69816141e-10,-8.10875041e-11,-7.84800000e+00, 5.55114714e-03,
 -1.59405060e-01,-1.01295247e-03]


--- Step 1911 ---
qpos:
[-5.34367402e-04, 8.77261203e-01,-2.02575669e-02,-2.75750709e-02,
  7.59490109e-03, 8.64641361e-01,-2.80501927e-02, 9.44797216e-03,
  2.22179839e-02, 8.72915597e-01,-2.02635717e-02, 2.24603393e-02,
  1.38116043e+00,-9.89596407e-03, 1.08627877e+00, 6.11421389e-02,
 -1.46338790e+00,-1.25435427e-02, 6.29292643e-02, 5.26338370e-01,
 -4.53977473e-01,-5.39757651e-01,-4.74904256e-01]

qacc:
[ 9.18532267e-02, 1.22600550e+00,-4.07068293e+00, 5.66572501e+00,
  4.06833178e-02,-1.25676588e-01,-3.87934622e-01, 3.31176900e+00,
  3.27296727e-01,-9.38031428e-01, 1.00425303e+00, 5.87762161e+00,
  2.19807170e-01,-3.20409761e-01,-1.08273524e+01, 3.72087593e+01,
  5.90681288e-04, 6.76160696e-05,-8.75132637e-04,-2.82397888e-04,
  1.05619142e-03, 4.54763827e-02]

qfrc_actuator:
[ 2.39255360e-03, 2.76163219e-02, 8.78178921e-03, 1.60663387e-03,
  6.40458372e-05, 2.74953000e-02, 8.67853577e-03, 1.67620579e-03,
 -2.38269460e-03, 2.74728403e-02, 8.78201489e-03, 1.77521251e-03,
  0.00000000e+00,-1.81831279e-03, 0.00000000e+00,-1.80178052e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795384301874787
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986023])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020398709405872878
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989801])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017180342705917784
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.0499141 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.70892872e-05, 3.91017647e-05,-2.45622727e-06, 6.09720116e-06,
  7.36663233e-06, 1.84420234e-06, 1.01416572e-05, 9.74929383e-06,
  6.06119610e-05,-1.42741365e-05, 2.79438807e-05, 2.25810526e-05,
  6.84860008e-07,-9.68374580e-07, 1.07598385e-05, 1.83447427e-04,
 -5.60266638e-10,-6.81804266e-11,-7.84800000e+00, 5.55154898e-03,
 -1.59405047e-01,-1.01297627e-03]


--- Step 1912 ---
qpos:
[-5.35509212e-04, 8.77261295e-01,-2.02572106e-02,-2.75753186e-02,
  7.59622083e-03, 8.64643520e-01,-2.80505874e-02, 9.44854587e-03,
  2.22185786e-02, 8.72914868e-01,-2.02637444e-02, 2.24620491e-02,
  1.38123664e+00,-9.89647887e-03, 1.08647650e+00, 6.11480741e-02,
 -1.46338793e+00,-1.25435462e-02, 6.29293000e-02, 5.26337850e-01,
 -4.53976892e-01,-5.39758154e-01,-4.74904816e-01]

qacc:
[-3.24448157e-01, 7.83755919e-01,-2.53146442e+00, 3.45451552e+00,
  5.68796551e-02, 1.67396879e+00,-5.52982287e+00, 7.35317454e+00,
  3.55677776e-01, 1.12712496e+00,-2.94446193e+00, 1.90269031e+00,
  6.27459484e-02,-9.54424076e-02,-3.10495533e+00, 1.11114591e+01,
  5.50394140e-04, 6.36161295e-05,-8.00219980e-04,-2.61633779e-04,
  9.37979236e-04, 4.23793294e-02]

qfrc_actuator:
[ 2.32418974e-03, 2.76238188e-02, 8.77388182e-03, 1.60889946e-03,
  7.09458975e-05, 2.75385121e-02, 8.66934057e-03, 1.68215724e-03,
 -2.34582440e-03, 2.75190512e-02, 8.77665580e-03, 1.77286311e-03,
  0.00000000e+00,-1.81899350e-03, 0.00000000e+00,-1.75230702e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027954187005765907
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986023])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020392552430866656
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989804])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017172206131561146
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991414])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-6.01367986e-05, 2.91186785e-05, 7.39971295e-08, 3.97260667e-06,
  1.04060542e-05, 4.67151877e-05,-7.24119759e-06, 6.56790466e-06,
  6.60279658e-05, 4.49991107e-05,-4.07891796e-06,-1.55662845e-06,
  2.51998006e-07,-7.50312887e-07, 2.19196768e-05, 6.02581858e-05,
 -4.68677998e-10,-5.73146349e-11,-7.84800000e+00, 5.55192181e-03,
 -1.59405034e-01,-1.01299834e-03]


--- Step 1913 ---
qpos:
[-5.36815737e-04, 8.77261861e-01,-2.02570773e-02,-2.75752134e-02,
  7.59744371e-03, 8.64645486e-01,-2.80508185e-02, 9.44888829e-03,
  2.22197258e-02, 8.72914209e-01,-2.02640978e-02, 2.24630662e-02,
  1.38131277e+00,-9.89673130e-03, 1.08667468e+00, 6.11515661e-02,
 -1.46338795e+00,-1.25435494e-02, 6.29293328e-02, 5.26337368e-01,
 -4.53976352e-01,-5.39758621e-01,-4.74905336e-01]

qacc:
[-8.58677806e-02, 1.97554296e+00,-7.62286071e+00, 1.37342858e+01,
 -5.07297443e-02,-1.18693595e+00, 4.83941199e+00,-8.96365654e+00,
  2.86936876e-01,-8.28501293e-01, 6.01302363e+00,-1.77662764e+01,
 -4.16039917e-01, 7.37014689e-01, 8.06095442e+00,-2.71855095e+01,
  5.12597168e-04, 5.97875839e-05,-7.31978348e-04,-2.42339642e-04,
  8.32801685e-04, 3.94731092e-02]

qfrc_actuator:
[ 2.33726052e-03, 2.76636333e-02, 8.76906791e-03, 1.62807881e-03,
  5.67400306e-05, 2.74923035e-02, 8.66417603e-03, 1.66768973e-03,
 -2.32435121e-03, 2.74935625e-02, 8.75591058e-03, 1.73530400e-03,
  0.00000000e+00,-1.80143785e-03, 0.00000000e+00,-1.88542199e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795453505423928
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986023])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020386887377078083
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989807])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017164693858389563
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991418])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.58605218e-05, 5.62728233e-05, 1.34438108e-06, 2.05062151e-05,
 -9.24754983e-06,-2.13486797e-05, 3.80360431e-06,-1.25925396e-05,
  5.32452414e-05,-1.20955853e-06,-1.20030030e-05,-3.58042191e-05,
 -2.89506718e-08, 1.74843622e-05, 1.21139774e-05,-1.28050768e-04,
 -3.92117583e-10,-4.81725961e-11,-7.84800000e+00, 5.55226762e-03,
 -1.59405022e-01,-1.01301882e-03]


--- Step 1914 ---
qpos:
[-5.37745303e-04, 8.77263112e-01,-2.02573876e-02,-2.75752371e-02,
  7.59871285e-03, 8.64646698e-01,-2.80507640e-02, 9.44842922e-03,
  2.22214486e-02, 8.72913630e-01,-2.02646801e-02, 2.24632828e-02,
  1.38138863e+00,-9.89598263e-03, 1.08687376e+00, 6.11464265e-02,
 -1.46338798e+00,-1.25435524e-02, 6.29293629e-02, 5.26336921e-01,
 -4.53975852e-01,-5.39759053e-01,-4.74905818e-01]

qacc:
[ 1.95355309e-01, 1.87991686e+00,-4.84368427e+00, 2.81943445e+00,
  2.47027699e-02,-3.43987968e+00, 1.42066664e+01,-2.79851788e+01,
  2.98856846e-01,-9.00814134e-01, 6.74709655e+00,-2.02963928e+01,
 -1.48478723e+00, 2.67940446e+00, 2.75135961e+01,-9.40713852e+01,
  4.77164686e-04, 5.61315152e-05,-6.69791045e-04,-2.24417364e-04,
  7.39265453e-04, 3.67481686e-02]

qfrc_actuator:
[ 2.38122969e-03, 2.77047648e-02, 8.74850745e-03, 1.62157987e-03,
  6.55381193e-05, 2.74106498e-02, 8.66107161e-03, 1.62350576e-03,
 -2.29450507e-03, 2.74962439e-02, 8.74371322e-03, 1.69502474e-03,
  0.00000000e+00,-1.73770300e-03, 0.00000000e+00,-2.33802720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795488270738791
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986023])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020381674185168674
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989809])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001715775819164933
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991421])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.63432011e-05, 7.37391055e-05,-8.06891842e-06,-3.64550023e-06,
  4.39436681e-06,-9.33920672e-05,-7.49481745e-06,-4.52150858e-05,
  5.54629862e-05,-1.98304513e-06,-1.51583452e-05,-4.14438849e-05,
  3.73131124e-06, 6.83088640e-05,-1.38902983e-05,-4.59409984e-04,
 -3.28126510e-10,-4.04847441e-11,-7.84800000e+00, 5.55258825e-03,
 -1.59405011e-01,-1.01303780e-03]


--- Step 1915 ---
qpos:
[-5.38770755e-04, 8.77264443e-01,-2.02577003e-02,-2.75752907e-02,
  7.59986753e-03, 8.64647650e-01,-2.80506678e-02, 9.44774373e-03,
  2.22230706e-02, 8.72913525e-01,-2.02661960e-02, 2.24633586e-02,
  1.38146457e+00,-9.89502043e-03, 1.08707265e+00, 6.11369114e-02,
 -1.46338800e+00,-1.25435552e-02, 6.29293906e-02, 5.26336507e-01,
 -4.53975389e-01,-5.39759453e-01,-4.74906265e-01]

qacc:
[-4.98517407e-02, 5.01549998e-02, 9.83616067e-02,-6.66811762e-01,
 -6.00209754e-02,-9.26704834e-01, 3.76046138e+00,-7.55532443e+00,
 -5.30996606e-02, 2.94249620e+00,-8.99106040e+00, 7.69939009e+00,
 -3.38206203e-01, 6.50340936e-01, 1.29498713e+01,-4.56692689e+01,
  4.43974077e-04, 5.26475295e-05,-6.13100155e-04,-2.07774784e-04,
  6.56120855e-04, 3.41951755e-02]

qfrc_actuator:
[ 2.35449895e-03, 2.76752732e-02, 8.73656140e-03, 1.61776742e-03,
  5.25289202e-05, 2.74326354e-02, 8.67676841e-03, 1.61541253e-03,
 -2.33088973e-03, 2.75335411e-02, 8.70125983e-03, 1.68900352e-03,
  0.00000000e+00,-1.73586749e-03, 0.00000000e+00,-2.54909751e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027955226360226043
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986022])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020376876135352884
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989812])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017151355072986957
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991424])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.23784861e-06, 9.89807800e-06, 2.15441090e-06,-1.00864706e-06,
 -1.09283641e-05,-3.37503096e-05,-6.08898879e-06,-1.32352551e-05,
 -9.70088170e-06, 3.13093866e-05,-4.61553093e-05,-7.43650479e-06,
  1.70461963e-05, 2.02644751e-05,-6.32500324e-05,-2.39769456e-04,
 -2.74644437e-10,-3.40225702e-11,-7.84800000e+00, 5.55288545e-03,
 -1.59405001e-01,-1.01305540e-03]


--- Step 1916 ---
qpos:
[-5.39819669e-04, 8.77265671e-01,-2.02580566e-02,-2.75750169e-02,
  7.60069560e-03, 8.64648859e-01,-2.80510217e-02, 9.44831377e-03,
  2.22240431e-02, 8.72913695e-01,-2.02679501e-02, 2.24636836e-02,
  1.38154084e+00,-9.89476835e-03, 1.08727053e+00, 6.11302066e-02,
 -1.46338802e+00,-1.25435578e-02, 6.29294160e-02, 5.26336124e-01,
 -4.53974959e-01,-5.39759824e-01,-4.74906679e-01]

qacc:
[-1.21680415e-02, 6.60467514e-01,-3.93002901e+00, 9.73240577e+00,
 -1.71859515e-01, 4.17808301e+00,-1.97072881e+01, 4.19732027e+01,
 -3.37758947e-01, 1.54226355e+00,-6.02215378e+00, 1.05119819e+01,
  9.84474314e-01,-1.75500413e+00,-1.00591861e+01, 3.28513952e+01,
  4.12906172e-04, 4.93339973e-05,-5.61400820e-04,-1.92325397e-04,
  5.82247561e-04, 3.18050501e-02]

qfrc_actuator:
[ 2.35668085e-03, 2.76569983e-02, 8.72952027e-03, 1.63327183e-03,
  2.65775766e-05, 2.74811081e-02, 8.66837027e-03, 1.68197717e-03,
 -2.38881413e-03, 2.75556778e-02, 8.69470694e-03, 1.70319753e-03,
  0.00000000e+00,-1.78853707e-03, 0.00000000e+00,-2.38526634e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795556313582373
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986022])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020372459561392164
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989814])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017145443802141225
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991427])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.26414767e-06,-1.23661402e-05,-4.77360907e-06, 1.59817250e-05,
 -3.11564240e-05, 2.77519199e-05,-1.65839330e-05, 6.46499028e-05,
 -6.25886343e-05, 2.98089334e-05,-6.01545254e-06, 1.37964798e-05,
  1.28741065e-05,-4.29020843e-05,-5.73881868e-05, 1.41974485e-04,
 -2.29946001e-10,-2.85926334e-11,-7.84800000e+00, 5.55316083e-03,
 -1.59404992e-01,-1.01307171e-03]


--- Step 1917 ---
qpos:
[-5.40309187e-04, 8.77267000e-01,-2.02588310e-02,-2.75749047e-02,
  7.60138971e-03, 8.64650185e-01,-2.80517123e-02, 9.44934108e-03,
  2.22245265e-02, 8.72913956e-01,-2.02691589e-02, 2.24641449e-02,
  1.38161733e+00,-9.89534428e-03, 1.08746808e+00, 6.11250742e-02,
 -1.46338804e+00,-1.25435603e-02, 6.29294393e-02, 5.26335770e-01,
 -4.53974561e-01,-5.39760166e-01,-4.74907063e-01]

qacc:
[ 2.90361844e-01, 9.67467401e-01,-2.57612381e+00, 3.77408924e-01,
 -7.05911125e-02, 2.03399913e+00,-8.96088553e+00, 1.73305184e+01,
 -2.53757091e-01,-1.12351543e+00, 3.60312652e+00,-2.18096798e+00,
  8.98841322e-01,-1.74518781e+00,-5.28542263e+00, 1.76583709e+01,
  3.83845538e-04, 4.61882645e-05,-5.14236082e-04,-1.77988051e-04,
  5.16641677e-04, 2.95689885e-02]

qfrc_actuator:
[ 2.41168152e-03, 2.76633566e-02, 8.70771174e-03, 1.62451595e-03,
  2.86241402e-05, 2.74740481e-02, 8.64599045e-03, 1.70318200e-03,
 -2.40581537e-03, 2.75687261e-02, 8.72712503e-03, 1.71143445e-03,
  0.00000000e+00,-1.83756622e-03, 0.00000000e+00,-2.30372452e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027955890777345976
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986022])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020368393589834805
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989816])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017139986780267957
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.0499143 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.39073386e-05,-8.82842474e-07,-2.44036516e-05,-9.14062067e-06,
 -1.27793860e-05, 7.77221786e-06,-1.64612671e-05, 2.30764776e-05,
 -4.71117938e-05, 2.90694872e-05, 3.83246850e-05, 9.57757269e-06,
 -3.70411080e-06,-5.62187477e-05,-1.02802742e-05, 8.21394408e-05,
 -1.92587155e-10,-2.40313848e-11,-7.84800000e+00, 5.55341594e-03,
 -1.59404983e-01,-1.01308681e-03]


--- Step 1918 ---
qpos:
[-5.40372752e-04, 8.77268220e-01,-2.02597976e-02,-2.75748867e-02,
  7.60203084e-03, 8.64651698e-01,-2.80526810e-02, 9.45025644e-03,
  2.22246698e-02, 8.72914680e-01,-2.02701148e-02, 2.24646728e-02,
  1.38169389e+00,-9.89649720e-03, 1.08766566e+00, 6.11199265e-02,
 -1.46338806e+00,-1.25435625e-02, 6.29294608e-02, 5.26335442e-01,
 -4.53974192e-01,-5.39760484e-01,-4.74907418e-01]

qacc:
[ 2.21238031e-01, 1.98898717e-01,-5.21607620e-01,-7.19195148e-01,
 -2.80752679e-02, 7.92991431e-01,-1.99617573e+00, 3.66171755e-01,
 -1.76756740e-01, 4.42925767e-02, 4.51945674e-01,-4.68942055e-02,
  4.76825756e-01,-1.03866006e+00, 3.96160963e-02,-1.77398990e-01,
  3.56680704e-04, 4.32068375e-05,-4.71192234e-04,-1.64686666e-04,
  4.58404096e-04, 2.74784817e-02]

qfrc_actuator:
[ 2.42678947e-03, 2.76488270e-02, 8.69518712e-03, 1.61931450e-03,
  2.96548101e-05, 2.74869642e-02, 8.63304086e-03, 1.69746697e-03,
 -2.41591613e-03, 2.76119022e-02, 8.74673217e-03, 1.71611024e-03,
  0.00000000e+00,-1.86625653e-03, 0.00000000e+00,-2.30694776e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027956207554066803
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986022])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020364649902129828
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989818])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001713494927314263
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991433])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.10432091e-05,-2.04718456e-05,-1.60342334e-05,-6.26352346e-06,
 -5.05073635e-06, 1.48218350e-05,-1.25803528e-05,-5.50494810e-06,
 -3.27649571e-05, 6.77559106e-05, 3.06715955e-05, 7.43556890e-06,
 -1.56235140e-05,-4.32856112e-05, 1.84527287e-06,-5.70639664e-07,
 -1.61359921e-10,-2.02007093e-11,-7.84800000e+00, 5.55365218e-03,
 -1.59404975e-01,-1.01310080e-03]


--- Step 1919 ---
qpos:
[-5.40876578e-04, 8.77269139e-01,-2.02602741e-02,-2.75749540e-02,
  7.60265086e-03, 8.64653402e-01,-2.80535887e-02, 9.45176266e-03,
  2.22245882e-02, 8.72915750e-01,-2.02707518e-02, 2.24649177e-02,
  1.38177043e+00,-9.89802296e-03, 1.08786358e+00, 6.11117621e-02,
 -1.46338807e+00,-1.25435646e-02, 6.29294805e-02, 5.26335138e-01,
 -4.53973851e-01,-5.39760777e-01,-4.74907747e-01]

qacc:
[-2.28358501e-01,-1.94146723e+00, 6.70549896e+00,-8.74295329e+00,
 -1.10816031e-02, 1.29550712e+00,-6.75047846e+00, 1.67412782e+01,
 -1.16844388e-01,-1.01669853e+00, 5.48193165e+00,-1.11426073e+01,
  7.46150566e-02,-3.62303466e-01, 9.59599508e+00,-3.28728235e+01,
  3.31304326e-04, 4.03855451e-05,-4.31894620e-04,-1.52349957e-04,
  4.06729955e-04, 2.55253287e-02]

qfrc_actuator:
[ 2.36461356e-03, 2.76396868e-02, 8.72367964e-03, 1.61624295e-03,
  3.00485469e-05, 2.75117488e-02, 8.64357803e-03, 1.72924424e-03,
 -2.42182981e-03, 2.76194869e-02, 8.75872715e-03, 1.70091204e-03,
  0.00000000e+00,-1.88266335e-03, 0.00000000e+00,-2.46658713e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795651217964504
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986022])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020361202517624188
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989819])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001713029919266293
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991435])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.24322306e-05,-2.41827817e-05, 2.20705211e-05,-4.62557728e-06,
 -2.00805772e-06, 3.02080505e-05, 1.18520676e-05, 3.18675929e-05,
 -2.16692707e-05, 5.21131028e-05, 3.00271433e-05,-1.10884641e-05,
 -1.91368967e-05,-3.06131750e-05,-3.02677444e-06,-1.60314985e-04,
 -1.35254265e-10,-1.69840949e-11,-7.84800000e+00, 5.55387090e-03,
 -1.59404968e-01,-1.01311375e-03]


--- Step 1920 ---
qpos:
[-5.42158790e-04, 8.77269885e-01,-2.02604203e-02,-2.75754085e-02,
  7.60307480e-03, 8.64655204e-01,-2.80542853e-02, 9.45294800e-03,
  2.22245476e-02, 8.72916447e-01,-2.02703403e-02, 2.24653664e-02,
  1.38184691e+00,-9.89977513e-03, 1.08806108e+00, 6.11047608e-02,
 -1.46338809e+00,-1.25435666e-02, 6.29294987e-02, 5.26334857e-01,
 -4.53973535e-01,-5.39761049e-01,-4.74908052e-01]

qacc:
[-4.04200069e-01,-1.95013254e+00, 8.24999510e+00,-1.53433805e+01,
 -1.02919536e-01,-1.11785764e+00, 5.53159782e+00,-1.14973014e+01,
  2.21329324e-02,-3.00129351e+00, 9.12720617e+00,-7.00266113e+00,
  2.02654388e-01,-4.61354562e-01,-4.14258585e+00, 1.35636370e+01,
  3.07613292e-04, 3.77196795e-05,-3.96003861e-04,-1.40911178e-04,
  3.60899134e-04, 2.37016467e-02]

qfrc_actuator:
[ 2.31002107e-03, 2.76340151e-02, 8.74067169e-03, 1.59672548e-03,
  1.22968132e-05, 2.75080714e-02, 8.65022680e-03, 1.71184834e-03,
 -2.40745771e-03, 2.75701449e-02, 8.80149283e-03, 1.70961751e-03,
  0.00000000e+00,-1.89167343e-03, 0.00000000e+00,-2.39752136e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027956803741260167
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005329,  0.05582069,  0.04986022])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020358027595514944
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989821])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017126006895207269
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991437])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.50131615e-05,-1.48559710e-05, 1.45543380e-05,-1.98786462e-05,
 -1.87043865e-05, 1.69914057e-05, 1.54423069e-05,-1.50746493e-05,
  3.95425404e-06,-1.44970412e-05, 5.68414271e-05, 1.17612985e-05,
 -1.83773516e-05,-2.07489649e-05,-2.36962311e-05, 5.87239264e-05,
 -1.13426021e-10,-1.42833501e-11,-7.84800000e+00, 5.55407334e-03,
 -1.59404961e-01,-1.01312574e-03]


--- Step 1921 ---
qpos:
[-5.43776802e-04, 8.77270496e-01,-2.02609377e-02,-2.75757040e-02,
  7.60329328e-03, 8.64657047e-01,-2.80554036e-02, 9.45396788e-03,
  2.22246160e-02, 8.72917527e-01,-2.02704315e-02, 2.24648909e-02,
  1.38192322e+00,-9.90139023e-03, 1.08825790e+00, 6.11026095e-02,
 -1.46338810e+00,-1.25435684e-02, 6.29295154e-02, 5.26334598e-01,
 -4.53973243e-01,-5.39761300e-01,-4.74908333e-01]

qacc:
[-1.74654008e-01, 1.18703666e+00,-5.15866134e+00, 8.59766548e+00,
 -1.08205996e-01, 8.90118489e-01,-2.39775722e+00, 1.79159736e-01,
  5.61769563e-02, 9.82174244e-03, 4.60351414e+00,-2.00792884e+01,
  7.49441930e-02,-7.35928903e-02,-1.56388847e+01, 5.32671327e+01,
  2.85508791e-04, 3.52041185e-05,-3.63212441e-04,-1.30307863e-04,
  3.20267662e-04, 2.19998763e-02]

qfrc_actuator:
[ 2.31375076e-03, 2.76126656e-02, 8.71522193e-03, 1.60318176e-03,
  1.59384934e-06, 2.74873321e-02, 8.61886283e-03, 1.70112919e-03,
 -2.39884287e-03, 2.75937425e-02, 8.77310060e-03, 1.66128118e-03,
  0.00000000e+00,-1.87849014e-03, 0.00000000e+00,-2.14094760e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795708163822602
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.04986021])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020355103254056373
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989822])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001712204499548023
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991439])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.23655190e-05,-2.75236038e-05,-2.74147856e-05, 5.93800354e-06,
 -1.96030602e-05,-8.73639933e-06,-2.64841422e-05,-9.75330181e-06,
  1.05164619e-05, 2.77156958e-05,-2.39866866e-05,-4.67641043e-05,
 -1.54623953e-05, 3.99096049e-06,-6.66169453e-06, 2.56285336e-04,
 -9.51699131e-11,-1.20157979e-11,-7.84800000e+00, 5.55426066e-03,
 -1.59404954e-01,-1.01313683e-03]


--- Step 1922 ---
qpos:
[-5.44971644e-04, 8.77270690e-01,-2.02613354e-02,-2.75762624e-02,
  7.60353315e-03, 8.64658930e-01,-2.80574521e-02, 9.45488795e-03,
  2.22242370e-02, 8.72918969e-01,-2.02717148e-02, 2.24635461e-02,
  1.38199934e+00,-9.90261109e-03, 1.08845483e+00, 6.11018391e-02,
 -1.46338812e+00,-1.25435700e-02, 6.29295307e-02, 5.26334358e-01,
 -4.53972972e-01,-5.39761532e-01,-4.74908594e-01]

qacc:
[ 2.20080002e-01,-1.42611245e+00, 5.39316336e+00,-9.82301011e+00,
  1.06285385e-02, 2.44243262e+00,-8.21454021e+00, 7.94887161e+00,
 -2.33410833e-01, 2.01943941e+00,-2.83635205e+00,-1.05690148e+01,
 -3.63422683e-01, 7.11675249e-01,-3.99119778e+00, 1.42449100e+01,
  2.64896332e-04, 3.28334313e-05,-3.33241635e-04,-1.20481589e-04,
  2.84259981e-04, 2.04127848e-02]

qfrc_actuator:
[ 2.37009515e-03, 2.75819395e-02, 8.71813438e-03, 1.58932573e-03,
  1.29605785e-05, 2.74741267e-02, 8.56523943e-03, 1.69438902e-03,
 -2.44702467e-03, 2.75894862e-02, 8.70314552e-03, 1.61527151e-03,
  0.00000000e+00,-1.85226374e-03, 0.00000000e+00,-2.07781596e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795734552898943
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.04986021])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020352409405482996
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989824])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001711838819466044
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991441])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.07679844e-05,-5.15340476e-05,-5.94170883e-06,-1.58660408e-05,
  2.03621924e-06,-2.40172583e-05,-5.90354706e-05,-8.22330208e-06,
 -4.31156285e-05, 4.26107799e-06,-6.88105629e-05,-4.65629730e-05,
 -7.50382017e-06, 2.35982379e-05, 2.31603220e-05, 7.60377092e-05,
 -7.98969006e-11,-1.01118804e-11,-7.84800000e+00, 5.55443395e-03,
 -1.59404949e-01,-1.01314709e-03]


--- Step 1923 ---
qpos:
[-5.45978146e-04, 8.77270289e-01,-2.02613034e-02,-2.75773261e-02,
  7.60385353e-03, 8.64660600e-01,-2.80589029e-02, 9.45461018e-03,
  2.22233474e-02, 8.72919287e-01,-2.02724454e-02, 2.24627681e-02,
  1.38207530e+00,-9.90326884e-03, 1.08865200e+00, 6.11005164e-02,
 -1.46338813e+00,-1.25435716e-02, 6.29295449e-02, 5.26334136e-01,
 -4.53972722e-01,-5.39761747e-01,-4.74908835e-01]

qacc:
[ 9.83039360e-02,-3.02858848e+00, 1.17827101e+01,-2.07646213e+01,
  4.26679829e-02,-4.41033672e+00, 2.03806820e+01,-4.19185133e+01,
 -2.64543022e-01,-1.86311481e+00, 2.09412051e+00, 7.65890912e+00,
 -5.89977239e-01, 1.15191118e+00, 2.06278592e+00,-6.60805779e+00,
  2.45685740e-04, 3.06019700e-05,-3.05838732e-04,-1.11377744e-04,
  2.52361957e-04, 1.89334656e-02]

qfrc_actuator:
[ 2.36862056e-03, 2.75459231e-02, 8.73772179e-03, 1.56364059e-03,
  1.96718382e-05, 2.74831797e-02, 8.60545354e-03, 1.63677888e-03,
 -2.47551366e-03, 2.74796227e-02, 8.71565892e-03, 1.64198300e-03,
  0.00000000e+00,-1.81852346e-03, 0.00000000e+00,-2.11146789e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027957595285464654
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.04986021])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020349927605238516
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989825])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017115013121710154
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991442])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.81347847e-05,-6.67320238e-05, 7.66694750e-06,-2.84045728e-05,
  7.67832826e-06,-1.69515652e-05, 2.76952799e-05,-6.08436309e-05,
 -4.92291026e-05,-1.23716963e-04, 3.30663966e-06, 2.36091101e-05,
  1.51574747e-06, 3.78519055e-05, 1.42942713e-05,-2.75469085e-05,
 -6.71151565e-11,-8.51312075e-12,-7.84800000e+00, 5.55459422e-03,
 -1.59404943e-01,-1.01315658e-03]


--- Step 1924 ---
qpos:
[-5.47084432e-04, 8.77269386e-01,-2.02610726e-02,-2.75783399e-02,
  7.60443860e-03, 8.64662044e-01,-2.80587754e-02, 9.45392189e-03,
  2.22224100e-02, 8.72919104e-01,-2.02732361e-02, 2.24626240e-02,
  1.38215136e+00,-9.90405272e-03, 1.08884899e+00, 6.11004906e-02,
 -1.46338814e+00,-1.25435730e-02, 6.29295579e-02, 5.26333931e-01,
 -4.53972491e-01,-5.39761945e-01,-4.74909058e-01]

qacc:
[-5.15519024e-02,-1.11551769e+00, 2.80536399e+00,-1.89318568e+00,
  1.40079100e-01,-5.54805884e+00, 2.10848571e+01,-3.05539200e+01,
 -2.47037118e-02, 8.10358332e-01,-6.52662827e+00, 1.79629713e+01,
  2.60566255e-01,-4.14013086e-01,-4.19664702e+00, 1.42610765e+01,
  2.27791113e-04, 2.85039472e-05,-2.80774539e-04,-1.02945304e-04,
  2.24114571e-04, 1.75553365e-02]

qfrc_actuator:
[ 2.35027277e-03, 2.75248312e-02, 8.74920361e-03, 1.56671073e-03,
  4.12747699e-05, 2.75058229e-02, 8.70081417e-03, 1.62079524e-03,
 -2.45643961e-03, 2.74852627e-02, 8.72312756e-03, 1.67573369e-03,
  0.00000000e+00,-1.83385932e-03, 0.00000000e+00,-2.04203548e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795783095375093
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.04986021])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002034764091423391
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989826])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001711189818680292
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991444])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-9.62907327e-06,-5.80238452e-05,-2.33245091e-06,-7.16794409e-08,
  2.52558556e-05, 1.62502987e-05, 9.31647805e-05,-1.69356304e-05,
 -4.62666981e-06,-6.18554895e-05,-1.68563382e-05, 2.90251511e-05,
  9.59777908e-06,-5.42830465e-06,-1.35999348e-06, 6.86123959e-05,
 -5.64141198e-11,-7.17038981e-12,-7.84800000e+00, 5.55474242e-03,
 -1.59404938e-01,-1.01316535e-03]


--- Step 1925 ---
qpos:
[-5.47795216e-04, 8.77268477e-01,-2.02606874e-02,-2.75786797e-02,
  7.60528130e-03, 8.64663707e-01,-2.80581993e-02, 9.45306707e-03,
  2.22219407e-02, 8.72919137e-01,-2.02742679e-02, 2.24624592e-02,
  1.38222741e+00,-9.90470065e-03, 1.08904567e+00, 6.11032908e-02,
 -1.46338815e+00,-1.25435743e-02, 6.29295699e-02, 5.26333741e-01,
 -4.53972277e-01,-5.39762128e-01,-4.74909264e-01]

qacc:
[ 2.05627254e-01, 9.48102653e-01,-6.23088941e+00, 1.76380326e+01,
  1.35525636e-01,-1.30452218e+00, 5.77603800e+00,-9.53832399e+00,
  2.43041213e-01, 9.15063940e-01,-2.76238888e+00, 2.63070866e+00,
  5.82066182e-02, 1.46630335e-03,-8.98394485e+00, 3.07748120e+01,
  2.11130764e-04, 2.65335030e-05,-2.57841122e-04,-9.51366269e-05,
  1.99108254e-04, 1.62721353e-02]

qfrc_actuator:
[ 2.39302437e-03, 2.75660962e-02, 8.77363374e-03, 1.60443366e-03,
  5.38436897e-05, 2.75189677e-02, 8.72152726e-03, 1.61172669e-03,
 -2.40908623e-03, 2.75422780e-02, 8.72796115e-03, 1.67790878e-03,
  0.00000000e+00,-1.82491898e-03, 0.00000000e+00,-1.89462806e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027958052720532256
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.04986021])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020345533772977986
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989827])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017109023445974203
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991445])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.81135178e-05, 8.35712951e-06, 1.21656062e-05, 3.51604182e-05,
  2.45903303e-05, 4.07157486e-05, 3.49504070e-05,-5.47914035e-06,
  4.51188141e-05, 2.01964549e-05,-9.00759658e-06,-4.92497267e-07,
  3.79203889e-06, 1.00402601e-05, 3.75596008e-06, 1.50285419e-04,
 -4.74511299e-11,-6.04243597e-12,-7.84800000e+00, 5.55487942e-03,
 -1.59404933e-01,-1.01317346e-03]


--- Step 1926 ---
qpos:
[-5.48233344e-04, 8.77267982e-01,-2.02605246e-02,-2.75782490e-02,
  7.60613453e-03, 8.64665517e-01,-2.80581202e-02, 9.45184070e-03,
  2.22219905e-02, 8.72919236e-01,-2.02746582e-02, 2.24619329e-02,
  1.38230328e+00,-9.90469786e-03, 1.08924240e+00, 6.11071541e-02,
 -1.46338816e+00,-1.25435756e-02, 6.29295809e-02, 5.26333566e-01,
 -4.53972080e-01,-5.39762298e-01,-4.74909455e-01]

qacc:
[ 1.41427460e-01, 2.75704434e+00,-1.22789963e+01, 2.56487557e+01,
  5.14040298e-03, 8.17580421e-01,-1.06431676e+00,-4.67934537e+00,
  2.70092401e-01,-2.44634103e+00, 1.03777015e+01,-1.77080593e+01,
 -5.61033262e-01, 1.16581428e+00,-3.09376951e+00, 1.10275075e+01,
  1.95627137e-04, 2.46847612e-05,-2.36849776e-04,-8.79072474e-05,
  1.76977769e-04, 1.50779138e-02]

qfrc_actuator:
[ 2.40096972e-03, 2.76089757e-02, 8.77029238e-03, 1.64455162e-03,
  4.31407426e-05, 2.74905526e-02, 8.68019770e-03, 1.58897477e-03,
 -2.38076738e-03, 2.75585922e-02, 8.76692389e-03, 1.66153958e-03,
  0.00000000e+00,-1.78387191e-03, 0.00000000e+00,-1.84450447e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027958260884326097
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.04986021])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020343591886499285
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989828])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001710637047605129
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991447])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.62854864e-05, 5.15944881e-05, 1.10439605e-06, 4.15823199e-05,
  1.00528870e-06, 1.29581795e-06,-2.88206799e-05,-1.99069372e-05,
  5.00287493e-05, 2.57381402e-05, 4.20146902e-05,-1.58240042e-05,
  4.44839503e-06, 4.45072150e-05, 1.52017407e-05, 5.82126198e-05,
 -3.99402338e-11,-5.09463953e-12,-7.84800000e+00, 5.55500604e-03,
 -1.59404929e-01,-1.01318096e-03]


--- Step 1927 ---
qpos:
[-5.49043297e-04, 8.77267784e-01,-2.02608846e-02,-2.75779956e-02,
  7.60692192e-03, 8.64667163e-01,-2.80586702e-02, 9.45040232e-03,
  2.22217261e-02, 8.72919170e-01,-2.02739122e-02, 2.24615549e-02,
  1.38237918e+00,-9.90447569e-03, 1.08943933e+00, 6.11102613e-02,
 -1.46338817e+00,-1.25435767e-02, 6.29295911e-02, 5.26333404e-01,
 -4.53971897e-01,-5.39762454e-01,-4.74909631e-01]

qacc:
[-1.93627806e-01, 1.48806483e+00,-3.98827196e+00, 1.54014639e+00,
 -3.49332148e-02, 1.10222847e+00,-3.35169516e+00, 8.10564575e-01,
 -1.62507905e-01,-3.08726445e+00, 1.00651043e+01,-9.19403430e+00,
 -1.93028201e-01, 4.29383217e-01, 2.58860503e+00,-8.60040147e+00,
  1.81206709e-04, 2.29518767e-05,-2.17629180e-04,-8.12156887e-05,
  1.57397597e-04, 1.39670310e-02]

qfrc_actuator:
[ 2.35249069e-03, 2.75991473e-02, 8.73285069e-03, 1.63248253e-03,
  3.63713716e-05, 2.74549384e-02, 8.63791387e-03, 1.57603709e-03,
 -2.43511800e-03, 2.75505482e-02, 8.82557810e-03, 1.66989806e-03,
  0.00000000e+00,-1.77738784e-03, 0.00000000e+00,-1.88762409e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027958455831042506
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.04986021])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020341802119168417
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989829])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017103922259134596
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991448])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.58254860e-05, 2.10430973e-05,-2.52101128e-05,-9.01331653e-06,
 -6.29007769e-06,-4.17366955e-05,-4.62693544e-05,-1.42681573e-05,
 -3.02776969e-05, 1.43561201e-05, 6.86009604e-05, 1.06078465e-05,
  1.29370241e-05, 1.86556115e-05, 8.96971637e-06,-3.89737161e-05,
 -3.36428205e-11,-4.29795901e-12,-7.84800000e+00, 5.55512304e-03,
 -1.59404925e-01,-1.01318789e-03]


--- Step 1928 ---
qpos:
[-5.50328265e-04, 8.77267639e-01,-2.02612739e-02,-2.75785812e-02,
  7.60781862e-03, 8.64668403e-01,-2.80593790e-02, 9.44916436e-03,
  2.22211595e-02, 8.72918722e-01,-2.02723175e-02, 2.24620186e-02,
  1.38245505e+00,-9.90386967e-03, 1.08963660e+00, 6.11101589e-02,
 -1.46338818e+00,-1.25435777e-02, 6.29296005e-02, 5.26333255e-01,
 -4.53971728e-01,-5.39762598e-01,-4.74909793e-01]

qacc:
[-2.46888939e-01,-1.57770716e+00, 9.25714776e+00,-2.37490269e+01,
  5.74761803e-02, 3.20557241e-01,-2.76609102e+00, 6.78756650e+00,
 -1.56346400e-01,-1.14392157e+00,-2.08531807e-01, 1.37022863e+01,
 -5.06411896e-01, 9.61624062e-01, 1.02349592e+01,-3.49904318e+01,
  1.67799877e-04, 2.13290751e-05,-2.00023750e-04,-7.50232795e-05,
  1.40077796e-04, 1.29341450e-02]

qfrc_actuator:
[ 2.32395034e-03, 2.75931509e-02, 8.72859597e-03, 1.58974086e-03,
  4.97869307e-05, 2.74330103e-02, 8.63089367e-03, 1.58672969e-03,
 -2.44968146e-03, 2.75103425e-02, 8.85979041e-03, 1.71048069e-03,
  0.00000000e+00,-1.75596528e-03, 0.00000000e+00,-2.05630617e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795863801324863
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.04986021])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020340152398484745
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498983 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001710166307584901
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991449])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.57739916e-05, 1.82777466e-07,-3.32160273e-06,-4.28879594e-05,
  1.04175388e-05,-5.54669938e-05,-2.18411632e-05, 7.02590023e-06,
 -2.91299050e-05,-1.75615464e-05, 4.59910041e-05, 4.37781084e-05,
  1.12567714e-05, 2.93077750e-05,-4.66382341e-06,-1.70755542e-04,
 -2.83597887e-11,-3.62804108e-12,-7.84800000e+00, 5.55523114e-03,
 -1.59404921e-01,-1.01319429e-03]


--- Step 1929 ---
qpos:
[-5.51274278e-04, 8.77267407e-01,-2.02613835e-02,-2.75796778e-02,
  7.60866116e-03, 8.64669353e-01,-2.80599748e-02, 9.44837546e-03,
  2.22209137e-02, 8.72918285e-01,-2.02714674e-02, 2.24623354e-02,
  1.38253110e+00,-9.90352027e-03, 1.08983382e+00, 6.11080331e-02,
 -1.46338818e+00,-1.25435787e-02, 6.29296091e-02, 5.26333117e-01,
 -4.53971573e-01,-5.39762732e-01,-4.74909943e-01]

qacc:
[ 1.76297774e-01,-1.94927534e+00, 8.93523473e+00,-1.81526064e+01,
 -2.82529154e-02, 2.23896460e-01,-3.25246777e+00, 1.10584572e+01,
  1.66221061e-01, 1.79282020e+00,-5.75015175e+00, 4.38929395e+00,
  2.18762234e-01,-4.15843796e-01, 6.01744104e+00,-2.12000890e+01,
  1.55340840e-04, 1.98106849e-05,-1.83892139e-04,-6.92939816e-05,
  1.24760269e-04, 1.19742036e-02]

qfrc_actuator:
[ 2.37863566e-03, 2.75895798e-02, 8.74396910e-03, 1.56483343e-03,
  3.96593606e-05, 2.74373527e-02, 8.64481293e-03, 1.61127279e-03,
 -2.40475366e-03, 2.74866279e-02, 8.80816013e-03, 1.69863448e-03,
  0.00000000e+00,-1.77908971e-03, 0.00000000e+00,-2.15554862e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795880793269312
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.04986021])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020338631627060677
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989831])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001709957840671794
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.0499145 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.26627435e-05,-5.98573503e-06, 1.35240455e-05,-2.58473361e-05,
 -5.17596760e-06,-3.09041310e-05, 1.34235924e-08, 2.15484117e-05,
  3.09094766e-05,-2.21665387e-05,-4.80866957e-05,-1.01573382e-05,
  1.25062787e-05,-1.28211470e-05,-2.56171447e-05,-1.10404240e-04,
 -2.39249996e-11,-3.06446956e-12,-7.84800000e+00, 5.55533099e-03,
 -1.59404918e-01,-1.01320020e-03]


--- Step 1930 ---
qpos:
[-5.51530682e-04, 8.77267251e-01,-2.02619513e-02,-2.75806887e-02,
  7.60941100e-03, 8.64670068e-01,-2.80601728e-02, 9.44820436e-03,
  2.22209168e-02, 8.72917891e-01,-2.02712389e-02, 2.24618058e-02,
  1.38260741e+00,-9.90392545e-03, 1.09003046e+00, 6.11080423e-02,
 -1.46338819e+00,-1.25435796e-02, 6.29296170e-02, 5.26332990e-01,
 -4.53971429e-01,-5.39762855e-01,-4.74910082e-01]

qacc:
[ 3.58014826e-01, 1.55698383e+00,-5.76682339e+00, 7.92572467e+00,
 -4.83205828e-02,-1.50507530e-01,-2.52317790e+00, 1.27531893e+01,
  1.28874242e-01, 5.21086885e-02, 3.47121800e+00,-1.71588978e+01,
  9.10419660e-01,-1.69754291e+00,-7.37102561e+00, 2.43934133e+01,
  1.43767466e-04, 1.83911646e-05,-1.69105886e-04,-6.39942264e-05,
  1.11215404e-04, 1.10824352e-02]

qfrc_actuator:
[ 2.42937452e-03, 2.75875820e-02, 8.71756367e-03, 1.56838693e-03,
  3.32783038e-05, 2.74397528e-02, 8.67108766e-03, 1.64379742e-03,
 -2.39564376e-03, 2.74903193e-02, 8.77728872e-03, 1.65598292e-03,
  0.00000000e+00,-1.82845543e-03, 0.00000000e+00,-2.03550340e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027958966125606055
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.04986021])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020337229602107598
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989831])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017097654841016774
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991451])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.64545325e-05,-3.64452805e-06,-2.68655201e-05, 3.26376610e-06,
 -8.84864175e-06,-1.39722253e-05, 2.06381031e-05, 3.16211933e-05,
  2.39791602e-05,-1.90650802e-05,-4.17293382e-05,-4.54646968e-05,
  3.10334964e-06,-4.91591354e-05,-2.68867775e-05, 1.09928037e-04,
 -2.01998093e-11,-2.59013260e-12,-7.84800000e+00, 5.55542320e-03,
 -1.59404915e-01,-1.01320566e-03]


--- Step 1931 ---
qpos:
[-5.51695310e-04, 8.77267307e-01,-2.02626827e-02,-2.75809966e-02,
  7.61026007e-03, 8.64670747e-01,-2.80604177e-02, 9.44877425e-03,
  2.22212788e-02, 8.72917788e-01,-2.02715663e-02, 2.24607325e-02,
  1.38268373e+00,-9.90461700e-03, 1.09022674e+00, 6.11107721e-02,
 -1.46338820e+00,-1.25435804e-02, 6.29296244e-02, 5.26332872e-01,
 -4.53971296e-01,-5.39762968e-01,-4.74910210e-01]

qacc:
[ 4.75446009e-02, 2.18523446e+00,-1.03449293e+01, 2.26025077e+01,
  5.21450179e-02, 1.60844098e+00,-8.93152256e+00, 2.18593625e+01,
  1.86092289e-01, 8.17287797e-01,-6.25760175e-02,-8.67217033e+00,
  3.89793661e-01,-7.38962296e-01,-8.76779080e+00, 2.98499279e+01,
  1.33021157e-04, 1.70651236e-05,-1.55548204e-04,-5.90927599e-05,
  9.92390656e-05, 1.02543380e-02]

qfrc_actuator:
[ 2.40624873e-03, 2.76219054e-02, 8.71997517e-03, 1.60637722e-03,
  4.69579801e-05, 2.74410484e-02, 8.66894045e-03, 1.68076259e-03,
 -2.37257573e-03, 2.75281710e-02, 8.75904738e-03, 1.63111164e-03,
  0.00000000e+00,-1.83970740e-03, 0.00000000e+00,-1.89375045e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795911315046917
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020335936941705962
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989832])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017095879992540253
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991452])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.84912786e-06, 2.68953203e-05,-1.53110424e-06, 3.69699083e-05,
  9.46573594e-06,-9.16544342e-07,-1.39925637e-06, 3.76959353e-05,
  3.46032849e-05, 1.66341535e-05,-2.88913014e-05,-2.80164428e-05,
 -1.03269132e-05,-2.24628016e-05,-1.66330913e-06, 1.44040401e-04,
 -1.70685023e-11,-2.19068988e-12,-7.84800000e+00, 5.55550834e-03,
 -1.59404912e-01,-1.01321070e-03]


--- Step 1932 ---
qpos:
[-5.51775409e-04, 8.77267459e-01,-2.02633728e-02,-2.75805017e-02,
  7.61123820e-03, 8.64671421e-01,-2.80606874e-02, 9.44977757e-03,
  2.22219536e-02, 8.72917953e-01,-2.02727376e-02, 2.24593918e-02,
  1.38275984e+00,-9.90493307e-03, 1.09042293e+00, 6.11154958e-02,
 -1.46338820e+00,-1.25435812e-02, 6.29296311e-02, 5.26332764e-01,
 -4.53971173e-01,-5.39763073e-01,-4.74910328e-01]

qacc:
[ 4.39495874e-02, 1.66649164e+00,-9.13669470e+00, 2.28764745e+01,
  6.78019415e-02, 9.51605249e-01,-5.23616262e+00, 1.27833530e+01,
  1.61833741e-01, 2.16124003e+00,-6.06202221e+00, 2.58339836e+00,
 -3.20869245e-01, 6.30512447e-01,-6.14121811e+00, 2.13295536e+01,
  1.23046712e-04, 1.58273386e-05,-1.43112874e-04,-5.45604951e-05,
  8.86498739e-05, 9.48567008e-03]

qfrc_actuator:
[ 2.41013668e-03, 2.76245975e-02, 8.72181273e-03, 1.64662536e-03,
  5.47666246e-05, 2.74415746e-02, 8.66777819e-03, 1.70226914e-03,
 -2.35909517e-03, 2.75329968e-02, 8.71306186e-03, 1.61694437e-03,
  0.00000000e+00,-1.81050488e-03, 0.00000000e+00,-1.79367036e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795924957781845
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020334745017365485
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989833])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001709424242176058
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991453])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.14877857e-06, 1.90033962e-05, 8.48814145e-06, 4.20676802e-05,
  1.23131905e-05, 1.32581676e-06,-2.23677011e-07, 2.21508951e-05,
  3.01313888e-05, 6.97087229e-06,-4.70735967e-05,-1.49976706e-05,
 -1.10789074e-05, 2.12779571e-05, 1.23039602e-05, 1.07189524e-04,
 -1.44344819e-11,-1.85412463e-12,-7.84800000e+00, 5.55558694e-03,
 -1.59404909e-01,-1.01321536e-03]


--- Step 1933 ---
qpos:
[-5.51606655e-04, 8.77268014e-01,-2.02646925e-02,-2.75798663e-02,
  7.61232193e-03, 8.64672053e-01,-2.80606292e-02, 9.45032003e-03,
  2.22226738e-02, 8.72917846e-01,-2.02734316e-02, 2.24578696e-02,
  1.38283594e+00,-9.90521077e-03, 1.09061979e+00, 6.11160294e-02,
 -1.46338821e+00,-1.25435819e-02, 6.29296374e-02, 5.26332664e-01,
 -4.53971060e-01,-5.39763170e-01,-4.74910438e-01]

qacc:
[ 1.28786168e-01, 2.57981750e+00,-9.01732503e+00, 1.21557834e+01,
  5.56656888e-02,-1.91592001e+00, 8.70058147e+00,-1.71734874e+01,
  2.40047540e-02,-2.06490423e+00, 7.60808968e+00,-1.13107296e+01,
 -3.09117621e-01, 4.56797836e-01, 1.36647407e+01,-4.63204555e+01,
  1.13792182e-04, 1.46727669e-05,-1.31703255e-04,-5.03703741e-05,
  7.92867781e-05, 8.77243852e-03]

qfrc_actuator:
[ 2.43020340e-03, 2.76438466e-02, 8.68766130e-03, 1.65234193e-03,
  5.89831261e-05, 2.74416249e-02, 8.68495616e-03, 1.67900642e-03,
 -2.36921696e-03, 2.75179124e-02, 8.73970332e-03, 1.60914082e-03,
  0.00000000e+00,-1.81083486e-03, 0.00000000e+00,-2.02075019e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027959375981924384
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020333645892216257
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989833])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001709273156388219
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.39891018e-05, 3.34306846e-05,-2.77223137e-05, 7.64293586e-06,
  1.00767816e-05, 1.68052857e-06, 1.81860276e-05,-2.27848210e-05,
  4.37630469e-06,-2.15399282e-05, 2.17731899e-05,-9.42254183e-06,
 -1.04939168e-06, 2.38115757e-06, 1.34624157e-05,-2.20490177e-04,
 -1.22170912e-11,-1.57036714e-12,-7.84800000e+00, 5.55565949e-03,
 -1.59404907e-01,-1.01321965e-03]


--- Step 1934 ---
qpos:
[-5.51195447e-04, 8.77268641e-01,-2.02654467e-02,-2.75795530e-02,
  7.61347716e-03, 8.64672904e-01,-2.80602155e-02, 9.45088916e-03,
  2.22235338e-02, 8.72917621e-01,-2.02735717e-02, 2.24562401e-02,
  1.38291221e+00,-9.90601756e-03, 1.09081690e+00, 6.11121936e-02,
 -1.46338821e+00,-1.25435826e-02, 6.29296431e-02, 5.26332571e-01,
 -4.53970956e-01,-5.39763259e-01,-4.74910538e-01]

qacc:
[ 1.26285495e-01,-2.14783131e+00, 9.15194150e+00,-1.56756589e+01,
  3.77004046e-02,-6.49771326e-01, 2.62292490e+00,-2.89125237e+00,
  7.29914747e-02,-1.92407995e+00, 7.08701771e+00,-9.74292127e+00,
  2.66414244e-01,-6.67584069e-01, 1.35488946e+01,-4.69051020e+01,
  1.05208728e-04, 1.35965547e-05,-1.21231384e-04,-4.64972362e-05,
  7.10068684e-05, 8.11088853e-03]

qfrc_actuator:
[ 2.44202662e-03, 2.76549326e-02, 8.72133390e-03, 1.63768080e-03,
  6.10161679e-05, 2.74769318e-02, 8.71279569e-03, 1.68286095e-03,
 -2.35785276e-03, 2.75268201e-02, 8.77343203e-03, 1.60517638e-03,
  0.00000000e+00,-1.84645005e-03, 0.00000000e+00,-2.24346069e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027959492933973124
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002033263226442969
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989834])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017091337662347716
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991454])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.33693327e-05, 2.43804031e-05, 3.74303713e-05,-1.40410422e-05,
  6.82938028e-06, 3.90112068e-05, 2.96323306e-05, 4.11047115e-06,
  1.34661169e-05, 9.68262906e-07, 3.16446500e-05,-4.31403051e-06,
 -5.45452209e-07,-3.49471808e-05,-2.40025712e-05,-2.34592410e-04,
 -1.03489631e-11,-1.33097877e-12,-7.84800000e+00, 5.55572645e-03,
 -1.59404904e-01,-1.01322362e-03]


--- Step 1935 ---
qpos:
[-5.50781338e-04, 8.77269020e-01,-2.02653237e-02,-2.75797439e-02,
  7.61430184e-03, 8.64673852e-01,-2.80600256e-02, 9.45259138e-03,
  2.22243430e-02, 8.72917349e-01,-2.02730197e-02, 2.24542111e-02,
  1.38298855e+00,-9.90722209e-03, 1.09101392e+00, 6.11053550e-02,
 -1.46338822e+00,-1.25435832e-02, 6.29296484e-02, 5.26332486e-01,
 -4.53970859e-01,-5.39763342e-01,-4.74910631e-01]

qacc:
[ 2.10697399e-03,-3.81638014e+00, 1.52544460e+01,-2.51894048e+01,
 -1.73731137e-01, 3.08354170e+00,-1.55935795e+01, 3.54948213e+01,
 -2.59257252e-02,-2.81634921e+00, 1.16401177e+01,-1.96273421e+01,
  1.78840214e-01,-4.94550672e-01, 8.89931283e+00,-3.13930233e+01,
  9.72504790e-05, 1.25940442e-05,-1.11617170e-04,-4.29176948e-05,
  6.36834164e-05, 7.49749272e-03]

qfrc_actuator:
[ 2.43105796e-03, 2.76257847e-02, 8.75925252e-03, 1.61119945e-03,
  2.62257436e-05, 2.74621397e-02, 8.69361526e-03, 1.73818791e-03,
 -2.36921471e-03, 2.75323259e-02, 8.81114557e-03, 1.58576128e-03,
  0.00000000e+00,-1.86717900e-03, 0.00000000e+00,-2.39068363e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795960099658962
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020331697415372496
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989834])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017090051707376042
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991455])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.77156184e-07,-8.39377504e-06, 4.70782120e-05,-2.44167709e-05,
 -3.15356790e-05, 1.32944452e-05,-7.34115777e-06, 5.81010821e-05,
 -4.88405968e-06, 1.24107268e-05, 4.16681291e-05,-1.83597156e-05,
 -9.50595255e-06,-2.90032478e-05,-4.06891440e-05,-1.64216915e-04,
 -8.77381014e-12,-1.12888676e-12,-7.84800000e+00, 5.55578823e-03,
 -1.59404902e-01,-1.01322727e-03]


--- Step 1936 ---
qpos:
[-5.50804320e-04, 8.77269350e-01,-2.02652998e-02,-2.75805530e-02,
  7.61456299e-03, 8.64674899e-01,-2.80602751e-02, 9.45426826e-03,
  2.22250541e-02, 8.72916968e-01,-2.02719538e-02, 2.24519856e-02,
  1.38306479e+00,-9.90841269e-03, 1.09121062e+00, 6.10974158e-02,
 -1.46338822e+00,-1.25435837e-02, 6.29296533e-02, 5.26332408e-01,
 -4.53970771e-01,-5.39763418e-01,-4.74910717e-01]

qacc:
[-2.27181731e-01,-1.06242383e+00, 6.29576224e+00,-1.67861202e+01,
 -2.96317263e-01, 1.30411326e+00,-4.35485392e+00, 4.54761922e+00,
 -5.06624359e-02,-1.98213798e+00, 7.69069669e+00,-1.18350128e+01,
 -1.32222018e-01, 1.62538792e-01, 2.86151543e+00,-1.06764614e+01,
  8.98743918e-05, 1.16607770e-05,-1.02787656e-04,-3.96100200e-05,
  5.72041147e-05, 6.92894039e-03]

qfrc_actuator:
[ 2.38880412e-03, 2.76082926e-02, 8.74592297e-03, 1.57793692e-03,
 -1.25326908e-05, 2.74528264e-02, 8.66441274e-03, 1.73451809e-03,
 -2.37632515e-03, 2.75180138e-02, 8.83313759e-03, 1.57516353e-03,
  0.00000000e+00,-1.86114328e-03, 0.00000000e+00,-2.43897496e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027959700719498715
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020330835162113425
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989835])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017088865379159823
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.21225845e-05,-1.35189368e-05,-1.01125042e-05,-3.24686857e-05,
 -5.37669618e-05,-9.36844990e-07,-2.53616091e-05,-2.22728651e-06,
 -9.45958249e-06, 4.53818334e-07, 2.90545823e-05,-8.97860427e-06,
 -1.30669943e-05,-2.85770590e-06,-3.93973118e-05,-6.32272927e-05,
 -7.44458343e-12,-9.58162041e-13,-7.84800000e+00, 5.55584523e-03,
 -1.59404900e-01,-1.01323065e-03]


--- Step 1937 ---
qpos:
[-5.51113629e-04, 8.77269546e-01,-2.02654143e-02,-2.75813947e-02,
  7.61468666e-03, 8.64676487e-01,-2.80613521e-02, 9.45551318e-03,
  2.22258555e-02, 8.72916860e-01,-2.02710795e-02, 2.24503411e-02,
  1.38314087e+00,-9.90928242e-03, 1.09140637e+00, 6.10945881e-02,
 -1.46338823e+00,-1.25435843e-02, 6.29296578e-02, 5.26332335e-01,
 -4.53970689e-01,-5.39763488e-01,-4.74910796e-01]

qacc:
[-1.48815329e-01, 1.42432919e-01,-6.27100533e-01, 3.82557701e-01,
 -7.29500011e-02, 2.13521511e+00,-4.75401855e+00,-1.79463002e+00,
  4.67408512e-02, 2.09009451e+00,-9.38493682e+00, 1.95495470e+01,
 -3.61680513e-02, 2.04817740e-01,-1.68177841e+01, 5.68324167e+01,
  8.30401094e-05, 1.07924955e-05,-9.46763615e-05,-3.65540293e-05,
  5.14695078e-05, 6.40212692e-03]

qfrc_actuator:
[ 2.38147589e-03, 2.75976951e-02, 8.73797510e-03, 1.57642657e-03,
 -4.88256342e-08, 2.75000184e-02, 8.62950198e-03, 1.71390801e-03,
 -2.36306433e-03, 2.75451490e-02, 8.82784551e-03, 1.60531832e-03,
  0.00000000e+00,-1.83930133e-03, 0.00000000e+00,-2.16231909e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279597926361487
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020330039813861583
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989835])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017087770995357493
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991456])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.75968386e-05,-2.16464760e-05,-1.31098941e-05,-3.06997115e-06,
 -1.31062544e-05, 4.13027123e-05,-3.83143461e-05,-2.15743093e-05,
  8.70898080e-06, 3.30096618e-05,-1.93129405e-06, 3.10073781e-05,
 -8.64549416e-06, 1.85079333e-05,-2.72770493e-05, 2.67597126e-04,
 -6.32193808e-12,-8.13832932e-13,-7.84800000e+00, 5.55589782e-03,
 -1.59404898e-01,-1.01323376e-03]


--- Step 1938 ---
qpos:
[-5.51787441e-04, 8.77269429e-01,-2.02655683e-02,-2.75818864e-02,
  7.61463779e-03, 8.64678148e-01,-2.80627921e-02, 9.45791042e-03,
  2.22264105e-02, 8.72917202e-01,-2.02703530e-02, 2.24486991e-02,
  1.38321693e+00,-9.91017148e-03, 1.09160178e+00, 6.10960321e-02,
 -1.46338823e+00,-1.25435847e-02, 6.29296620e-02, 5.26332268e-01,
 -4.53970613e-01,-5.39763552e-01,-4.74910869e-01]

qacc:
[-1.89295154e-01, 4.18359166e-01,-3.56502122e+00, 9.90795123e+00,
 -9.08113547e-02, 3.47925070e+00,-1.71326646e+01, 3.76077655e+01,
 -1.28267318e-01, 1.01202093e+00,-2.75528531e+00, 2.70128072e+00,
  2.67749040e-01,-3.93255057e-01,-1.34184846e+01, 4.61784557e+01,
  7.67098252e-05, 9.98514309e-06,-8.72226801e-05,-3.37309842e-05,
  4.63915782e-05, 5.91414335e-03]

qfrc_actuator:
[ 2.35962185e-03, 2.75735859e-02, 8.73333520e-03, 1.59362924e-03,
 -1.02781137e-05, 2.74918687e-02, 8.60948286e-03, 1.77231370e-03,
 -2.39098784e-03, 2.75790625e-02, 8.82443558e-03, 1.60596766e-03,
  0.00000000e+00,-1.84379343e-03, 0.00000000e+00,-1.94500338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002795987726114807
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032930613206016
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989835])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017086761462566102
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.51346826e-05,-3.90569724e-05,-1.08300096e-05, 1.57643879e-05,
 -1.64613361e-05, 6.07564321e-06,-1.69622417e-05, 5.84267707e-05,
 -2.37297343e-05, 5.33031027e-05, 4.24017393e-06, 2.60183335e-06,
 -4.85949973e-07,-1.81154184e-06, 1.60897122e-05, 2.28471450e-04,
 -5.37295486e-12,-6.91729225e-13,-7.84800000e+00, 5.55594631e-03,
 -1.59404897e-01,-1.01323663e-03]


--- Step 1939 ---
qpos:
[-5.52767630e-04, 8.77268948e-01,-2.02654641e-02,-2.75821820e-02,
  7.61444392e-03, 8.64679119e-01,-2.80632522e-02, 9.46064869e-03,
  2.22264882e-02, 8.72917794e-01,-2.02696008e-02, 2.24470914e-02,
  1.38329300e+00,-9.91109846e-03, 1.09179738e+00, 6.10987324e-02,
 -1.46338823e+00,-1.25435852e-02, 6.29296658e-02, 5.26332207e-01,
 -4.53970543e-01,-5.39763612e-01,-4.74910936e-01]

qacc:
[-1.58900982e-01,-7.99272005e-01, 1.32573916e+00, 1.91617009e+00,
 -7.52847297e-02,-2.94485843e+00, 7.73854734e+00,-2.89843872e+00,
 -2.48100440e-01, 3.28321535e-01,-8.38242563e-01, 1.20956093e+00,
  9.28723981e-02,-1.55753340e-01,-3.52664694e+00, 1.27213157e+01,
  7.08481500e-05, 9.23486218e-06,-8.03713411e-05,-3.11234922e-05,
  4.18924814e-05, 5.46226623e-03]

qfrc_actuator:
[ 2.34699764e-03, 2.75593550e-02, 8.74838922e-03, 1.60393747e-03,
 -1.62926195e-05, 2.74330123e-02, 8.65152307e-03, 1.78795419e-03,
 -2.42556875e-03, 2.75812509e-02, 8.82218759e-03, 1.60701265e-03,
  0.00000000e+00,-1.84612146e-03, 0.00000000e+00,-1.88876520e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027959955088383004
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020328629293787925
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989836])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017085830231463456
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991457])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.95334007e-05,-3.76302741e-05, 6.20367384e-06, 8.57071548e-06,
 -1.38491922e-05,-5.64929560e-05, 4.32220881e-05, 1.64472079e-05,
 -4.59907004e-05, 3.29695726e-05, 9.36892146e-06, 3.52786344e-06,
 -4.59517697e-07,-2.94998567e-06, 2.93680065e-05, 7.02273142e-05,
 -4.57007521e-12,-5.88351618e-13,-7.84800000e+00, 5.55599104e-03,
 -1.59404895e-01,-1.01323928e-03]


--- Step 1940 ---
qpos:
[-5.53415284e-04, 8.77268435e-01,-2.02650599e-02,-2.75820529e-02,
  7.61451704e-03, 8.64679560e-01,-2.80630979e-02, 9.46217689e-03,
  2.22261237e-02, 8.72918174e-01,-2.02683565e-02, 2.24451909e-02,
  1.38336891e+00,-9.91151787e-03, 1.09199371e+00, 6.10970974e-02,
 -1.46338824e+00,-1.25435856e-02, 6.29296694e-02, 5.26332150e-01,
 -4.53970479e-01,-5.39763667e-01,-4.74910998e-01]

qacc:
[ 1.72996951e-01,-3.86777499e-03,-1.83461985e+00, 8.72050766e+00,
  1.40740902e-01,-4.90105783e+00, 2.15735014e+01,-4.31165308e+01,
 -2.29412098e-01,-2.25532064e+00, 8.87432612e+00,-1.45752336e+01,
 -7.81555735e-01, 1.38326554e+00, 1.42203618e+01,-4.80664610e+01,
  6.54219814e-05, 8.53799128e-06,-7.40719183e-05,-2.87154168e-05,
  3.79034223e-05, 5.04394771e-03]

qfrc_actuator:
[ 2.39325692e-03, 2.75867332e-02, 8.77497759e-03, 1.62787571e-03,
  1.57684863e-05, 2.73977245e-02, 8.67634330e-03, 1.72502803e-03,
 -2.44606196e-03, 2.75466728e-02, 8.83827515e-03, 1.59050941e-03,
  0.00000000e+00,-1.81161948e-03, 0.00000000e+00,-2.12314559e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796002658973229
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020328004858173598
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989836])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017084971255350995
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.20456967e-05, 7.99382410e-06, 1.98826567e-05, 2.27109718e-05,
  2.54618369e-05,-5.72715048e-05, 1.90396329e-05,-6.35351524e-05,
 -4.26153111e-05,-1.40781234e-05, 2.41662408e-05,-1.46964410e-05,
 -8.46871272e-07, 3.36696965e-05, 1.63545697e-05,-2.27859931e-04,
 -3.89021425e-12,-5.00762485e-13,-7.84800000e+00, 5.55603228e-03,
 -1.59404894e-01,-1.01324172e-03]


--- Step 1941 ---
qpos:
[-5.53614385e-04, 8.77268285e-01,-2.02647998e-02,-2.75816588e-02,
  7.61491673e-03, 8.64680053e-01,-2.80628603e-02, 9.46255616e-03,
  2.22250547e-02, 8.72918037e-01,-2.02665102e-02, 2.24441759e-02,
  1.38344475e+00,-9.91153934e-03, 1.09219014e+00, 6.10923663e-02,
 -1.46338824e+00,-1.25435859e-02, 6.29296727e-02, 5.26332098e-01,
 -4.53970420e-01,-5.39763718e-01,-4.74911055e-01]

qacc:
[ 2.32866212e-01, 1.42807428e+00,-5.51191906e+00, 1.00569475e+01,
  1.71497307e-01,-2.52755546e+00, 1.39627852e+01,-3.40223538e+01,
 -3.65446602e-01,-5.41976711e-01,-2.79725304e+00, 1.75416487e+01,
 -5.25894652e-01, 9.84220891e-01, 9.54659521e+00,-3.30834491e+01,
  6.04003788e-05, 7.89106102e-06,-6.82783870e-05,-2.64917904e-05,
  3.43636412e-05, 4.65680595e-03]

qfrc_actuator:
[ 2.42107203e-03, 2.76211365e-02, 8.77283634e-03, 1.64193214e-03,
  3.48157058e-05, 2.74299506e-02, 8.69080506e-03, 1.66963447e-03,
 -2.49345202e-03, 2.75081481e-02, 8.86488734e-03, 1.63480129e-03,
  0.00000000e+00,-1.79105507e-03, 0.00000000e+00,-2.27827134e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796009221424367
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020327428735605196
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989836])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017084178951831674
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.32348469e-05, 4.39649754e-05, 2.74536177e-06, 1.55285494e-05,
  3.11595040e-05, 1.40039119e-06, 2.77316994e-06,-5.84285486e-05,
 -6.78938616e-05,-4.20570600e-05, 2.61633404e-05, 4.42397759e-05,
  6.99976623e-06, 2.90581199e-05,-2.38260271e-05,-1.67106183e-04,
 -3.31402176e-12,-4.26494490e-13,-7.84800000e+00, 5.55607031e-03,
 -1.59404893e-01,-1.01324398e-03]


--- Step 1942 ---
qpos:
[-5.53794864e-04, 8.77268431e-01,-2.02648123e-02,-2.75814271e-02,
  7.61540180e-03, 8.64680703e-01,-2.80625484e-02, 9.46225458e-03,
  2.22237289e-02, 8.72918044e-01,-2.02652215e-02, 2.24450763e-02,
  1.38352067e+00,-9.91155516e-03, 1.09238613e+00, 6.10881225e-02,
 -1.46338824e+00,-1.25435863e-02, 6.29296757e-02, 5.26332049e-01,
 -4.53970365e-01,-5.39763764e-01,-4.74911108e-01]

qacc:
[ 9.40109526e-03, 8.16951342e-01,-1.66214347e+00,-9.26737288e-01,
  4.47989975e-02,-1.39896788e+00, 8.16626205e+00,-2.01868942e+01,
 -1.33760719e-01, 5.68558763e+00,-2.80869843e+01, 6.20243056e+01,
  1.03494162e-01,-1.14662293e-01,-2.13229540e+00, 6.49434186e+00,
  5.57544415e-05, 7.29078940e-06,-6.29487233e-05,-2.44387348e-05,
  3.12195109e-05, 4.29861584e-03]

qfrc_actuator:
[ 2.40206634e-03, 2.76238682e-02, 8.75378145e-03, 1.63229673e-03,
  2.81355951e-05, 2.74490588e-02, 8.69933709e-03, 1.63693598e-03,
 -2.48553054e-03, 2.75386558e-02, 8.84424975e-03, 1.73226165e-03,
  0.00000000e+00,-1.79669923e-03, 0.00000000e+00,-2.24332824e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796015238770988
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020326897159476942
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989837])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001708344816739732
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991458])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.80156915e-06, 2.85534639e-05,-9.10209856e-06,-7.35773877e-06,
  8.15133144e-06, 1.79503001e-05, 7.13391975e-06,-3.36818916e-05,
 -2.47493173e-05, 1.42696063e-05,-2.45821185e-05, 9.74242113e-05,
  9.92171824e-06, 3.71228319e-06,-3.30057097e-05, 2.17749421e-05,
 -2.82526662e-12,-3.63474157e-13,-7.84800000e+00, 5.55610536e-03,
 -1.59404891e-01,-1.01324605e-03]


--- Step 1943 ---
qpos:
[-5.54083974e-04, 8.77268386e-01,-2.02645196e-02,-2.75819802e-02,
  7.61606913e-03, 8.64681006e-01,-2.80619811e-02, 9.46265182e-03,
  2.22230726e-02, 8.72918998e-01,-2.02653576e-02, 2.24460577e-02,
  1.38359672e+00,-9.91185895e-03, 1.09258145e+00, 6.10879521e-02,
 -1.46338824e+00,-1.25435866e-02, 6.29296785e-02, 5.26332005e-01,
 -4.53970315e-01,-5.39763807e-01,-4.74911156e-01]

qacc:
[-5.62281433e-02,-2.72036151e+00, 1.26386869e+01,-2.65516101e+01,
  9.60604513e-02, 2.65922827e-01,-4.56478424e+00, 1.65077732e+01,
  3.46721421e-01, 5.39507990e+00,-1.77674571e+01, 2.07544019e+01,
  5.76648605e-01,-9.58722213e-01,-1.33350521e+01, 4.51193345e+01,
  5.14571923e-05, 6.73407619e-06,-5.80445408e-05,-2.25433857e-05,
  2.84237365e-05, 3.96730008e-03]

qfrc_actuator:
[ 2.39072394e-03, 2.75897662e-02, 8.76026959e-03, 1.59101499e-03,
  4.16349052e-05, 2.74069112e-02, 8.70428699e-03, 1.67110393e-03,
 -2.40908269e-03, 2.76101290e-02, 8.77842827e-03, 1.73597063e-03,
  0.00000000e+00,-1.81783542e-03, 0.00000000e+00,-2.02567826e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796020751258954
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032640666023225
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989837])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001708277414468884
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.04722669e-05,-2.03333677e-05, 1.10075082e-05,-4.05185728e-05,
  1.73815615e-05,-3.20964309e-05, 8.36309693e-06, 3.45272136e-05,
  6.45419424e-05, 7.85332118e-05,-6.25429927e-05, 5.36288146e-06,
  5.74050996e-06,-1.75057260e-05,-1.45951924e-05, 2.14192777e-04,
 -2.41032392e-12,-3.09957956e-13,-7.84800000e+00, 5.55613768e-03,
 -1.59404890e-01,-1.01324796e-03]


--- Step 1944 ---
qpos:
[-5.54309854e-04, 8.77268165e-01,-2.02644035e-02,-2.75829912e-02,
  7.61709023e-03, 8.64681020e-01,-2.80616056e-02, 9.46347940e-03,
  2.22228446e-02, 8.72920741e-01,-2.02657606e-02, 2.24466698e-02,
  1.38367282e+00,-9.91238131e-03, 1.09277638e+00, 6.10923549e-02,
 -1.46338825e+00,-1.25435869e-02, 6.29296810e-02, 5.26331964e-01,
 -4.53970268e-01,-5.39763847e-01,-4.74911201e-01]

qacc:
[ 3.27864435e-02,-6.84136098e-01, 4.02731886e+00,-1.15283692e+01,
  1.85827354e-01, 1.03911874e+00,-6.07589695e+00, 1.40444534e+01,
  2.22073247e-01, 1.02980404e+00,-5.96093915e-01,-5.95282349e+00,
  4.79824816e-01,-8.03830120e-01,-1.44136803e+01, 4.95237618e+01,
  4.74834649e-05, 6.21799704e-06,-5.35307619e-05,-2.07938218e-05,
  2.59346316e-05, 3.66092058e-03]

qfrc_actuator:
[ 2.40185196e-03, 2.75694368e-02, 8.74610976e-03, 1.56693808e-03,
  6.71108304e-05, 2.73817098e-02, 8.68912421e-03, 1.69102650e-03,
 -2.39885849e-03, 2.76698167e-02, 8.77535002e-03, 1.72000210e-03,
  0.00000000e+00,-1.83022283e-03, 0.00000000e+00,-1.79094842e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796025796817092
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032595404157858
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989837])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001708215249225653
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.08733205e-06,-3.11612352e-05,-1.84058100e-05,-2.53547334e-05,
  3.37441822e-05,-3.99527046e-05,-1.95738150e-05, 1.95067562e-05,
  4.12893774e-05, 9.08981715e-05, 5.61468696e-06,-1.46665760e-05,
 -1.08583021e-06,-1.52821131e-05, 1.53600378e-05, 2.44365970e-04,
 -2.05774750e-12,-2.64478852e-13,-7.84800000e+00, 5.55616746e-03,
 -1.59404889e-01,-1.01324973e-03]


--- Step 1945 ---
qpos:
[-5.54435421e-04, 8.77267631e-01,-2.02647007e-02,-2.75839029e-02,
  7.61787516e-03, 8.64680994e-01,-2.80617770e-02, 9.46418726e-03,
  2.22225163e-02, 8.72922946e-01,-2.02658245e-02, 2.24470853e-02,
  1.38374893e+00,-9.91304861e-03, 1.09297145e+00, 6.10985317e-02,
 -1.46338825e+00,-1.25435872e-02, 6.29296834e-02, 5.26331926e-01,
 -4.53970226e-01,-5.39763884e-01,-4.74911242e-01]

qacc:
[ 5.19792728e-02, 9.45819373e-01,-4.38857360e+00, 6.99216634e+00,
 -1.24385662e-01, 1.22592708e+00,-3.94533323e+00, 2.77935024e+00,
 -5.21099792e-02,-7.42009188e-01, 4.36068144e+00,-8.64543432e+00,
  2.08636667e-01,-3.87739367e-01,-5.16624844e+00, 1.83406080e+01,
  4.38097965e-05, 5.73979708e-06,-4.93753195e-05,-1.91789991e-05,
  2.37154805e-05, 3.37767020e-03]

qfrc_actuator:
[ 2.40858118e-03, 2.75396812e-02, 8.71992070e-03, 1.57092362e-03,
  2.85177881e-05, 2.73845086e-02, 8.66223873e-03, 1.68463818e-03,
 -2.42839499e-03, 2.76867048e-02, 8.79157703e-03, 1.71039778e-03,
  0.00000000e+00,-1.83731519e-03, 0.00000000e+00,-1.70787338e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796030411096259
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020325536358606344
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989837])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017081579156590088
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.65549029e-06,-5.20589911e-05,-3.57663829e-05, 1.52277651e-06,
 -2.25373015e-05,-2.27490302e-05,-3.68781548e-05,-8.40018060e-06,
 -9.65653434e-06, 6.82146442e-05, 3.51741646e-05,-5.80359121e-06,
 -3.96256785e-06,-1.12286328e-05, 3.09787835e-05, 9.78835747e-05,
 -1.75791374e-12,-2.25801617e-13,-7.84800000e+00, 5.55619491e-03,
 -1.59404888e-01,-1.01325135e-03]


--- Step 1946 ---
qpos:
[-5.54470842e-04, 8.77266400e-01,-2.02646496e-02,-2.75837269e-02,
  7.61811718e-03, 8.64680650e-01,-2.80619486e-02, 9.46550139e-03,
  2.22219579e-02, 8.72925091e-01,-2.02653669e-02, 2.24464014e-02,
  1.38382503e+00,-9.91380947e-03, 1.09316712e+00, 6.11016728e-02,
 -1.46338825e+00,-1.25435874e-02, 6.29296856e-02, 5.26331891e-01,
 -4.53970186e-01,-5.39763917e-01,-4.74911280e-01]

qacc:
[ 4.73390889e-02, 3.47448426e-01,-7.15487591e+00, 2.59108598e+01,
 -2.85025716e-01, 8.27764247e-01,-6.12079519e+00, 1.68490159e+01,
 -1.19229035e-01,-3.79662850e+00, 1.80661263e+01,-3.78850201e+01,
 -1.34537423e-01, 1.25721906e-01, 1.00714038e+01,-3.39150936e+01,
  4.04143254e-05, 5.29688428e-06,-4.55488875e-05,-1.76886892e-05,
  2.17339687e-05, 3.11586495e-03]

qfrc_actuator:
[ 2.41260875e-03, 2.75044764e-02, 8.74007934e-03, 1.62687803e-03,
 -1.25629417e-05, 2.73684703e-02, 8.66425678e-03, 1.71609914e-03,
 -2.44592533e-03, 2.76424211e-02, 8.80113539e-03, 1.65132909e-03,
  0.00000000e+00,-1.84121672e-03, 0.00000000e+00,-1.87459508e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796034627525479
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020325150897723687
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989837])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001708105039629551
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991459])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.66888485e-06,-7.16178744e-05, 5.06270733e-06, 5.25208898e-05,
 -5.18096115e-05,-3.67371023e-05,-7.51405156e-06, 2.90459740e-05,
 -2.21639897e-05, 8.24217021e-07, 2.77630308e-05,-5.50448501e-05,
 -4.67045483e-06,-7.66512314e-06, 2.02305778e-05,-1.58451243e-04,
 -1.50272449e-12,-1.92885447e-13,-7.84800000e+00, 5.55622020e-03,
 -1.59404887e-01,-1.01325285e-03]


--- Step 1947 ---
qpos:
[-5.54622580e-04, 8.77264950e-01,-2.02640027e-02,-2.75826162e-02,
  7.61821691e-03, 8.64680166e-01,-2.80618538e-02, 9.46644973e-03,
  2.22211836e-02, 8.72927118e-01,-2.02649658e-02, 2.24447188e-02,
  1.38390112e+00,-9.91462306e-03, 1.09336296e+00, 6.11021581e-02,
 -1.46338825e+00,-1.25435876e-02, 6.29296877e-02, 5.26331859e-01,
 -4.53970150e-01,-5.39763948e-01,-4.74911315e-01]

qacc:
[-5.99558746e-02,-2.73907748e-02,-4.25683751e+00, 1.96201108e+01,
 -7.45404686e-02,-1.68093457e+00, 7.26967524e+00,-1.39254531e+01,
 -1.12262102e-01,-2.05240000e+00, 1.13091280e+01,-2.84174175e+01,
 -1.29941789e-01, 1.43481510e-01, 8.27124918e+00,-2.85666930e+01,
  3.72766926e-05, 4.88682270e-06,-4.20246358e-05,-1.63134210e-05,
  1.99616690e-05, 2.87393642e-03]

qfrc_actuator:
[ 2.39723275e-03, 2.75375223e-02, 8.78745042e-03, 1.67748025e-03,
 -1.47717336e-06, 2.73769281e-02, 8.68328894e-03, 1.69858103e-03,
 -2.45608218e-03, 2.76150290e-02, 8.78862181e-03, 1.59906845e-03,
  0.00000000e+00,-1.84319716e-03, 0.00000000e+00,-2.00956841e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796038477379109
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020324795158218473
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989838])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017080562758207268
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.0499146 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12119411e-05,-3.67810964e-06, 3.50314161e-05, 4.87367313e-05,
 -1.35780438e-05,-1.23909553e-05, 1.15271745e-05,-1.87872290e-05,
 -2.08153986e-05,-2.36123683e-05,-1.08472092e-05,-5.23384313e-05,
 -4.74461493e-06,-4.75222064e-06,-1.40041753e-05,-1.42540334e-04,
 -1.28535927e-12,-1.64852704e-13,-7.84800000e+00, 5.55624351e-03,
 -1.59404887e-01,-1.01325423e-03]


--- Step 1948 ---
qpos:
[-5.54556428e-04, 8.77264302e-01,-2.02640422e-02,-2.75816423e-02,
  7.61831899e-03, 8.64680068e-01,-2.80620192e-02, 9.46645809e-03,
  2.22206152e-02, 8.72928987e-01,-2.02649964e-02, 2.24428002e-02,
  1.38397711e+00,-9.91519419e-03, 1.09355867e+00, 6.11013376e-02,
 -1.46338825e+00,-1.25435878e-02, 6.29296895e-02, 5.26331829e-01,
 -4.53970117e-01,-5.39763977e-01,-4.74911347e-01]

qacc:
[ 1.12514863e-01, 2.69483276e+00,-7.49540316e+00, 5.64144297e+00,
  8.74291021e-04,-6.94901064e-01, 7.19012678e+00,-2.33294524e+01,
  1.06782087e-01, 5.12815524e-01,-1.13365906e+00,-2.14455164e+00,
 -3.28007954e-01, 5.86811727e-01, 3.76191008e+00,-1.34064624e+01,
  3.43779486e-05, 4.50732560e-06,-3.87780082e-05,-1.50444276e-05,
  1.83735926e-05, 2.65042464e-03]

qfrc_actuator:
[ 2.42364289e-03, 2.76113190e-02, 8.76199896e-03, 1.67133126e-03,
  5.21976335e-06, 2.74177864e-02, 8.67675789e-03, 1.65240505e-03,
 -2.42623171e-03, 2.75978544e-02, 8.76323446e-03, 1.58673693e-03,
  0.00000000e+00,-1.82627572e-03, 0.00000000e+00,-2.07140037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796041989855877
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020324466835312804
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989838])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017080113055330248
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.0499146 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.10163827e-05, 8.10863349e-05,-2.02043447e-05,-4.14513555e-06,
  2.33026704e-07, 3.55129649e-05,-8.31825012e-06,-4.66742120e-05,
  1.98378622e-05,-3.49143535e-05,-3.34283841e-05,-1.47382391e-05,
 -4.40485579e-06, 1.50193913e-05,-2.61013116e-05,-7.24693214e-05,
 -1.10006857e-12,-1.40962750e-13,-7.84800000e+00, 5.55626498e-03,
 -1.59404886e-01,-1.01325550e-03]


--- Step 1949 ---
qpos:
[-5.54038331e-04, 8.77264256e-01,-2.02649086e-02,-2.75810594e-02,
  7.61846385e-03, 8.64680274e-01,-2.80620044e-02, 9.46589284e-03,
  2.22205171e-02, 8.72930682e-01,-2.02656694e-02, 2.24414565e-02,
  1.38405288e+00,-9.91503651e-03, 1.09375408e+00, 6.11007451e-02,
 -1.46338826e+00,-1.25435880e-02, 6.29296913e-02, 5.26331802e-01,
 -4.53970086e-01,-5.39764003e-01,-4.74911377e-01]

qacc:
[ 2.34098973e-01, 2.30013693e+00,-5.39870233e+00,-4.81851480e-01,
  2.24469336e-02,-1.28326532e+00, 7.57828855e+00,-1.80186075e+01,
  2.44061896e-01, 2.74589080e+00,-1.25530255e+01, 2.36578004e+01,
 -6.86256502e-01, 1.37249549e+00,-1.06065319e+00, 3.20957920e+00,
  3.17004652e-05, 4.15624842e-06,-3.57865212e-05,-1.38735951e-05,
  1.69477889e-05, 2.44397131e-03]

qfrc_actuator:
[ 2.45708441e-03, 2.76198699e-02, 8.71165041e-03, 1.64958167e-03,
  9.19569221e-06, 2.74421077e-02, 8.69081423e-03, 1.62526011e-03,
 -2.39046499e-03, 2.75868961e-02, 8.73052073e-03, 1.61575228e-03,
  0.00000000e+00,-1.78053462e-03, 0.00000000e+00,-2.05413005e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279604519216492
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020324163804599088
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989838])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017079698346463695
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.0499146 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.35646430e-05, 4.95585659e-05,-3.62323662e-05,-1.90599717e-05,
  4.09199126e-06, 4.04653539e-05, 1.87524467e-05,-2.68194146e-05,
  4.53113677e-05,-3.80580324e-05,-4.45653055e-05, 2.60753048e-05,
  4.66556120e-07, 4.88446230e-05,-2.29632784e-05, 9.20382588e-06,
 -9.42001229e-13,-1.20590067e-13,-7.84800000e+00, 5.55628477e-03,
 -1.59404885e-01,-1.01325667e-03]


--- Step 1950 ---
qpos:
[-5.53467826e-04, 8.77264179e-01,-2.02658089e-02,-2.75814048e-02,
  7.61865334e-03, 8.64680150e-01,-2.80609847e-02, 9.46503043e-03,
  2.22214181e-02, 8.72932172e-01,-2.02667529e-02, 2.24404588e-02,
  1.38412864e+00,-9.91460457e-03, 1.09394905e+00, 6.11026644e-02,
 -1.46338826e+00,-1.25435882e-02, 6.29296929e-02, 5.26331777e-01,
 -4.53970057e-01,-5.39764028e-01,-4.74911404e-01]

qacc:
[ 2.71799546e-02,-1.85952976e+00, 1.04772421e+01,-2.64441795e+01,
  2.41742759e-02,-3.84969219e+00, 1.43533745e+01,-2.08662310e+01,
  5.18999699e-01, 1.58613833e+00,-7.51182086e+00, 1.43088487e+01,
 -4.14962605e-02, 2.39852417e-01,-8.24494658e+00, 2.78915218e+01,
  2.92278509e-05, 3.83158206e-06,-3.30295813e-05,-1.27934166e-05,
  1.56649840e-05, 2.25331333e-03]

qfrc_actuator:
[ 2.44116566e-03, 2.75891517e-02, 8.70003657e-03, 1.60102817e-03,
  1.14976344e-05, 2.74031792e-02, 8.73463923e-03, 1.60954340e-03,
 -2.31599001e-03, 2.75797474e-02, 8.71154708e-03, 1.63335408e-03,
  0.00000000e+00,-1.77134295e-03, 0.00000000e+00,-1.91939913e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960481096155065
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020323884107732726
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989838])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707931591734893
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.0499146 ])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.04930222e-06,-1.12935183e-05,-6.49718359e-06,-4.80577980e-05,
  4.25465389e-06,-1.35810252e-05, 5.35635436e-05,-1.38555209e-05,
  9.62742268e-05,-3.65455343e-05,-3.14287438e-05, 1.49359984e-05,
  1.13253160e-05, 2.17853810e-05,-1.23028145e-05, 1.31658135e-04,
 -8.07060259e-13,-1.03205924e-13,-7.84800000e+00, 5.55630299e-03,
 -1.59404885e-01,-1.01325775e-03]


--- Step 1951 ---
qpos:
[-5.53158168e-04, 8.77264241e-01,-2.02669186e-02,-2.75823386e-02,
  7.61869151e-03, 8.64679496e-01,-2.80595391e-02, 9.46405327e-03,
  2.22227012e-02, 8.72932748e-01,-2.02676769e-02, 2.24383507e-02,
  1.38420452e+00,-9.91428795e-03, 1.09414385e+00, 6.11064823e-02,
 -1.46338826e+00,-1.25435884e-02, 6.29296943e-02, 5.26331754e-01,
 -4.53970031e-01,-5.39764050e-01,-4.74911429e-01]

qacc:
[-1.35737382e-01,-4.44964662e-01, 4.32855824e+00,-1.42649080e+01,
 -7.90384982e-02,-2.12303846e+00, 7.04102152e+00,-9.32126904e+00,
  1.98848251e-01,-3.93531710e+00, 1.69701199e+01,-3.57718050e+01,
  2.91470384e-01,-4.45747168e-01,-5.99012218e+00, 2.05683494e+01,
  2.69448716e-05, 3.53144596e-06,-3.04883187e-05,-1.17969476e-05,
  1.45082680e-05, 2.07727666e-03]

qfrc_actuator:
[ 2.41360213e-03, 2.76062758e-02, 8.69344883e-03, 1.57259121e-03,
 -4.97641170e-06, 2.73445639e-02, 8.74217070e-03, 1.60063664e-03,
 -2.32552282e-03, 2.74862223e-02, 8.70084255e-03, 1.57309612e-03,
  0.00000000e+00,-1.78391790e-03, 0.00000000e+00,-1.82308281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796050765710642
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020323625939276668
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989838])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017078963263280483
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.51338538e-05, 7.41939405e-06,-1.13757189e-05,-3.00792980e-05,
 -1.44511791e-05,-5.57440503e-05, 1.08409233e-05,-7.90453610e-06,
  3.67858726e-05,-1.19824466e-04,-2.16101087e-05,-6.26213819e-05,
  1.11757057e-05,-4.31033310e-06, 6.53414839e-06, 1.01487660e-04,
 -6.91782345e-13,-8.83630296e-14,-7.84800000e+00, 5.55631978e-03,
 -1.59404884e-01,-1.01325875e-03]


--- Step 1952 ---
qpos:
[-5.53329549e-04, 8.77264570e-01,-2.02682214e-02,-2.75832789e-02,
  7.61818266e-03, 8.64678685e-01,-2.80584138e-02, 9.46332724e-03,
  2.22231799e-02, 8.72932201e-01,-2.02680514e-02, 2.24358836e-02,
  1.38428055e+00,-9.91434972e-03, 1.09433876e+00, 6.11104163e-02,
 -1.46338826e+00,-1.25435885e-02, 6.29296957e-02, 5.26331733e-01,
 -4.53970007e-01,-5.39764071e-01,-4.74911453e-01]

qacc:
[-2.50156492e-01, 8.80049288e-01,-2.59644370e+00, 2.59562651e+00,
 -2.87464121e-01, 1.20215437e+00,-5.64992250e+00, 1.06259064e+01,
 -4.17234994e-01,-3.75732560e+00, 1.27592493e+01,-1.90246703e+01,
  4.02244566e-01,-7.62824332e-01,-2.22911501e-01, 9.42851111e-01,
  2.48373751e-05, 3.25408146e-06,-2.81454371e-05,-1.08777657e-05,
  1.34628095e-05, 1.91477059e-03]

qfrc_actuator:
[ 2.37934402e-03, 2.76341955e-02, 8.69006566e-03, 1.57400818e-03,
 -5.02905764e-05, 2.73454790e-02, 8.72810323e-03, 1.61350493e-03,
 -2.42074809e-03, 2.74304248e-02, 8.73019910e-03, 1.55620344e-03,
  0.00000000e+00,-1.80927297e-03, 0.00000000e+00,-1.82121720e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796053182241784
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020323387634618717
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989838])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017078638073018265
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.63488440e-05, 2.84368622e-05,-4.28357144e-06, 7.58334144e-07,
 -5.21991072e-05,-2.83515003e-05,-2.45225955e-05, 1.07018592e-05,
 -7.75392276e-05,-1.29946052e-04,-2.16004125e-07,-2.39909277e-05,
  5.04166927e-06,-2.37011276e-05, 1.08216404e-05, 7.52636774e-06,
 -5.93237064e-13,-7.56826676e-14,-7.84800000e+00, 5.55633524e-03,
 -1.59404883e-01,-1.01325966e-03]


--- Step 1953 ---
qpos:
[-5.53757657e-04, 8.77264756e-01,-2.02691403e-02,-2.75838372e-02,
  7.61750606e-03, 8.64678170e-01,-2.80579596e-02, 9.46238133e-03,
  2.22230499e-02, 8.72931278e-01,-2.02681750e-02, 2.24341924e-02,
  1.38435666e+00,-9.91469284e-03, 1.09453405e+00, 6.11113382e-02,
 -1.46338826e+00,-1.25435886e-02, 6.29296970e-02, 5.26331713e-01,
 -4.53969985e-01,-5.39764090e-01,-4.74911474e-01]

qacc:
[-1.33094151e-01,-4.73000351e-01,-1.94143648e-01, 6.28669212e+00,
 -8.86441416e-02, 1.81093030e+00,-4.96313390e+00, 2.01513877e+00,
 -3.15943809e-01, 4.00075923e-01,-5.42194463e+00, 1.87262412e+01,
  7.28834152e-02,-2.64848527e-01, 9.66096259e+00,-3.29845788e+01,
  2.28922203e-05, 2.99784532e-06,-2.59850763e-05,-1.00299323e-05,
  1.25156092e-05, 1.76478223e-03]

qfrc_actuator:
[ 2.37689897e-03, 2.76151497e-02, 8.70642536e-03, 1.59299101e-03,
 -4.14420510e-05, 2.73819524e-02, 8.70165221e-03, 1.60361301e-03,
 -2.44208686e-03, 2.74688502e-02, 8.76538569e-03, 1.60052795e-03,
  0.00000000e+00,-1.82423427e-03, 0.00000000e+00,-1.98151486e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960553793840437
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032316765884848
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989838])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707833821394042
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.47416484e-05,-3.99824998e-06, 2.17404209e-05, 2.00700294e-05,
 -1.59991562e-05, 1.60190178e-05,-3.49581656e-05,-1.17456573e-05,
 -5.86625015e-05,-3.53013702e-05, 7.50156336e-06, 3.82875540e-05,
 -3.03456267e-06,-1.95361317e-05, 1.66913195e-06,-1.59481387e-04,
 -5.08942551e-13,-6.48439129e-14,-7.84800000e+00, 5.55634948e-03,
 -1.59404883e-01,-1.01326050e-03]


--- Step 1954 ---
qpos:
[-5.54505255e-04, 8.77264348e-01,-2.02690449e-02,-2.75841489e-02,
  7.61718132e-03, 8.64677924e-01,-2.80584451e-02, 9.46134608e-03,
  2.22230511e-02, 8.72930292e-01,-2.02682671e-02, 2.24319830e-02,
  1.38443261e+00,-9.91468530e-03, 1.09472955e+00, 6.11086657e-02,
 -1.46338826e+00,-1.25435888e-02, 6.29296981e-02, 5.26331695e-01,
 -4.53969965e-01,-5.39764107e-01,-4.74911494e-01]

qacc:
[-1.65170509e-01,-3.11138496e+00, 8.91404288e+00,-5.83602553e+00,
  1.84124780e-01, 2.79462568e+00,-9.07242764e+00, 8.83385561e+00,
  6.81824236e-02,-1.23750769e+00, 6.47998003e+00,-1.54542823e+01,
 -5.92458148e-01, 1.01245020e+00, 1.11860187e+01,-3.86207303e+01,
  2.10972097e-05, 2.76120334e-06,-2.39926881e-05,-9.24795743e-06,
  1.16552752e-05, 1.62637137e-03]

qfrc_actuator:
[ 2.35800458e-03, 2.75682275e-02, 8.75188370e-03, 1.60437488e-03,
 -2.56390960e-07, 2.73861126e-02, 8.65049730e-03, 1.59818814e-03,
 -2.40121505e-03, 2.74747468e-02, 8.76864393e-03, 1.57407570e-03,
  0.00000000e+00,-1.79739972e-03, 0.00000000e+00,-2.16501808e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960573757888213
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020322964596536375
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707806171831472
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.07993519e-05,-4.38078537e-05, 4.80124364e-05, 1.23584077e-05,
  3.35733929e-05, 5.40276166e-06,-5.25582267e-05,-6.17533928e-06,
  1.26401570e-05,-1.06357432e-05,-1.77300715e-06,-2.69554981e-05,
 -6.84405496e-06, 2.15729663e-05,-2.15907286e-05,-1.93265205e-04,
 -4.36794849e-13,-5.55745827e-14,-7.84800000e+00, 5.55636260e-03,
 -1.59404883e-01,-1.01326128e-03]


--- Step 1955 ---
qpos:
[-5.55703486e-04, 8.77264026e-01,-2.02688815e-02,-2.75846890e-02,
  7.61709612e-03, 8.64677832e-01,-2.80593133e-02, 9.46092092e-03,
  2.22233692e-02, 8.72928881e-01,-2.02675517e-02, 2.24284307e-02,
  1.38450848e+00,-9.91438471e-03, 1.09492500e+00, 6.11031181e-02,
 -1.46338826e+00,-1.25435889e-02, 6.29296992e-02, 5.26331678e-01,
 -4.53969946e-01,-5.39764123e-01,-4.74911512e-01]

qacc:
[-2.34145972e-01,-5.46544669e-01, 3.07478875e+00,-7.19243729e+00,
  1.25569279e-01, 2.52461374e+00,-1.12859111e+01, 2.23480096e+01,
  1.65201324e-01,-5.57843844e+00, 2.47467181e+01,-4.89664008e+01,
 -4.39563311e-01, 7.85412768e-01, 8.63766820e+00,-3.02602036e+01,
  1.94410263e-05, 2.54272419e-06,-2.21549229e-05,-8.52676673e-06,
  1.08718330e-05, 1.49866562e-03]

qfrc_actuator:
[ 2.32940605e-03, 2.75938524e-02, 8.76075931e-03, 1.59342929e-03,
  6.62115967e-06, 2.74062975e-02, 8.63831498e-03, 1.63090619e-03,
 -2.37677117e-03, 2.74432118e-02, 8.80612208e-03, 1.50614120e-03,
  0.00000000e+00,-1.78151241e-03, 0.00000000e+00,-2.30739963e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796059188678174
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020322777142321724
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707780677063092
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.34226006e-05, 1.15798552e-05, 6.17480709e-06,-1.09167229e-05,
  2.28583504e-05, 1.21021304e-05,-1.77491379e-05, 3.10124078e-05,
  3.05222652e-05,-3.89751380e-05, 3.41415652e-05,-6.89716129e-05,
  5.28612201e-07, 2.01193479e-05,-3.52332260e-05,-1.56800940e-04,
 -3.75008703e-13,-4.76436397e-14,-7.84800000e+00, 5.55637467e-03,
 -1.59404882e-01,-1.01326200e-03]


--- Step 1956 ---
qpos:
[-5.56920445e-04, 8.77264122e-01,-2.02690402e-02,-2.75857171e-02,
  7.61698084e-03, 8.64678244e-01,-2.80599299e-02, 9.46010996e-03,
  2.22238043e-02, 8.72927319e-01,-2.02662612e-02, 2.24251086e-02,
  1.38458432e+00,-9.91388216e-03, 1.09511974e+00, 6.10998743e-02,
 -1.46338826e+00,-1.25435890e-02, 6.29297002e-02, 5.26331663e-01,
 -4.53969929e-01,-5.39764138e-01,-4.74911528e-01]

qacc:
[-1.00924852e-02, 4.45278191e-01, 1.26761461e+00,-9.49610283e+00,
 -1.58473369e-02,-8.30344599e-01, 5.55656635e+00,-1.30085621e+01,
  6.12183474e-02,-1.33193884e+00, 3.48853074e+00,-3.13221153e-01,
 -9.17742289e-03, 1.36666780e-01,-7.99375407e+00, 2.64618855e+01,
  1.79131744e-05, 2.34107354e-06,-2.04595267e-05,-7.86167091e-06,
  1.01565483e-05, 1.38085586e-03]

qfrc_actuator:
[ 2.34850187e-03, 2.76270571e-02, 8.74822589e-03, 1.56946228e-03,
 -7.11459617e-06, 2.74716112e-02, 8.66708775e-03, 1.61483576e-03,
 -2.38017479e-03, 2.74606160e-02, 8.84559098e-03, 1.52086498e-03,
  0.00000000e+00,-1.77227609e-03, 0.00000000e+00,-2.17585283e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960608339330784
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032260409226272
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017077571695883753
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.79450121e-06, 4.04922101e-05,-9.75580068e-06,-2.34685057e-05,
 -2.85499650e-06, 6.97564203e-05, 3.01665856e-05,-1.55608668e-05,
  1.12746845e-05,-2.57060791e-07, 3.32481770e-05, 1.28984694e-05,
  4.15405999e-06, 1.48899842e-05,-3.64516711e-05, 1.17641730e-04,
 -3.22067882e-13,-4.08548097e-14,-7.84800000e+00, 5.55638580e-03,
 -1.59404882e-01,-1.01326265e-03]


--- Step 1957 ---
qpos:
[-5.57837996e-04, 8.77264181e-01,-2.02694596e-02,-2.75869701e-02,
  7.61657944e-03, 8.64679250e-01,-2.80602739e-02, 9.45909841e-03,
  2.22242717e-02, 8.72926496e-01,-2.02651805e-02, 2.24219272e-02,
  1.38466016e+00,-9.91324987e-03, 1.09531406e+00, 6.10994983e-02,
 -1.46338826e+00,-1.25435891e-02, 6.29297011e-02, 5.26331649e-01,
 -4.53969913e-01,-5.39764152e-01,-4.74911544e-01]

qacc:
[ 1.55414007e-01, 2.17903932e-01, 1.01680602e-01,-3.54540071e+00,
 -1.50338173e-01,-3.87703921e-01, 3.37024779e+00,-7.71604393e+00,
  1.64187708e-02, 1.85205847e+00,-5.78000960e+00, 8.00583698e+00,
  8.33529656e-02,-3.23873842e-02,-9.26866514e+00, 3.15394353e+01,
  1.65039230e-05, 2.15500830e-06,-1.88952477e-05,-7.24833727e-06,
  9.50177764e-06, 1.27219187e-03]

qfrc_actuator:
[ 2.37821001e-03, 2.75934336e-02, 8.72320991e-03, 1.55578620e-03,
 -3.30445137e-05, 2.75103325e-02, 8.68444705e-03, 1.60574938e-03,
 -2.38246120e-03, 2.75427844e-02, 8.85065835e-03, 1.53088998e-03,
  0.00000000e+00,-1.76705649e-03, 0.00000000e+00,-2.02599902e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796062326181348
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020322444335871964
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017077354948769746
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.88501153e-05,-1.39977608e-05,-1.86650102e-05,-1.27359525e-05,
 -2.72803622e-05, 8.32869547e-05, 3.49471084e-05,-5.35495051e-06,
  3.13478827e-06, 8.94786084e-05, 9.56351821e-06, 1.14206789e-05,
  5.34611656e-06, 1.01998710e-05,-4.94100613e-06, 1.51434103e-04,
 -2.76683469e-13,-3.50412150e-14,-7.84800000e+00, 5.55639604e-03,
 -1.59404881e-01,-1.01326326e-03]


--- Step 1958 ---
qpos:
[-5.58608705e-04, 8.77263891e-01,-2.02700217e-02,-2.75883438e-02,
  7.61625456e-03, 8.64680296e-01,-2.80601803e-02, 9.45873676e-03,
  2.22243697e-02, 8.72926524e-01,-2.02644518e-02, 2.24192306e-02,
  1.38473610e+00,-9.91280726e-03, 1.09550856e+00, 6.10988867e-02,
 -1.46338826e+00,-1.25435892e-02, 6.29297019e-02, 5.26331636e-01,
 -4.53969898e-01,-5.39764164e-01,-4.74911558e-01]

qacc:
[ 7.63254144e-02,-3.12912050e-01, 9.51993888e-01,-2.55298793e+00,
  4.04963988e-02, 1.66968110e-01,-3.26379733e+00, 1.37836582e+01,
 -1.92385441e-01, 3.10415248e+00,-1.14850179e+01, 1.98139681e+01,
  1.95301140e-01,-3.66009489e-01, 9.38552179e-01,-2.96442834e+00,
  1.52042542e-05, 1.98337122e-06,-1.74517504e-05,-6.68276310e-06,
  8.90082827e-06, 1.17197836e-03]

qfrc_actuator:
[ 2.37846964e-03, 2.75555041e-02, 8.70852448e-03, 1.54821667e-03,
 -1.27649666e-05, 2.74795482e-02, 8.69483674e-03, 1.63632778e-03,
 -2.41954466e-03, 2.75919707e-02, 8.83563976e-03, 1.55584580e-03,
  0.00000000e+00,-1.78200812e-03, 0.00000000e+00,-2.04417277e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960636788805504
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020322296848800797
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017077155103692454
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991461])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.41396808e-05,-5.01469887e-05,-2.03110987e-05,-9.06041125e-06,
  7.30524817e-06, 2.27527776e-05, 3.17079547e-05, 3.52529934e-05,
 -3.55661653e-05, 1.01703976e-04, 5.03940521e-06, 2.93478291e-05,
  5.25441264e-06,-1.10508204e-05, 1.18547083e-05,-1.10072282e-05,
 -2.37758812e-13,-3.00608588e-14,-7.84800000e+00, 5.55640547e-03,
 -1.59404881e-01,-1.01326382e-03]


--- Step 1959 ---
qpos:
[-5.59304832e-04, 8.77263137e-01,-2.02704203e-02,-2.75898038e-02,
  7.61609473e-03, 8.64680722e-01,-2.80598506e-02, 9.45884482e-03,
  2.22242455e-02, 8.72927029e-01,-2.02643893e-02, 2.24183059e-02,
  1.38481209e+00,-9.91252339e-03, 1.09570336e+00, 6.10957308e-02,
 -1.46338827e+00,-1.25435893e-02, 6.29297027e-02, 5.26331624e-01,
 -4.53969885e-01,-5.39764176e-01,-4.74911571e-01]

qacc:
[ 3.90067018e-02,-1.24664389e+00, 3.92029418e+00,-5.33400819e+00,
  8.70858157e-02,-5.11081592e-01,-1.34853428e+00, 9.55618781e+00,
 -1.16017026e-01, 6.13279589e+00,-2.84386795e+01, 5.98221124e+01,
 -7.90261260e-05,-8.61657868e-02, 8.13960033e+00,-2.78146606e+01,
  1.40058129e-05, 1.82508554e-06,-1.61195385e-05,-6.16125144e-06,
  8.34784718e-06, 1.07957114e-03]

qfrc_actuator:
[ 2.37884560e-03, 2.75330731e-02, 8.71777638e-03, 1.54429683e-03,
 -5.13205508e-07, 2.73896251e-02, 8.68301791e-03, 1.65442955e-03,
 -2.42385974e-03, 2.75854555e-02, 8.79104313e-03, 1.64261752e-03,
  0.00000000e+00,-1.79104233e-03, 0.00000000e+00,-2.17895946e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960649043991953
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020322160686069707
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017076970845535805
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.17467925e-06,-5.50373388e-05,-3.91032355e-06,-6.94204299e-06,
  1.57305759e-05,-6.91655473e-05,-2.00136641e-06, 2.08589021e-05,
 -2.14151952e-05, 5.26492205e-05,-2.19547662e-05, 9.18790621e-05,
  6.10330169e-08,-1.04074344e-05,-1.04769688e-07,-1.34894530e-04,
 -2.04360032e-13,-2.57928222e-14,-7.84800000e+00, 5.55641415e-03,
 -1.59404881e-01,-1.01326433e-03]


--- Step 1960 ---
qpos:
[-5.59591901e-04, 8.77262087e-01,-2.02705188e-02,-2.75909854e-02,
  7.61590402e-03, 8.64680835e-01,-2.80599512e-02, 9.45848700e-03,
  2.22247262e-02, 8.72927837e-01,-2.02650405e-02, 2.24184548e-02,
  1.38488809e+00,-9.91234412e-03, 1.09589805e+00, 6.10916558e-02,
 -1.46338827e+00,-1.25435893e-02, 6.29297035e-02, 5.26331613e-01,
 -4.53969872e-01,-5.39764187e-01,-4.74911583e-01]

qacc:
[ 2.12843847e-01,-6.56123138e-01, 5.99539336e-01, 3.94948621e+00,
 -1.64109534e-02,-1.70299249e-01, 1.97350140e+00,-9.11837597e+00,
  3.13883785e-01, 4.60204549e+00,-2.03621136e+01, 3.98626258e+01,
  4.14659377e-02,-1.22316984e-01, 2.60593699e+00,-9.36702127e+00,
  1.29008613e-05, 1.67915013e-06,-1.48898838e-05,-5.68038792e-06,
  7.83770944e-06, 9.94373581e-04]

qfrc_actuator:
[ 2.41481014e-03, 2.75379466e-02, 8.74114147e-03, 1.56033336e-03,
 -1.09498770e-05, 2.73713777e-02, 8.65790037e-03, 1.62946029e-03,
 -2.35525516e-03, 2.75810589e-02, 8.74690716e-03, 1.69398730e-03,
  0.00000000e+00,-1.79648117e-03, 0.00000000e+00,-2.22153733e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796066014092227
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020322034975883696
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017076800961154937
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.94121414e-05,-2.69810824e-05, 1.12890837e-05, 1.34145294e-05,
 -2.95843176e-06,-5.64538471e-05,-3.89330995e-05,-2.75973885e-05,
  5.83072979e-05, 2.44334345e-05,-3.27893530e-05, 5.46552363e-05,
 -2.95717045e-06,-7.71635176e-06,-1.94431359e-05,-5.11297456e-05,
 -1.75691198e-13,-2.21340578e-14,-7.84800000e+00, 5.55642214e-03,
 -1.59404880e-01,-1.01326481e-03]


--- Step 1961 ---
qpos:
[-5.59275386e-04, 8.77260984e-01,-2.02707211e-02,-2.75919695e-02,
  7.61581990e-03, 8.64680965e-01,-2.80599875e-02, 9.45775557e-03,
  2.22255510e-02, 8.72928958e-01,-2.02651023e-02, 2.24187812e-02,
  1.38496401e+00,-9.91196466e-03, 1.09609253e+00, 6.10877373e-02,
 -1.46338827e+00,-1.25435894e-02, 6.29297041e-02, 5.26331602e-01,
 -4.53969861e-01,-5.39764196e-01,-4.74911594e-01]

qacc:
[ 3.13585292e-01, 6.26882455e-01,-3.16845019e+00, 6.78771963e+00,
  5.60035535e-02,-9.25539199e-01, 4.91097234e+00,-1.14941970e+01,
  1.78999411e-01,-8.67695726e-01, 2.94455154e+00,-1.04508358e+00,
 -1.99539048e-01, 3.81219263e-01,-7.83224876e-01, 2.29975820e+00,
  1.18822353e-05, 1.54463462e-06,-1.37547615e-05,-5.23701981e-06,
  7.36592888e-06, 9.15833253e-04]

qfrc_actuator:
[ 2.45401088e-03, 2.75414683e-02, 8.73726720e-03, 1.57026091e-03,
  6.35570380e-07, 2.74138300e-02, 8.67863365e-03, 1.61490139e-03,
 -2.35015299e-03, 2.76311733e-02, 8.79212484e-03, 1.70635281e-03,
  0.00000000e+00,-1.78200079e-03, 0.00000000e+00,-2.20939730e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796067018374232
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321918913906306
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017076644331504715
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.81623632e-05,-8.62743131e-06,-7.58080777e-06, 9.42782896e-06,
  1.01713545e-05, 1.65969504e-06, 3.32228536e-06,-1.88616968e-05,
  3.31594267e-05, 5.93407889e-05, 4.81145324e-05, 1.33403982e-05,
 -4.02480448e-06, 1.21878876e-05,-1.76070255e-05, 6.10328650e-06,
 -1.51073395e-13,-1.89966854e-14,-7.84800000e+00, 5.55642950e-03,
 -1.59404880e-01,-1.01326524e-03]


--- Step 1962 ---
qpos:
[-5.58429386e-04, 8.77259605e-01,-2.02706333e-02,-2.75921349e-02,
  7.61585919e-03, 8.64680493e-01,-2.80590030e-02, 9.45721272e-03,
  2.22261990e-02, 8.72930400e-01,-2.02645795e-02, 2.24185608e-02,
  1.38503996e+00,-9.91169174e-03, 1.09628686e+00, 6.10839590e-02,
 -1.46338827e+00,-1.25435895e-02, 6.29297047e-02, 5.26331593e-01,
 -4.53969850e-01,-5.39764206e-01,-4.74911604e-01]

qacc:
[ 2.75428780e-01, 5.11922928e-01,-5.80163014e+00, 1.96918443e+01,
  6.56835481e-02,-3.25414940e+00, 9.65641246e+00,-7.58592851e+00,
 -9.16045551e-02,-2.33326241e+00, 1.12446179e+01,-2.18793249e+01,
  1.21399160e-01,-2.28246412e-01,-6.35678753e-01, 1.90879656e+00,
  1.09433043e-05, 1.42067492e-06,-1.27067915e-05,-4.82823642e-06,
  6.92858056e-06, 8.43438850e-04]

qfrc_actuator:
[ 2.47704258e-03, 2.75263016e-02, 8.75283847e-03, 1.61199784e-03,
  7.55652867e-06, 2.73682285e-02, 8.72655469e-03, 1.62443542e-03,
 -2.38313323e-03, 2.76428531e-02, 8.81892654e-03, 1.67802983e-03,
  0.00000000e+00,-1.79133709e-03, 0.00000000e+00,-2.20063972e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960679267888255
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321811757982589
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017076499924374017
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.10174363e-05,-2.11176318e-05, 1.31927423e-05, 4.12916102e-05,
  1.17624931e-05,-4.47957770e-05, 4.80205678e-05, 9.35381890e-06,
 -1.70176606e-05, 5.53519023e-05, 4.54387602e-05,-2.38578248e-05,
  2.23379731e-07,-6.96976851e-06,-1.03088023e-05, 6.17389822e-06,
 -1.29927072e-13,-1.63057074e-14,-7.84800000e+00, 5.55643628e-03,
 -1.59404880e-01,-1.01326564e-03]


--- Step 1963 ---
qpos:
[-5.57376281e-04, 8.77258102e-01,-2.02701351e-02,-2.75914819e-02,
  7.61637185e-03, 8.64679925e-01,-2.80584246e-02, 9.45682276e-03,
  2.22267395e-02, 8.72931697e-01,-2.02637953e-02, 2.24187768e-02,
  1.38511610e+00,-9.91204680e-03, 1.09648076e+00, 6.10829694e-02,
 -1.46338827e+00,-1.25435895e-02, 6.29297053e-02, 5.26331585e-01,
 -4.53969841e-01,-5.39764214e-01,-4.74911613e-01]

qacc:
[ 1.07942544e-01, 3.75902619e-01,-5.02357248e+00, 1.86045751e+01,
  2.48433152e-01, 1.31900147e+00,-5.53589239e+00, 8.90451947e+00,
 -5.56525954e-02,-2.38324052e-02,-2.03603144e+00, 9.27799378e+00,
  7.82870313e-01,-1.45242588e+00,-9.11502888e+00, 3.08360236e+01,
  1.00779328e-05, 1.30646895e-06,-1.17391848e-05,-4.45135066e-06,
  6.52222234e-06, 7.76717242e-04]

qfrc_actuator:
[ 2.47245287e-03, 2.75356716e-02, 8.77972478e-03, 1.65436756e-03,
  4.71246082e-05, 2.73591697e-02, 8.70104327e-03, 1.63025983e-03,
 -2.38532192e-03, 2.75958339e-02, 8.81669498e-03, 1.69695751e-03,
  0.00000000e+00,-1.83248937e-03, 0.00000000e+00,-2.05193701e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960687480721447
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321712823314492
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017076366787685537
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.99563396e-05, 2.08947231e-06, 2.55884787e-05, 4.27281273e-05,
  4.51602335e-05,-2.37835959e-05,-2.85258977e-05, 5.74916163e-06,
 -1.03667906e-05,-7.74214396e-06, 1.39590975e-05, 2.24055541e-05,
 -1.91876244e-06,-4.26011610e-05,-7.18591202e-06, 1.46995977e-04,
 -1.11757124e-13,-1.39970783e-14,-7.84800000e+00, 5.55644252e-03,
 -1.59404880e-01,-1.01326601e-03]


--- Step 1964 ---
qpos:
[-5.56442013e-04, 8.77256781e-01,-2.02699619e-02,-2.75906601e-02,
  7.61735337e-03, 8.64679814e-01,-2.80586670e-02, 9.45577273e-03,
  2.22270288e-02, 8.72932829e-01,-2.02626648e-02, 2.24188701e-02,
  1.38519220e+00,-9.91260484e-03, 1.09667433e+00, 6.10857491e-02,
 -1.46338827e+00,-1.25435896e-02, 6.29297058e-02, 5.26331577e-01,
 -4.53969832e-01,-5.39764222e-01,-4.74911622e-01]

qacc:
[-6.20017857e-02, 1.49672677e+00,-5.69728281e+00, 9.00025351e+00,
  2.45559584e-01, 1.53615752e+00,-1.81647655e+00,-8.62911789e+00,
 -1.30228889e-01,-1.43719053e+00, 5.32711359e+00,-7.88310142e+00,
  3.59003554e-01,-6.48768381e-01,-1.19110102e+01, 4.08831925e+01,
  9.28044559e-06, 1.20127254e-06,-1.08456940e-05,-4.10388238e-06,
  6.14383899e-06, 7.15230766e-04]

qfrc_actuator:
[ 2.45140091e-03, 2.75419691e-02, 8.75990568e-03, 1.66128450e-03,
  7.03763672e-05, 2.74072777e-02, 8.66799596e-03, 1.59831347e-03,
 -2.40453942e-03, 2.75849434e-02, 8.83263827e-03, 1.69021328e-03,
  0.00000000e+00,-1.83890931e-03, 0.00000000e+00,-1.85747691e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960694902158523
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321621477978336
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017076244043300742
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.14482266e-05, 1.46093211e-05,-1.47510341e-05, 8.72421941e-06,
  4.47433205e-05, 2.91788272e-05,-4.12750879e-05,-3.38408481e-05,
 -2.42035385e-05,-1.14134925e-05, 1.68231687e-05,-6.16006682e-06,
 -1.12766335e-05,-1.74104550e-05, 1.06345501e-05, 2.01150603e-04,
 -9.61402856e-14,-1.20160709e-14,-7.84800000e+00, 5.55644826e-03,
 -1.59404880e-01,-1.01326635e-03]


--- Step 1965 ---
qpos:
[-5.55699190e-04, 8.77255913e-01,-2.02701458e-02,-2.75901395e-02,
  7.61851127e-03, 8.64679549e-01,-2.80588630e-02, 9.45471141e-03,
  2.22272621e-02, 8.72934330e-01,-2.02620873e-02, 2.24181849e-02,
  1.38526818e+00,-9.91300422e-03, 1.09686817e+00, 6.10884891e-02,
 -1.46338827e+00,-1.25435896e-02, 6.29297063e-02, 5.26331569e-01,
 -4.53969824e-01,-5.39764229e-01,-4.74911630e-01]

qacc:
[-9.98619661e-02, 9.75379407e-01,-1.34117210e+00,-3.62647981e+00,
  9.27299737e-02,-3.54528300e-01, 1.01892341e+00,-1.17645207e+00,
 -2.95903257e-02, 4.32079427e-01, 2.45651724e+00,-1.53200424e+01,
 -2.33551942e-01, 3.86977423e-01, 5.57192434e-01,-1.30071763e+00,
  8.54559413e-06, 1.10439564e-06,-1.00205691e-05,-3.78354251e-06,
  5.79078200e-06, 6.58574666e-04]

qfrc_actuator:
[ 2.43846733e-03, 2.75816717e-02, 8.74813998e-03, 1.64725204e-03,
  6.59008670e-05, 2.73826552e-02, 8.66650970e-03, 1.59771433e-03,
 -2.39828233e-03, 2.76135604e-02, 8.80603891e-03, 1.65069776e-03,
  0.00000000e+00,-1.82466362e-03, 0.00000000e+00,-1.86844273e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960701605224403
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032153713882323
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017076130881304302
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.84374933e-05, 4.52239560e-05,-1.02567954e-05,-1.37472332e-05,
  1.68248615e-05,-1.82689290e-05,-1.71307129e-06,-1.43479311e-06,
 -5.38644314e-06, 2.54076829e-05,-2.71146683e-05,-3.95454350e-05,
 -1.01644771e-05, 7.19795429e-06, 2.39608292e-05, 8.29120826e-07,
 -8.27144624e-14,-1.03158930e-14,-7.84800000e+00, 5.55645354e-03,
 -1.59404879e-01,-1.01326667e-03]


--- Step 1966 ---
qpos:
[-5.54946697e-04, 8.77255615e-01,-2.02705756e-02,-2.75898144e-02,
  7.61990508e-03, 8.64679179e-01,-2.80591622e-02, 9.45503681e-03,
  2.22275068e-02, 8.72936676e-01,-2.02627502e-02, 2.24183993e-02,
  1.38534391e+00,-9.91273463e-03, 1.09706260e+00, 6.10870900e-02,
 -1.46338827e+00,-1.25435897e-02, 6.29297068e-02, 5.26331563e-01,
 -4.53969816e-01,-5.39764235e-01,-4.74911637e-01]

qacc:
[ 4.67096270e-03, 1.03561852e+00,-1.77861882e+00,-1.62421156e+00,
  1.23963206e-01, 2.99950263e+00,-1.67554196e+01, 4.10036932e+01,
  4.88204773e-03, 6.42771751e+00,-2.51020468e+01, 4.20350681e+01,
 -9.39885559e-01, 1.67978054e+00, 1.34298204e+01,-4.55798598e+01,
  7.86852625e-06, 1.01519862e-06,-9.25851578e-06,-3.48821880e-06,
  5.46072777e-06, 6.06374735e-04]

qfrc_actuator:
[ 2.44827755e-03, 2.76233213e-02, 8.74136842e-03, 1.63880504e-03,
  8.03992063e-05, 2.73858319e-02, 8.66566849e-03, 1.66879668e-03,
 -2.39458784e-03, 2.76831659e-02, 8.75467489e-03, 1.69874018e-03,
  0.00000000e+00,-1.78054640e-03, 0.00000000e+00,-2.08912600e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796070765661296
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321459267668568
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017076026554727758
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.46777504e-07, 6.42482198e-05, 8.35413512e-07,-7.13324778e-06,
  2.25040097e-05,-7.44267079e-06,-4.86994075e-06, 7.02144727e-05,
  1.11024815e-06, 7.64790881e-05,-5.08395532e-05, 4.74214221e-05,
 -3.92149279e-06, 4.35868106e-05, 5.95055007e-06,-2.18762188e-04,
 -7.11696894e-14,-8.85651481e-15,-7.84800000e+00, 5.55645841e-03,
 -1.59404879e-01,-1.01326695e-03]


--- Step 1967 ---
qpos:
[-5.54131544e-04, 8.77255427e-01,-2.02706312e-02,-2.75895773e-02,
  7.62149498e-03, 8.64678656e-01,-2.80588441e-02, 9.45547615e-03,
  2.22279633e-02, 8.72939270e-01,-2.02632999e-02, 2.24191694e-02,
  1.38541964e+00,-9.91222664e-03, 1.09725680e+00, 6.10850837e-02,
 -1.46338827e+00,-1.25435897e-02, 6.29297072e-02, 5.26331556e-01,
 -4.53969809e-01,-5.39764241e-01,-4.74911644e-01]

qacc:
[ 3.27463261e-02,-1.07992938e+00, 4.43360060e+00,-6.63520997e+00,
  1.03450779e-01,-1.69042013e+00, 5.25448168e+00,-4.15899894e+00,
  1.10034209e-01, 1.15512689e+00,-5.98957046e+00, 1.52446419e+01,
 -2.09865067e-01, 4.48246271e-01, 1.49900684e+00,-5.71791639e+00,
  7.24475701e-06, 9.33088909e-07,-8.55465900e-06,-3.21596222e-06,
  5.15163184e-06, 5.58285082e-04]

qfrc_actuator:
[ 2.45385688e-03, 2.76125838e-02, 8.75537746e-03, 1.63372406e-03,
  8.83991471e-05, 2.73879493e-02, 8.70085068e-03, 1.67497863e-03,
 -2.37472318e-03, 2.76879795e-02, 8.76037105e-03, 1.72694011e-03,
  0.00000000e+00,-1.77233791e-03, 0.00000000e+00,-2.11197703e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960713117171354
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321387367817217
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075930374676335
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.04346369e-06, 2.50637831e-05, 2.71374822e-05,-2.44083754e-06,
  1.87089157e-05,-2.83440208e-08, 3.54797502e-05, 7.06137003e-06,
  2.04123572e-05, 3.90618829e-05, 1.68578094e-05, 3.06382771e-05,
  7.58405383e-06, 1.85307927e-05,-2.70614403e-05,-3.55328477e-05,
 -6.12404646e-14,-7.60367350e-15,-7.84800000e+00, 5.55646289e-03,
 -1.59404879e-01,-1.01326722e-03]


--- Step 1968 ---
qpos:
[-5.53255247e-04, 8.77255229e-01,-2.02701247e-02,-2.75897455e-02,
  7.62284846e-03, 8.64678151e-01,-2.80580881e-02, 9.45494041e-03,
  2.22288264e-02, 8.72941561e-01,-2.02629639e-02, 2.24206341e-02,
  1.38549555e+00,-9.91212028e-03, 1.09745080e+00, 6.10827701e-02,
 -1.46338827e+00,-1.25435898e-02, 6.29297076e-02, 5.26331551e-01,
 -4.53969803e-01,-5.39764247e-01,-4.74911650e-01]

qacc:
[ 3.21002744e-02,-2.41927448e+00, 1.03109235e+01,-1.82052419e+01,
 -1.23975112e-01,-3.20197584e+00, 1.55722772e+01,-3.31670059e+01,
  2.12028692e-01,-1.44518482e+00, 1.63845166e+00, 9.19268085e+00,
  4.34574030e-01,-8.08981316e-01, 6.21319358e-01,-2.64451901e+00,
  6.67014211e-06, 8.57517767e-07,-7.90450789e-06,-2.96497455e-06,
  4.86169189e-06, 5.13986082e-04]

qfrc_actuator:
[ 2.45684082e-03, 2.76061498e-02, 8.78133334e-03, 1.61288088e-03,
  5.69402274e-05, 2.73895207e-02, 8.72146229e-03, 1.62518581e-03,
 -2.34536138e-03, 2.76541758e-02, 8.79944608e-03, 1.76097125e-03,
  0.00000000e+00,-1.80326432e-03, 0.00000000e+00,-2.12452086e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960718042380206
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032132098084491
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075841705835315
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.89473195e-06, 1.30840589e-05, 3.43910762e-05,-1.88791160e-05,
 -2.25549247e-05, 9.19727279e-06, 2.52224202e-05,-4.84292381e-05,
  3.91919374e-05,-7.22008739e-06, 5.02632462e-05, 3.68803615e-05,
  7.92310747e-06,-2.41308993e-05,-1.89290861e-05,-1.85921389e-05,
 -5.26992409e-14,-6.52802850e-15,-7.84800000e+00, 5.55646701e-03,
 -1.59404879e-01,-1.01326746e-03]


--- Step 1969 ---
qpos:
[-5.52150791e-04, 8.77255342e-01,-2.02699735e-02,-2.75901395e-02,
  7.62388736e-03, 8.64677803e-01,-2.80571959e-02, 9.45485151e-03,
  2.22295094e-02, 8.72943604e-01,-2.02626217e-02, 2.24222046e-02,
  1.38557148e+00,-9.91207295e-03, 1.09764464e+00, 6.10806243e-02,
 -1.46338827e+00,-1.25435898e-02, 6.29297079e-02, 5.26331545e-01,
 -4.53969797e-01,-5.39764252e-01,-4.74911655e-01]

qacc:
[ 1.18218002e-01, 9.37938659e-01,-1.79706627e+00,-1.76675630e+00,
 -1.65176325e-01, 7.44903259e-01,-4.24364674e+00, 1.16455502e+01,
 -9.35301373e-02,-1.26968269e-01,-4.68747662e-01, 2.47169449e+00,
  6.58883300e-02,-1.29331303e-01,-7.71443824e-01, 2.30988697e+00,
  6.14085281e-06, 7.87977249e-07,-7.30392513e-06,-2.73359688e-06,
  4.58931801e-06, 4.73182442e-04]

qfrc_actuator:
[ 2.47599661e-03, 2.76201276e-02, 8.76086174e-03, 1.60068539e-03,
  3.76653413e-05, 2.74084070e-02, 8.73326418e-03, 1.64936735e-03,
 -2.38159151e-03, 2.76154063e-02, 8.78672000e-03, 1.76263460e-03,
  0.00000000e+00,-1.80386910e-03, 0.00000000e+00,-2.11318472e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796072248277895
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321259683618587
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075759962312254
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.19934309e-05, 2.75879838e-05,-1.41893398e-05,-1.08135216e-05,
 -3.00084639e-05, 2.71674589e-05, 1.51319994e-05, 2.45067034e-05,
 -1.73704975e-05,-3.08966792e-05,-6.77169353e-06, 3.80454959e-06,
 -1.89916568e-06,-4.45533504e-06,-1.34164947e-05, 7.23841985e-06,
 -4.53508967e-14,-5.60444309e-15,-7.84800000e+00, 5.55647081e-03,
 -1.59404879e-01,-1.01326769e-03]


--- Step 1970 ---
qpos:
[-5.51191766e-04, 8.77255888e-01,-2.02704482e-02,-2.75903280e-02,
  7.62502503e-03, 8.64677806e-01,-2.80562531e-02, 9.45503311e-03,
  2.22298787e-02, 8.72944666e-01,-2.02617349e-02, 2.24231509e-02,
  1.38564730e+00,-9.91177438e-03, 1.09783853e+00, 6.10772634e-02,
 -1.46338827e+00,-1.25435898e-02, 6.29297083e-02, 5.26331541e-01,
 -4.53969791e-01,-5.39764256e-01,-4.74911661e-01]

qacc:
[-7.60883109e-02, 2.74463612e+00,-9.81927311e+00, 1.40532923e+01,
  5.18007323e-02, 8.78899935e-01,-3.60232258e+00, 7.94560905e+00,
 -1.62383121e-01,-4.10027464e+00, 1.53760970e+01,-2.63292192e+01,
 -3.31312091e-01, 5.97674912e-01, 3.77478176e+00,-1.30342168e+01,
  5.65335281e-06, 7.23997371e-07,-6.74909778e-06,-2.52029901e-06,
  4.33310421e-06, 4.35601419e-04]

qfrc_actuator:
[ 2.45140615e-03, 2.76460352e-02, 8.73097884e-03, 1.61141384e-03,
  6.13788551e-05, 2.74375371e-02, 8.73990676e-03, 1.66364374e-03,
 -2.40349468e-03, 2.75204654e-02, 8.79669635e-03, 1.72743568e-03,
  0.00000000e+00,-1.78646284e-03, 0.00000000e+00,-2.17663588e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796072648438841
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321203085577055
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707568460381642
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40052745e-05, 3.79381244e-05,-2.63103487e-05, 1.12072305e-05,
  9.43364737e-06, 4.84943560e-05, 1.49622635e-05, 1.64408314e-05,
 -3.02598163e-05,-1.13507520e-04, 2.87205925e-06,-3.66887054e-05,
 -2.51450890e-06, 1.60988777e-05,-8.36205249e-06,-6.54701913e-05,
 -3.90280314e-14,-4.81137321e-15,-7.84800000e+00, 5.55647430e-03,
 -1.59404879e-01,-1.01326790e-03]


--- Step 1971 ---
qpos:
[-5.50643111e-04, 8.77256755e-01,-2.02712744e-02,-2.75903912e-02,
  7.62616732e-03, 8.64678330e-01,-2.80552975e-02, 9.45501952e-03,
  2.22305136e-02, 8.72945096e-01,-2.02606208e-02, 2.24250273e-02,
  1.38572301e+00,-9.91101449e-03, 1.09803254e+00, 6.10714792e-02,
 -1.46338827e+00,-1.25435899e-02, 6.29297086e-02, 5.26331536e-01,
 -4.53969786e-01,-5.39764261e-01,-4.74911665e-01]

qacc:
[-2.13548411e-01, 1.66464839e+00,-5.84685754e+00, 8.33902957e+00,
  2.24352487e-03, 2.50545238e-01, 9.29228318e-01,-4.71093663e+00,
  1.38458652e-01, 4.42722555e-01,-6.71944754e+00, 2.29197335e+01,
 -5.81929839e-01, 1.07773656e+00, 7.55211505e+00,-2.60483573e+01,
  5.20437644e-06, 6.65143474e-07,-6.23651146e-06,-2.32366938e-06,
  4.09180046e-06, 4.00991144e-04]

qfrc_actuator:
[ 2.41860289e-03, 2.76611011e-02, 8.71361446e-03, 1.61780301e-03,
  5.73400065e-05, 2.74725555e-02, 8.74348476e-03, 1.65422199e-03,
 -2.36333813e-03, 2.75169224e-02, 8.81975325e-03, 1.77732285e-03,
  0.00000000e+00,-1.75853664e-03, 0.00000000e+00,-2.30139637e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960730089060526
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321150826208695
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707561513211303
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.95378021e-05, 3.13135560e-05,-1.23837822e-05, 7.32086928e-06,
  4.56596293e-07, 6.59232493e-05, 1.59981132e-05,-6.50804594e-06,
  2.55871894e-05,-6.80308432e-05,-1.31958267e-06, 4.44045173e-05,
  1.95214880e-06, 3.16504148e-05,-1.48748594e-05,-1.30344351e-04,
 -3.35869613e-14,-4.13034711e-15,-7.84800000e+00, 5.55647752e-03,
 -1.59404879e-01,-1.01326809e-03]


--- Step 1972 ---
qpos:
[-5.50127413e-04, 8.77257789e-01,-2.02719606e-02,-2.75907371e-02,
  7.62728174e-03, 8.64678921e-01,-2.80543811e-02, 9.45495556e-03,
  2.22313376e-02, 8.72946087e-01,-2.02598092e-02, 2.24277131e-02,
  1.38579875e+00,-9.91018730e-03, 1.09822629e+00, 6.10655626e-02,
 -1.46338827e+00,-1.25435899e-02, 6.29297088e-02, 5.26331532e-01,
 -4.53969782e-01,-5.39764265e-01,-4.74911670e-01]

qacc:
[-1.71084218e-02,-7.53759490e-01, 4.19616652e+00,-9.42694276e+00,
 -1.46922420e-02, 9.42404665e-02, 5.51534931e-03,-8.64277865e-01,
  9.78886867e-02, 3.24958640e+00,-1.39310014e+01, 2.80124387e+01,
 -1.16144749e-02, 7.60712755e-02,-4.39216276e-03,-5.70846799e-01,
  4.79090878e-06, 6.11013642e-07,-5.76292600e-06,-2.14240630e-06,
  3.86429994e-06, 3.69119081e-04]

qfrc_actuator:
[ 2.43445295e-03, 2.76696010e-02, 8.72148990e-03, 1.60383397e-03,
  5.44570042e-05, 2.74397867e-02, 8.72748905e-03, 1.64869150e-03,
 -2.35741023e-03, 2.76215200e-02, 8.83300548e-03, 1.82369922e-03,
  0.00000000e+00,-1.76011429e-03, 0.00000000e+00,-2.30147441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796073333486346
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321102572720684
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075551087773755
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.17045912e-06, 2.37457566e-05, 1.30696932e-05,-1.29143368e-05,
 -2.65775599e-06, 7.09921054e-06,-6.46514729e-07,-2.28128174e-06,
  1.82319510e-05, 6.81683825e-05, 5.59925813e-07, 4.42742011e-05,
  7.91362210e-06, 7.18274734e-06,-2.51061948e-05,-1.01091852e-05,
 -2.89043074e-14,-3.54552193e-15,-7.84800000e+00, 5.55648048e-03,
 -1.59404878e-01,-1.01326826e-03]


--- Step 1973 ---
qpos:
[-5.49530860e-04, 8.77259028e-01,-2.02723063e-02,-2.75909214e-02,
  7.62798821e-03, 8.64679377e-01,-2.80535716e-02, 9.45554839e-03,
  2.22321006e-02, 8.72947671e-01,-2.02586072e-02, 2.24298431e-02,
  1.38587453e+00,-9.90934754e-03, 1.09841985e+00, 6.10596443e-02,
 -1.46338827e+00,-1.25435899e-02, 6.29297091e-02, 5.26331528e-01,
 -4.53969778e-01,-5.39764268e-01,-4.74911674e-01]

qacc:
[ 4.21590688e-02,-3.47797853e-01, 9.52303217e-01, 1.14501136e+00,
 -2.14264797e-01, 1.47101050e+00,-8.27811285e+00, 1.99181219e+01,
 -3.16706344e-02,-1.44912998e+00, 8.65272829e+00,-1.93330511e+01,
  2.94541715e-02,-1.88574367e-02,-2.55023432e-01, 5.12756179e-01,
  4.41016687e-06, 5.61236468e-07,-5.32535376e-06,-1.97530920e-06,
  3.64961174e-06, 3.39770585e-04]

qfrc_actuator:
[ 2.44377649e-03, 2.76919401e-02, 8.74415822e-03, 1.61351308e-03,
  1.67928958e-05, 2.74198487e-02, 8.71754848e-03, 1.68093427e-03,
 -2.37204915e-03, 2.76657933e-02, 8.85856626e-03, 1.79670716e-03,
  0.00000000e+00,-1.76143214e-03, 0.00000000e+00,-2.29907516e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796073625636955
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321058017903904
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075492047148588
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.79934787e-06, 3.77435351e-05, 2.87325933e-05, 1.08960990e-05,
 -3.89281659e-05,-1.62211741e-05,-8.64479001e-06, 3.24780051e-05,
 -5.85641946e-06, 8.43760443e-05, 4.12244102e-05,-2.31964615e-05,
  5.47400375e-06, 2.67907568e-06,-1.50875701e-05,-1.94491068e-06,
 -2.48740835e-14,-3.04330527e-15,-7.84800000e+00, 5.55648320e-03,
 -1.59404878e-01,-1.01326842e-03]


--- Step 1974 ---
qpos:
[-5.48840277e-04, 8.77260255e-01,-2.02725586e-02,-2.75905981e-02,
  7.62807712e-03, 8.64679891e-01,-2.80527006e-02, 9.45683155e-03,
  2.22325564e-02, 8.72949232e-01,-2.02573107e-02, 2.24306976e-02,
  1.38595034e+00,-9.90850443e-03, 1.09861289e+00, 6.10571183e-02,
 -1.46338827e+00,-1.25435899e-02, 6.29297093e-02, 5.26331525e-01,
 -4.53969774e-01,-5.39764272e-01,-4.74911678e-01]

qacc:
[ 4.89412646e-02, 7.69876111e-01,-4.90422675e+00, 1.35376248e+01,
 -3.24315782e-01, 1.32445454e+00,-7.52617366e+00, 1.93343747e+01,
 -1.59640390e-01,-2.91632942e+00, 1.57434340e+01,-3.79563794e+01,
  2.31541896e-01,-3.15159688e-01,-1.10477145e+01, 3.74717369e+01,
  4.05958233e-06, 5.15468765e-07,-4.92103934e-06,-1.82127105e-06,
  3.44685305e-06, 3.12747561e-04]

qfrc_actuator:
[ 2.44908347e-03, 2.76692200e-02, 8.73994061e-03, 1.63705002e-03,
 -2.35960129e-05, 2.74432897e-02, 8.72907726e-03, 1.71740136e-03,
 -2.39885375e-03, 2.76026045e-02, 8.83768239e-03, 1.72673546e-03,
  0.00000000e+00,-1.76256629e-03, 0.00000000e+00,-2.11774095e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796073888497591
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020321016878147025
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.04989839])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707543761960001
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.06122750e-06, 4.75843367e-06, 7.48604300e-06, 2.63575390e-05,
 -5.89192385e-05, 1.39536499e-05, 8.22720445e-06, 3.61028203e-05,
 -2.96081691e-05,-8.53423268e-06, 7.95590511e-07,-6.53877714e-05,
  3.18338254e-06, 1.09649697e-06,-1.00551897e-05, 1.78621426e-04,
 -2.14052133e-14,-2.61203250e-15,-7.84800000e+00, 5.55648571e-03,
 -1.59404878e-01,-1.01326857e-03]


--- Step 1975 ---
qpos:
[-5.47890558e-04, 8.77261093e-01,-2.02726201e-02,-2.75902977e-02,
  7.62762163e-03, 8.64680462e-01,-2.80516208e-02, 9.45714991e-03,
  2.22325135e-02, 8.72950431e-01,-2.02572289e-02, 2.24318806e-02,
  1.38602624e+00,-9.90793225e-03, 1.09880588e+00, 6.10560784e-02,
 -1.46338827e+00,-1.25435900e-02, 6.29297096e-02, 5.26331522e-01,
 -4.53969770e-01,-5.39764275e-01,-4.74911681e-01]

qacc:
[ 1.34896418e-01,-1.09482760e+00, 3.25314673e+00,-3.66805388e+00,
 -2.85901358e-01,-2.49213025e+00, 1.30694274e+01,-3.01471030e+01,
 -2.59732884e-01, 3.58798433e+00,-1.48780457e+01, 2.27729433e+01,
  3.60806925e-01,-6.51307987e-01,-4.56546277e+00, 1.58389029e+01,
  3.73678529e-06, 4.73393623e-07,-4.54744085e-06,-1.67927094e-06,
  3.25522741e-06, 2.87867225e-04]

qfrc_actuator:
[ 2.46968764e-03, 2.76195988e-02, 8.73745495e-03, 1.63298566e-03,
 -4.74943945e-05, 2.74393611e-02, 8.73560913e-03, 1.66734362e-03,
 -2.43268710e-03, 2.75285747e-02, 8.75356628e-03, 1.73843387e-03,
  0.00000000e+00,-1.78133868e-03, 0.00000000e+00,-2.04547074e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796074124916878
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320978891637254
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075387444938361
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.49615662e-05,-4.43141104e-05, 3.22642570e-07,-3.09049592e-06,
 -5.19401275e-05, 7.09146808e-06, 1.16647941e-05,-4.84756219e-05,
 -4.80749443e-05,-8.14904742e-05,-8.80661608e-05, 1.00827113e-05,
  1.90492995e-06,-1.76610401e-05, 1.29899553e-05, 8.04075002e-05,
 -1.84194062e-14,-2.24169081e-15,-7.84800000e+00, 5.55648802e-03,
 -1.59404878e-01,-1.01326871e-03]


--- Step 1976 ---
qpos:
[-5.47061820e-04, 8.77261324e-01,-2.02725810e-02,-2.75896677e-02,
  7.62676209e-03, 8.64680980e-01,-2.80501356e-02, 9.45686656e-03,
  2.22323917e-02, 8.72951278e-01,-2.02582244e-02, 2.24338755e-02,
  1.38610226e+00,-9.90783721e-03, 1.09899885e+00, 6.10562548e-02,
 -1.46338827e+00,-1.25435900e-02, 6.29297098e-02, 5.26331519e-01,
 -4.53969767e-01,-5.39764278e-01,-4.74911684e-01]

qacc:
[-6.25788781e-02,-4.02473694e-01,-1.11347917e+00, 7.09269584e+00,
 -2.11990831e-01,-2.43660210e+00, 1.11310444e+01,-2.21584914e+01,
 -4.14793074e-02, 4.21362743e+00,-1.91279512e+01, 3.51611536e+01,
  5.18082682e-01,-9.98455915e-01,-3.74987047e+00, 1.29776589e+01,
  3.43958944e-06, 4.34718415e-07,-4.20221331e-06,-1.54836766e-06,
  3.07401997e-06, 2.64960951e-04]

qfrc_actuator:
[ 2.44600952e-03, 2.75719720e-02, 8.73587366e-03, 1.64819324e-03,
 -6.13245807e-05, 2.74367422e-02, 8.75672368e-03, 1.63776052e-03,
 -2.41716546e-03, 2.75194007e-02, 8.70379273e-03, 1.78028787e-03,
  0.00000000e+00,-1.81042105e-03, 0.00000000e+00,-1.98483160e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796074337478166
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320943816653364
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707534119104806
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.16751279e-05,-7.24900561e-05,-1.08071422e-05, 1.32598843e-05,
 -3.85498421e-05, 1.64969002e-06, 2.23257247e-05,-2.98212755e-05,
 -7.61530427e-06,-7.25373974e-05,-7.71162434e-05, 3.55076965e-05,
 -3.17917012e-06,-3.30067510e-05, 1.10223113e-05, 6.58750011e-05,
 -1.58493441e-14,-1.92368363e-15,-7.84800000e+00, 5.55649014e-03,
 -1.59404878e-01,-1.01326883e-03]


--- Step 1977 ---
qpos:
[-5.46257239e-04, 8.77261156e-01,-2.02726235e-02,-2.75888740e-02,
  7.62618755e-03, 8.64681796e-01,-2.80490893e-02, 9.45589906e-03,
  2.22326980e-02, 8.72951615e-01,-2.02589248e-02, 2.24352446e-02,
  1.38617832e+00,-9.90808689e-03, 1.09919187e+00, 6.10568263e-02,
 -1.46338827e+00,-1.25435900e-02, 6.29297100e-02, 5.26331516e-01,
 -4.53969764e-01,-5.39764280e-01,-4.74911687e-01]

qacc:
[-1.24583792e-02, 3.72071885e-02,-1.58916348e+00, 4.84446622e+00,
  1.49278197e-01, 2.10324923e-01, 2.70872168e+00,-1.40671734e+01,
  2.22777241e-01,-2.78439637e+00, 1.15937900e+01,-2.25218253e+01,
  3.00769985e-01,-6.37609315e-01,-1.14427508e+00, 4.05595699e+00,
  3.16597814e-06, 3.99173066e-07,-3.88319292e-06,-1.42769336e-06,
  2.90258275e-06, 2.43873197e-04]

qfrc_actuator:
[ 2.44929636e-03, 2.75614194e-02, 8.73484880e-03, 1.65686808e-03,
 -1.57785551e-05, 2.74527473e-02, 8.73304989e-03, 1.60273239e-03,
 -2.37225117e-03, 2.75137682e-02, 8.72823103e-03, 1.75085730e-03,
  0.00000000e+00,-1.82762220e-03, 0.00000000e+00,-1.96700115e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796074528522291
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320911430031507
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075298551709472
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.33977544e-06,-5.27609857e-05,-1.68705046e-05, 5.45538560e-06,
  2.71984313e-05, 2.02324816e-05,-2.16293301e-05,-3.47672090e-05,
  4.12433354e-05,-6.06179116e-05, 1.18285286e-06,-3.45191714e-05,
 -9.64511166e-06,-2.61502950e-05, 8.55384980e-06, 2.20095907e-05,
 -1.36371275e-14,-1.65062888e-15,-7.84800000e+00, 5.55649210e-03,
 -1.59404878e-01,-1.01326895e-03]


--- Step 1978 ---
qpos:
[-5.45262860e-04, 8.77260871e-01,-2.02728021e-02,-2.75883608e-02,
  7.62584968e-03, 8.64682805e-01,-2.80488840e-02, 9.45456121e-03,
  2.22333017e-02, 8.72951518e-01,-2.02586075e-02, 2.24372250e-02,
  1.38625428e+00,-9.90829749e-03, 1.09938519e+00, 6.10552679e-02,
 -1.46338827e+00,-1.25435900e-02, 6.29297101e-02, 5.26331513e-01,
 -4.53969761e-01,-5.39764283e-01,-4.74911690e-01]

qacc:
[ 9.85627774e-02,-3.52529952e-01, 2.21440711e+00,-6.76211517e+00,
  1.23696526e-01, 1.84061641e+00,-4.63061868e+00,-5.73960909e-01,
  1.55342770e-01,-2.15814570e+00, 4.28118991e+00, 4.99364599e+00,
 -2.40154226e-01, 3.27624872e-01, 6.87787341e+00,-2.34028938e+01,
  2.91409153e-06, 3.66508396e-07,-3.58838254e-06,-1.31644787e-06,
  2.74032578e-06, 2.24460518e-04]

qfrc_actuator:
[ 2.46871377e-03, 2.75731478e-02, 8.73429991e-03, 1.64390454e-03,
 -6.14475454e-06, 2.74440931e-02, 8.68318507e-03, 1.58251301e-03,
 -2.36343463e-03, 2.75283124e-02, 8.79625504e-03, 1.78628470e-03,
  0.00000000e+00,-1.81988356e-03, 0.00000000e+00,-2.08103697e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960747001697095
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320881525744128
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075259244591495
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.82857679e-05,-2.10231798e-05,-1.33339216e-05,-1.57001097e-05,
  2.25822950e-05,-3.32030506e-06,-4.95681882e-05,-2.07796205e-05,
  2.86540731e-05,-2.05869325e-05, 5.44551141e-05, 3.21967756e-05,
 -1.16548837e-05,-9.71931650e-07, 2.34057799e-06,-1.12659918e-04,
 -1.17329468e-14,-1.41618652e-15,-7.84800000e+00, 5.55649390e-03,
 -1.59404878e-01,-1.01326906e-03]


--- Step 1979 ---
qpos:
[-5.44614183e-04, 8.77260254e-01,-2.02729000e-02,-2.75883400e-02,
  7.62549896e-03, 8.64683767e-01,-2.80492780e-02, 9.45404202e-03,
  2.22339148e-02, 8.72951238e-01,-2.02572705e-02, 2.24395803e-02,
  1.38633017e+00,-9.90844633e-03, 1.09957828e+00, 6.10540338e-02,
 -1.46338827e+00,-1.25435900e-02, 6.29297103e-02, 5.26331511e-01,
 -4.53969759e-01,-5.39764285e-01,-4.74911692e-01]

qacc:
[-1.79485746e-01,-1.67868760e+00, 7.42123552e+00,-1.58156280e+01,
 -7.06085602e-03, 3.29441030e+00,-1.52943521e+01, 3.04601403e+01,
  5.56353565e-03,-2.31815749e+00, 6.33289734e+00,-1.34088652e+00,
 -7.17852331e-02, 1.16516074e-01,-1.30467681e+00, 4.09594746e+00,
  2.68221466e-06, 3.36494532e-07,-3.31593897e-06,-1.21389358e-06,
  2.58671290e-06, 2.06590643e-04]

qfrc_actuator:
[ 2.42659468e-03, 2.75448638e-02, 8.73412372e-03, 1.61833693e-03,
 -1.81239616e-05, 2.74383810e-02, 8.65368874e-03, 1.62439662e-03,
 -2.37631730e-03, 2.75373381e-02, 8.85408454e-03, 1.80638214e-03,
  0.00000000e+00,-1.81517958e-03, 0.00000000e+00,-2.05879391e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279607485433965
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320853913558673
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075223009381524
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.33225509e-05,-4.34575496e-05,-6.70158008e-06,-2.72350489e-05,
 -1.23051656e-06,-1.87171003e-05,-3.70165334e-05, 3.96211489e-05,
  9.00648053e-07, 1.01426787e-05, 6.13950930e-05, 2.17226038e-05,
 -7.06894283e-06, 1.97593475e-06,-1.60106741e-05, 1.52120039e-05,
 -1.00939433e-14,-1.21491076e-15,-7.84800000e+00, 5.55649556e-03,
 -1.59404878e-01,-1.01326915e-03]


--- Step 1980 ---
qpos:
[-5.45131533e-04, 8.77259382e-01,-2.02727711e-02,-2.75883005e-02,
  7.62525438e-03, 8.64684715e-01,-2.80497918e-02, 9.45399097e-03,
  2.22346338e-02, 8.72950947e-01,-2.02554764e-02, 2.24411388e-02,
  1.38640601e+00,-9.90854755e-03, 1.09977107e+00, 6.10543811e-02,
 -1.46338827e+00,-1.25435900e-02, 6.29297104e-02, 5.26331509e-01,
 -4.53969756e-01,-5.39764287e-01,-4.74911695e-01]

qacc:
[-6.05642430e-01,-9.30185134e-01, 2.75147485e+00,-2.60584225e+00,
  5.57033158e-02, 1.27692298e+00,-6.55973957e+00, 1.48668162e+01,
  5.52665655e-02,-2.92976156e+00, 1.37901838e+01,-2.83027895e+01,
  3.41132464e-02,-3.19303557e-02,-5.20913973e+00, 1.75922836e+01,
  2.46876637e-06, 3.08919498e-07,-3.06416052e-06,-1.11935050e-06,
  2.44125269e-06, 1.90141623e-04]

qfrc_actuator:
[ 2.33026065e-03, 2.75460922e-02, 8.75176129e-03, 1.62103602e-03,
 -7.41085794e-06, 2.74523489e-02, 8.65426071e-03, 1.64924326e-03,
 -2.36654510e-03, 2.75252225e-02, 8.86988298e-03, 1.76401572e-03,
  0.00000000e+00,-1.81233471e-03, 0.00000000e+00,-1.97413860e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796074992768849
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320828417840636
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707518960608334
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12370187e-04,-2.56114021e-05, 6.90072059e-06, 7.82867991e-08,
  1.01250204e-05,-2.46493554e-06,-6.48688613e-06, 2.35346783e-05,
  1.02062258e-05, 7.16229112e-06, 2.61970486e-05,-3.93894357e-05,
 -3.82900175e-06, 1.92998355e-06,-8.56893059e-06, 8.27725821e-05,
 -8.68323252e-15,-1.04212345e-15,-7.84800000e+00, 5.55649708e-03,
 -1.59404878e-01,-1.01326924e-03]


--- Step 1981 ---
qpos:
[-5.46800458e-04, 8.77258999e-01,-2.02733327e-02,-2.75882617e-02,
  7.62512809e-03, 8.64685276e-01,-2.80495458e-02, 9.45353376e-03,
  2.22356450e-02, 8.72951386e-01,-2.02538514e-02, 2.24428162e-02,
  1.38648192e+00,-9.90888538e-03, 1.09996415e+00, 6.10527000e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297106e-02, 5.26331507e-01,
 -4.53969754e-01,-5.39764289e-01,-4.74911697e-01]

qacc:
[-5.98949447e-01, 2.57294187e+00,-8.23310403e+00, 8.96509815e+00,
  6.27292071e-02,-3.46629613e+00, 1.33350111e+01,-2.12993434e+01,
  1.51472665e-01, 1.68032003e+00,-5.09434860e+00, 6.88499400e+00,
  9.41754055e-02,-2.66313927e-01, 6.52268523e+00,-2.22492054e+01,
  2.27228915e-06, 2.83587871e-07,-2.83147618e-06,-1.03219182e-06,
  2.30349352e-06, 1.75001047e-04]

qfrc_actuator:
[ 2.27336679e-03, 2.76005882e-02, 8.72665100e-03, 1.62262848e-03,
 -9.48839225e-07, 2.74248543e-02, 8.69038659e-03, 1.62838553e-03,
 -2.34328028e-03, 2.76068395e-02, 8.87837018e-03, 1.77395575e-03,
  0.00000000e+00,-1.82836851e-03, 0.00000000e+00,-2.08420682e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796075117027577
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320804876418352
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075158813425334
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.10961031e-04, 4.16102239e-05,-2.95389837e-05, 7.39455697e-07,
  1.12805143e-05,-2.92215414e-05, 3.56286236e-05,-2.07305172e-05,
  2.81773432e-05, 8.93385096e-05, 1.18171734e-05, 1.03823588e-05,
 -1.88059736e-06,-1.62870820e-05, 2.35499797e-06,-1.07239045e-04,
 -7.46906639e-15,-8.93805538e-16,-7.84800000e+00, 5.55649849e-03,
 -1.59404878e-01,-1.01326933e-03]


--- Step 1982 ---
qpos:
[-5.48626675e-04, 8.77259040e-01,-2.02744798e-02,-2.75888941e-02,
  7.62509860e-03, 8.64685386e-01,-2.80493170e-02, 9.45254768e-03,
  2.22367513e-02, 8.72952925e-01,-2.02528999e-02, 2.24442403e-02,
  1.38655794e+00,-9.90967287e-03, 1.10015757e+00, 6.10467042e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297107e-02, 5.26331505e-01,
 -4.53969752e-01,-5.39764291e-01,-4.74911699e-01]

qacc:
[-8.22624544e-02, 8.12377534e-01, 7.41325934e-01,-1.17173367e+01,
  5.09579296e-02,-1.63394689e+00, 7.19641594e+00,-1.59931063e+01,
  4.86309878e-02, 2.81247759e+00,-6.85035826e+00, 2.73332043e+00,
  1.52735012e-01,-4.72631239e-01, 1.35343968e+01,-4.66290639e+01,
  2.09143952e-06, 2.60319551e-07,-2.61643534e-06,-9.51839660e-07,
  2.17301646e-06, 1.61065299e-04]

qfrc_actuator:
[ 2.31159952e-03, 2.76153932e-02, 8.69447106e-03, 1.58806359e-03,
  2.90790254e-06, 2.73728603e-02, 8.67600257e-03, 1.59854483e-03,
 -2.34765381e-03, 2.76729489e-02, 8.84740861e-03, 1.76142485e-03,
  0.00000000e+00,-1.85546433e-03, 0.00000000e+00,-2.30813196e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796075228534145
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320783139558818
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075130427407492
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51484240e-05, 3.20073141e-05,-2.71903967e-05,-3.37886752e-05,
  9.22203930e-06,-6.18771890e-05,-1.67525324e-05,-3.02637066e-05,
  9.19635772e-06, 1.18932900e-04,-1.07118227e-05,-8.09714937e-06,
 -5.34430746e-06,-3.13497522e-05,-1.51939222e-05,-2.30615060e-04,
 -6.42411474e-15,-7.66504075e-16,-7.84800000e+00, 5.55649978e-03,
 -1.59404878e-01,-1.01326940e-03]


--- Step 1983 ---
qpos:
[-5.49544929e-04, 8.77258877e-01,-2.02752116e-02,-2.75899242e-02,
  7.62495278e-03, 8.64685597e-01,-2.80500695e-02, 9.45155391e-03,
  2.22378711e-02, 8.72955355e-01,-2.02528286e-02, 2.24451992e-02,
  1.38663398e+00,-9.91077479e-03, 1.10035049e+00, 6.10414053e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297108e-02, 5.26331504e-01,
 -4.53969750e-01,-5.39764292e-01,-4.74911700e-01]

qacc:
[ 4.72085135e-01,-2.24897140e+00, 9.30254153e+00,-1.66914069e+01,
 -6.17590586e-02, 2.85524047e+00,-9.95788133e+00, 1.13236357e+01,
  6.13144760e-03, 2.67950007e+00,-5.87957154e+00,-1.42219430e+00,
  3.09686022e-01,-6.34230988e-01,-2.88204702e+00, 8.93363762e+00,
  1.92497939e-06, 2.38948552e-07,-2.41769823e-06,-8.77761455e-07,
  2.04943624e-06, 1.48238893e-04]

qfrc_actuator:
[ 2.40637454e-03, 2.75885006e-02, 8.71147860e-03, 1.56798033e-03,
 -1.25769645e-05, 2.73951479e-02, 8.63178571e-03, 1.59910480e-03,
 -2.35077753e-03, 2.76935867e-02, 8.79334993e-03, 1.73573603e-03,
  0.00000000e+00,-1.87113702e-03, 0.00000000e+00,-2.25997357e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279607532857086
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320763069004572
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075104259962892
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 8.74920015e-05,-1.60452724e-05, 1.91095807e-05,-2.03093551e-05,
 -1.11024976e-05,-1.70709531e-05,-6.01090666e-05,-3.25911250e-06,
  1.31944032e-06, 8.45426469e-05,-3.11136216e-05,-2.11260286e-05,
 -1.11911534e-05,-2.43292743e-05,-3.66435357e-05, 3.24271453e-05,
 -5.52484814e-15,-6.57252360e-16,-7.84800000e+00, 5.55650097e-03,
 -1.59404878e-01,-1.01326947e-03]


--- Step 1984 ---
qpos:
[-5.49253952e-04, 8.77259040e-01,-2.02762255e-02,-2.75912066e-02,
  7.62428332e-03, 8.64686123e-01,-2.80512625e-02, 9.45050855e-03,
  2.22389733e-02, 8.72958464e-01,-2.02533776e-02, 2.24461981e-02,
  1.38670981e+00,-9.91154078e-03, 1.10054276e+00, 6.10400054e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297109e-02, 5.26331502e-01,
 -4.53969749e-01,-5.39764294e-01,-4.74911702e-01]

qacc:
[ 6.28023928e-01, 6.97297814e-01,-8.01914477e-01,-3.34531756e+00,
 -2.75429424e-01, 1.53888153e+00,-4.66621998e+00, 4.24721517e+00,
 -9.75544672e-03, 2.71133219e+00,-8.53537485e+00, 9.72072811e+00,
 -1.52164471e-01, 3.63584733e-01,-1.27161929e+01, 4.31295914e+01,
  1.77176788e-06, 2.19322002e-07,-2.23402764e-06,-8.09466242e-07,
  1.93239193e-06, 1.36433841e-04]

qfrc_actuator:
[ 2.48081471e-03, 2.76258100e-02, 8.70397390e-03, 1.55658107e-03,
 -5.72450143e-05, 2.74438811e-02, 8.62389802e-03, 1.59984290e-03,
 -2.35310777e-03, 2.77222147e-02, 8.76141435e-03, 1.73797096e-03,
  0.00000000e+00,-1.84440594e-03, 0.00000000e+00,-2.05185075e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796075418294436
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320744537093843
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075080137700371
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.16535026e-04, 3.14377165e-05,-9.15901912e-06,-1.18184113e-05,
 -4.99536364e-05, 2.66347181e-05,-1.89263545e-05,-2.13467065e-06,
 -1.67947195e-06, 6.85152189e-05,-1.90572192e-05, 4.36519165e-06,
 -1.24960931e-05, 1.83397112e-05,-1.48523125e-05, 2.04853134e-04,
 -4.75100733e-15,-5.63501416e-16,-7.84800000e+00, 5.55650206e-03,
 -1.59404878e-01,-1.01326954e-03]


--- Step 1985 ---
qpos:
[-5.48294845e-04, 8.77259354e-01,-2.02767737e-02,-2.75919554e-02,
  7.62308991e-03, 8.64686673e-01,-2.80525017e-02, 9.44983459e-03,
  2.22398640e-02, 8.72961570e-01,-2.02540318e-02, 2.24472687e-02,
  1.38678545e+00,-9.91175645e-03, 1.10073480e+00, 6.10417358e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297110e-02, 5.26331501e-01,
 -4.53969747e-01,-5.39764295e-01,-4.74911703e-01]

qacc:
[ 3.47418862e-01,-5.92939963e-04,-1.95343003e+00, 1.03218335e+01,
 -2.75227092e-01, 9.25361345e-01,-4.82077383e+00, 1.13056409e+01,
 -1.09913138e-01, 4.36020593e-01,-1.86436496e+00, 3.27404049e+00,
 -3.70379397e-01, 8.11657947e-01,-9.74703334e+00, 3.36958106e+01,
  1.63075381e-06, 2.01299105e-07,-2.06428065e-06,-7.46501471e-07,
  1.82154618e-06, 1.25569077e-04]

qfrc_actuator:
[ 2.48913162e-03, 2.76479358e-02, 8.73555128e-03, 1.58591113e-03,
 -8.34638855e-05, 2.74372164e-02, 8.61990685e-03, 1.61848750e-03,
 -2.37268886e-03, 2.76844823e-02, 8.74284474e-03, 1.73888830e-03,
  0.00000000e+00,-1.81050983e-03, 0.00000000e+00,-1.89325135e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796075498748829
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320727425954255
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707505790077557
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 6.43909268e-05, 3.73269696e-05, 3.65391470e-05, 3.01299248e-05,
 -4.99911211e-05, 4.22093937e-06,-8.88703612e-07, 1.90924530e-05,
 -2.03747018e-05,-3.23649915e-06,-6.63489114e-06, 3.27395765e-06,
 -2.58360272e-06, 3.56465946e-05, 1.38490487e-05, 1.67628082e-04,
 -4.08514785e-15,-4.83061202e-16,-7.84800000e+00, 5.55650307e-03,
 -1.59404878e-01,-1.01326960e-03]


--- Step 1986 ---
qpos:
[-5.47154819e-04, 8.77259576e-01,-2.02762658e-02,-2.75920120e-02,
  7.62204875e-03, 8.64687116e-01,-2.80534526e-02, 9.44972844e-03,
  2.22405291e-02, 8.72963648e-01,-2.02540982e-02, 2.24480819e-02,
  1.38686101e+00,-9.91157880e-03, 1.10092715e+00, 6.10430126e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297111e-02, 5.26331499e-01,
 -4.53969746e-01,-5.39764296e-01,-4.74911705e-01]

qacc:
[ 9.47158386e-02,-1.64542355e+00, 2.77490555e+00, 7.57067192e+00,
  8.02224232e-02, 2.20542415e-01,-3.39077580e+00, 1.28373113e+01,
 -1.16565524e-01,-3.52826233e+00, 1.16968372e+01,-1.63335107e+01,
 -3.85658929e-01, 7.73621985e-01, 1.84676631e+00,-5.74405863e+00,
  1.50096874e-06, 1.84750180e-07,-1.90740162e-06,-6.88450126e-07,
  1.71658595e-06, 1.15569913e-04]

qfrc_actuator:
[ 2.47558462e-03, 2.76432415e-02, 8.78994280e-03, 1.62124114e-03,
 -4.51455758e-05, 2.74329826e-02, 8.63578822e-03, 1.64747363e-03,
 -2.38466697e-03, 2.75718399e-02, 8.74978045e-03, 1.72121493e-03,
  0.00000000e+00,-1.79041608e-03, 0.00000000e+00,-1.92493037e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960755708756474
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320711626733295
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075037401827198
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.74372592e-05, 2.50167515e-05, 6.76450427e-05, 3.87792824e-05,
  1.45249260e-05,-1.24747920e-06, 1.73115366e-05, 2.95106377e-05,
 -2.17756237e-05,-1.15752619e-04, 5.54350677e-06,-1.79826846e-05,
  7.16413791e-06, 2.84216504e-05, 2.12024950e-05,-2.14406812e-05,
 -3.51224830e-15,-4.14050110e-16,-7.84800000e+00, 5.55650400e-03,
 -1.59404878e-01,-1.01326965e-03]


--- Step 1987 ---
qpos:
[-5.46018063e-04, 8.77260265e-01,-2.02758495e-02,-2.75912917e-02,
  7.62151039e-03, 8.64687759e-01,-2.80540237e-02, 9.44957862e-03,
  2.22408256e-02, 8.72964240e-01,-2.02535253e-02, 2.24494249e-02,
  1.38693674e+00,-9.91167420e-03, 1.10111973e+00, 6.10425878e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297112e-02, 5.26331498e-01,
 -4.53969744e-01,-5.39764297e-01,-4.74911706e-01]

qacc:
[-1.87993576e-03, 2.47280381e+00,-1.11928355e+01, 2.44242439e+01,
  2.64265390e-01,-8.85541430e-01, 3.72619379e+00,-5.23741095e+00,
 -1.90573969e-01,-2.65822979e+00, 4.39207501e+00, 4.85000892e+00,
  2.23013398e-01,-4.33286932e-01, 5.46454386e+00,-1.86576750e+01,
  1.38152060e-06, 1.69555891e-07,-1.76241523e-06,-6.34927737e-07,
  1.61721360e-06, 1.06367556e-04]

qfrc_actuator:
[ 2.46689185e-03, 2.76758965e-02, 8.78623564e-03, 1.65979903e-03,
 -4.07684418e-06, 2.74658353e-02, 8.66327705e-03, 1.64681445e-03,
 -2.40973708e-03, 2.74685348e-02, 8.77136838e-03, 1.74594526e-03,
  0.00000000e+00,-1.81417216e-03, 0.00000000e+00,-2.01518694e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960756355233096
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320697038926638
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075018505002815
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.02316426e-07, 6.22631810e-05, 1.11272154e-05, 4.27233587e-05,
  4.79811642e-05, 3.69936237e-05, 3.03895678e-05, 4.61647649e-07,
 -3.55567577e-05,-1.67709695e-04,-2.27609785e-06, 1.96079760e-05,
  1.05359535e-05,-1.48111678e-05, 2.32225822e-06,-8.99027662e-05,
 -3.01937308e-15,-3.54851562e-16,-7.84800000e+00, 5.55650485e-03,
 -1.59404878e-01,-1.01326970e-03]


--- Step 1988 ---
qpos:
[-5.44941764e-04, 8.77261617e-01,-2.02758411e-02,-2.75901182e-02,
  7.62091045e-03, 8.64688849e-01,-2.80543720e-02, 9.44940041e-03,
  2.22411581e-02, 8.72963859e-01,-2.02523119e-02, 2.24513329e-02,
  1.38701255e+00,-9.91200257e-03, 1.10131192e+00, 6.10441003e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297113e-02, 5.26331497e-01,
 -4.53969743e-01,-5.39764298e-01,-4.74911707e-01]

qacc:
[-3.18688401e-02, 2.94942711e+00,-1.11523570e+01, 1.91510209e+01,
 -3.23678760e-02,-8.93949459e-02, 1.29731699e+00,-2.47492763e+00,
  1.94294794e-02,-1.91125959e+00, 2.56499144e+00, 6.90431440e+00,
  3.67862936e-01,-6.37475232e-01,-6.45533357e+00, 2.16846517e+01,
  1.27158771e-06, 1.55606376e-07,-1.62842033e-06,-5.85580013e-07,
  1.52315067e-06, 9.78986412e-05]

qfrc_actuator:
[ 2.46122345e-03, 2.77126868e-02, 8.76614715e-03, 1.68217956e-03,
 -3.27798376e-05, 2.75029224e-02, 8.67977092e-03, 1.64650507e-03,
 -2.38917135e-03, 2.74604645e-02, 8.81921364e-03, 1.77768097e-03,
  0.00000000e+00,-1.82822380e-03, 0.00000000e+00,-1.90837624e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960756934567593
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320683569727965
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017075001085069264
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991462])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.80901494e-06, 7.57093980e-05,-4.39192002e-06, 2.62594880e-05,
 -5.86186531e-06, 6.40643518e-05, 2.78934429e-05, 2.33576882e-06,
  3.43905478e-06,-1.01506480e-04, 1.35927301e-05, 2.48483895e-05,
  1.82160648e-06,-1.50103794e-05,-1.30728859e-05, 1.01119426e-04,
 -2.59538298e-15,-3.04076775e-16,-7.84800000e+00, 5.55650564e-03,
 -1.59404878e-01,-1.01326975e-03]


--- Step 1989 ---
qpos:
[-5.44302353e-04, 8.77263373e-01,-2.02759357e-02,-2.75893639e-02,
  7.62010373e-03, 8.64689841e-01,-2.80539853e-02, 9.44925466e-03,
  2.22412655e-02, 8.72963925e-01,-2.02510992e-02, 2.24520844e-02,
  1.38708823e+00,-9.91195559e-03, 1.10150420e+00, 6.10451716e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297114e-02, 5.26331496e-01,
 -4.53969742e-01,-5.39764299e-01,-4.74911708e-01]

qacc:
[-2.27227339e-01,-4.21395623e-02, 2.68938018e+00,-1.00659366e+01,
 -1.08110403e-01,-2.11423248e+00, 7.21416651e+00,-7.75763704e+00,
 -1.17161356e-01,-1.78664639e+00, 1.21105138e+01,-3.24537476e+01,
 -4.14031280e-01, 7.77462224e-01, 1.49662286e+00,-4.97338402e+00,
  1.17041331e-06, 1.42800544e-07,-1.50458441e-06,-5.40080404e-07,
  1.43413368e-06, 9.01048108e-05]

qfrc_actuator:
[ 2.42192290e-03, 2.77160696e-02, 8.75433543e-03, 1.65936130e-03,
 -4.97247034e-05, 2.74712120e-02, 8.70742543e-03, 1.64640776e-03,
 -2.41249172e-03, 2.75628737e-02, 8.84705114e-03, 1.72460976e-03,
  0.00000000e+00,-1.80087841e-03, 0.00000000e+00,-1.93482039e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796075745364335
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320671133434998
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074985026573064
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.20897448e-05, 4.58976398e-05, 4.17756580e-06,-1.92225598e-05,
 -1.97273770e-05, 9.95005201e-06, 4.43976891e-05, 3.65757493e-06,
 -2.16781187e-05, 4.95176680e-05, 9.39666456e-06,-5.64712449e-05,
 -2.82284750e-06, 2.41872194e-05, 2.80340776e-06,-2.30736724e-05,
 -2.23068553e-15,-2.60532721e-16,-7.84800000e+00, 5.55650636e-03,
 -1.59404878e-01,-1.01326979e-03]


--- Step 1990 ---
qpos:
[-5.43933508e-04, 8.77265282e-01,-2.02763297e-02,-2.75888421e-02,
  7.61946892e-03, 8.64690536e-01,-2.80530935e-02, 9.44915109e-03,
  2.22407518e-02, 8.72964659e-01,-2.02498056e-02, 2.24528484e-02,
  1.38716402e+00,-9.91213868e-03, 1.10169716e+00, 6.10402248e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297114e-02, 5.26331495e-01,
 -4.53969741e-01,-5.39764300e-01,-4.74911709e-01]

qacc:
[-1.40831804e-01, 5.59657931e-01,-7.22192783e-01,-2.93151507e+00,
  9.07191937e-02,-1.71289043e+00, 5.36386333e+00,-5.22576027e+00,
 -3.22863571e-01, 6.82945777e-01,-1.20543211e+00, 7.99053785e-01,
 -1.21102279e-01, 5.60195926e-02, 1.91751331e+01,-6.56249340e+01,
  1.07730046e-06, 1.31045384e-07,-1.39013809e-06,-4.98127951e-07,
  1.34991345e-06, 8.29323236e-05]

qfrc_actuator:
[ 2.41610157e-03, 2.76994019e-02, 8.72959542e-03, 1.64562011e-03,
 -2.39396096e-05, 2.74340957e-02, 8.72342252e-03, 1.64638820e-03,
 -2.46189711e-03, 2.76240252e-02, 8.86326898e-03, 1.72866551e-03,
  0.00000000e+00,-1.82022042e-03, 0.00000000e+00,-2.25264541e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796075791866026
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032065965091312
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707497022308685
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.60702359e-05, 8.98896059e-06,-1.54263539e-05,-1.20099140e-05,
  1.63963170e-05,-2.22552784e-05, 2.36385561e-05, 2.01300812e-06,
 -5.98281235e-05, 8.83479949e-05, 2.56385003e-05, 5.40128567e-06,
  3.88677284e-06,-1.37312993e-05,-5.43596062e-06,-3.19717388e-04,
 -1.91702039e-15,-2.23194616e-16,-7.84800000e+00, 5.55650703e-03,
 -1.59404878e-01,-1.01326983e-03]


--- Step 1991 ---
qpos:
[-5.43546656e-04, 8.77267005e-01,-2.02768797e-02,-2.75881090e-02,
  7.61907954e-03, 8.64691439e-01,-2.80521455e-02, 9.44832430e-03,
  2.22400064e-02, 8.72964996e-01,-2.02478152e-02, 2.24530586e-02,
  1.38723987e+00,-9.91252297e-03, 1.10189033e+00, 6.10295066e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297115e-02, 5.26331494e-01,
 -4.53969740e-01,-5.39764301e-01,-4.74911710e-01]

qacc:
[ 9.33336524e-03, 6.24549059e-01,-3.47422623e+00, 7.51249991e+00,
  1.28830516e-01,-1.37144814e+00, 8.34060350e+00,-2.11018339e+01,
 -1.19836643e-01,-3.60830941e+00, 1.44448400e+01,-2.48514002e+01,
 -1.44610283e-01, 9.11529719e-02, 1.77466305e+01,-6.16202387e+01,
  9.91607417e-07, 1.20255358e-07,-1.28437042e-06,-4.59445218e-07,
  1.27025205e-06, 7.63316942e-05]

qfrc_actuator:
[ 2.43037621e-03, 2.76707930e-02, 8.71508859e-03, 1.65505883e-03,
 -8.31777477e-06, 2.74649829e-02, 8.73236103e-03, 1.61088732e-03,
 -2.45545698e-03, 2.75357530e-02, 8.87243372e-03, 1.69528065e-03,
  0.00000000e+00,-1.83161437e-03, 0.00000000e+00,-2.54426669e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796075833519096
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320649049089534
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707495657649813
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.72897881e-06,-2.73285910e-05,-1.49789059e-05, 9.05286439e-06,
  2.34227144e-05, 2.33892328e-05, 7.31181640e-06,-3.55995425e-05,
 -2.23334451e-05,-3.33780750e-05, 3.07418801e-05,-2.86097661e-05,
 -2.01909423e-06,-1.34267614e-05,-4.30389442e-05,-3.11292472e-04,
 -1.64727454e-15,-1.91182269e-16,-7.84800000e+00, 5.55650764e-03,
 -1.59404878e-01,-1.01326987e-03]


--- Step 1992 ---
qpos:
[-5.43063997e-04, 8.77268415e-01,-2.02772341e-02,-2.75876218e-02,
  7.61890528e-03, 8.64692636e-01,-2.80514825e-02, 9.44778118e-03,
  2.22391942e-02, 8.72965543e-01,-2.02469861e-02, 2.24525749e-02,
  1.38731564e+00,-9.91276470e-03, 1.10208252e+00, 6.10213512e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297115e-02, 5.26331493e-01,
 -4.53969739e-01,-5.39764302e-01,-4.74911711e-01]

qacc:
[ 4.99970421e-02,-1.46579274e+00, 5.66249606e+00,-9.99628971e+00,
  1.12732385e-01, 1.76791988e+00,-6.93721495e+00, 1.20880328e+01,
 -3.55763601e-02, 2.09241787e+00,-4.12892689e+00,-6.18050034e+00,
  2.38297643e-02, 3.27348814e-02,-9.18230159e+00, 3.00262263e+01,
  9.12743310e-07, 1.10351777e-07,-1.18662437e-06,-4.23776587e-07,
  1.19492531e-06, 7.02573615e-05]

qfrc_actuator:
[ 2.43877544e-03, 2.76530508e-02, 8.72445078e-03, 1.64254943e-03,
  1.06382625e-06, 2.74830303e-02, 8.71955856e-03, 1.62585670e-03,
 -2.45115576e-03, 2.75361505e-02, 8.80570782e-03, 1.65774523e-03,
  0.00000000e+00,-1.82042366e-03, 0.00000000e+00,-2.39194197e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796075870825365
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320639260484885
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074943996364667
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.22466135e-06,-3.57671585e-05, 2.17623770e-06,-1.40240351e-05,
  2.05331318e-05, 3.10860938e-05,-8.31686930e-06, 1.55297347e-05,
 -6.44641792e-06,-1.31714051e-05,-7.08415873e-05,-3.84622916e-05,
 -5.53325645e-06, 8.02006096e-06,-5.74102216e-05, 1.28771146e-04,
 -1.41532325e-15,-1.63739752e-16,-7.84800000e+00, 5.55650821e-03,
 -1.59404878e-01,-1.01326990e-03]


--- Step 1993 ---
qpos:
[-5.42485550e-04, 8.77269498e-01,-2.02777135e-02,-2.75876093e-02,
  7.61889198e-03, 8.64693483e-01,-2.80510112e-02, 9.44818951e-03,
  2.22381961e-02, 8.72966617e-01,-2.02475292e-02, 2.24526554e-02,
  1.38739152e+00,-9.91340809e-03, 1.10227382e+00, 6.10193292e-02,
 -1.46338827e+00,-1.25435901e-02, 6.29297116e-02, 5.26331493e-01,
 -4.53969738e-01,-5.39764303e-01,-4.74911712e-01]

qacc:
[ 4.97844806e-02,-1.06103517e+00, 5.15442916e+00,-1.29189324e+01,
  8.46027497e-02, 2.02746788e+00,-1.19213635e+01, 2.89565608e+01,
 -9.75899027e-02, 5.68721413e+00,-2.16532601e+01, 3.32248432e+01,
  7.72000771e-01,-1.30528622e+00,-1.99028455e+01, 6.75811385e+01,
  8.40164117e-07, 1.01262270e-07,-1.09629282e-06,-3.90886500e-07,
  1.12372097e-06, 6.46673785e-05]

qfrc_actuator:
[ 2.44356444e-03, 2.76242762e-02, 8.71233987e-03, 1.61724384e-03,
  6.63341077e-06, 2.74221922e-02, 8.69403023e-03, 1.67039064e-03,
 -2.46596263e-03, 2.75893025e-02, 8.74828477e-03, 1.68909174e-03,
  0.00000000e+00,-1.84920334e-03, 0.00000000e+00,-2.06803843e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796075904235723
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320630222780273
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074932399310794
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 9.22053663e-06,-4.89561884e-05,-1.97237234e-05,-2.70367472e-05,
  1.53461869e-05,-4.45382863e-05,-1.96095852e-05, 4.58778975e-05,
 -1.79070311e-05, 2.94850236e-05,-7.02117953e-05, 2.75808193e-05,
 -1.77088226e-06,-2.76924787e-05,-1.21852319e-05, 3.23698084e-04,
 -1.21589295e-15,-1.40217927e-16,-7.84800000e+00, 5.55650873e-03,
 -1.59404878e-01,-1.01326993e-03]


--- Step 1994 ---
qpos:
[-5.41834126e-04, 8.77269926e-01,-2.02781858e-02,-2.75878664e-02,
  7.61898953e-03, 8.64693267e-01,-2.80498725e-02, 9.44847108e-03,
  2.22370216e-02, 8.72968079e-01,-2.02485045e-02, 2.24523714e-02,
  1.38746752e+00,-9.91463905e-03, 1.10246526e+00, 6.10188114e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297116e-02, 5.26331492e-01,
 -4.53969738e-01,-5.39764303e-01,-4.74911713e-01]

qacc:
[ 3.81345964e-02,-1.44063029e+00, 5.01634298e+00,-9.20783710e+00,
  5.90066315e-02,-3.52568592e+00, 1.10713153e+01,-1.35545041e+01,
 -9.20342681e-02, 9.71117067e-01,-1.17771246e+00,-4.72687291e+00,
  6.06969443e-01,-1.19235552e+00,-4.36966531e+00, 1.55032046e+01,
  7.73368964e-07, 9.29203371e-08,-1.01281450e-06,-3.60557736e-07,
  1.05643347e-06, 5.95231265e-05]

qfrc_actuator:
[ 2.44614898e-03, 2.75712692e-02, 8.70534007e-03, 1.60234025e-03,
  9.88390537e-06, 2.73323034e-02, 8.71414495e-03, 1.66087154e-03,
 -2.47433595e-03, 2.76204485e-02, 8.73262408e-03, 1.67202367e-03,
  0.00000000e+00,-1.88372544e-03, 0.00000000e+00,-2.00083592e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796075934155054
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320621878441164
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074921708481322
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.01383110e-06,-8.56337608e-05,-2.04801330e-05,-1.82091033e-05,
  1.05487552e-05,-1.16900535e-04, 1.00768510e-05,-1.12158717e-05,
 -1.69833657e-05, 3.42882480e-05,-1.72701158e-05,-1.76980988e-05,
 -7.40999842e-06,-4.19188380e-05, 2.91309100e-05, 8.33716085e-05,
 -1.04444309e-15,-1.20059403e-16,-7.84800000e+00, 5.55650921e-03,
 -1.59404878e-01,-1.01326996e-03]


--- Step 1995 ---
qpos:
[-5.41134742e-04, 8.77270021e-01,-2.02788946e-02,-2.75879791e-02,
  7.61915901e-03, 8.64692659e-01,-2.80487853e-02, 9.44963641e-03,
  2.22357161e-02, 8.72970022e-01,-2.02492096e-02, 2.24518234e-02,
  1.38754338e+00,-9.91575430e-03, 1.10265713e+00, 6.10164584e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297117e-02, 5.26331491e-01,
 -4.53969737e-01,-5.39764304e-01,-4.74911713e-01]

qacc:
[ 2.48943264e-02, 5.18494456e-01,-3.09426398e+00, 6.21150484e+00,
  3.79379966e-02, 1.44339927e+00,-9.63088879e+00, 2.52998951e+01,
 -6.80991965e-02,-6.61906201e-01, 4.39718350e+00,-9.75154272e+00,
 -3.20764590e-01, 4.74058231e-01, 6.20887783e+00,-2.07357572e+01,
  7.11896789e-07, 8.52648330e-08,-9.35670647e-07,-3.32590151e-07,
  9.92868443e-07, 5.47890573e-05]

qfrc_actuator:
[ 2.44739535e-03, 2.75751919e-02, 8.70132480e-03, 1.61141534e-03,
  1.17286757e-05, 2.73501048e-02, 8.72535790e-03, 1.70838140e-03,
 -2.47878437e-03, 2.76738232e-02, 8.75938240e-03, 1.66211515e-03,
  0.00000000e+00,-1.86808850e-03, 0.00000000e+00,-2.10323088e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796075960947303
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032061417433506
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074911853030145
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.61081478e-06,-4.89761601e-05,-2.48520655e-05, 4.34704791e-06,
  6.85126044e-06,-4.59690729e-05,-1.20846667e-05, 4.26298848e-05,
 -1.26130022e-05, 6.81920323e-05, 3.10967238e-05,-9.38137560e-06,
 -1.38567839e-05, 3.32111935e-06, 1.79933171e-05,-9.51032572e-05,
 -8.97064767e-16,-1.02785650e-16,-7.84800000e+00, 5.55650965e-03,
 -1.59404878e-01,-1.01326999e-03]


--- Step 1996 ---
qpos:
[-5.40592020e-04, 8.77270040e-01,-2.02798430e-02,-2.75873252e-02,
  7.61955900e-03, 8.64692539e-01,-2.80485395e-02, 9.45095666e-03,
  2.22343261e-02, 8.72972170e-01,-2.02489481e-02, 2.24514921e-02,
  1.38761905e+00,-9.91645973e-03, 1.10284903e+00, 6.10132590e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297117e-02, 5.26331491e-01,
 -4.53969736e-01,-5.39764304e-01,-4.74911714e-01]

qacc:
[-8.14870094e-02, 2.14767507e+00,-1.10318863e+01, 2.47220210e+01,
  1.20386910e-01, 3.31067176e+00,-1.15254913e+01, 1.51973780e+01,
 -4.33349017e-02,-1.98243889e+00, 6.54824090e+00,-4.49404393e+00,
 -4.91015860e-01, 8.92342475e-01, 2.62261583e+00,-9.05077650e+00,
  6.55323165e-07, 7.82395528e-08,-8.64381846e-07,-3.06799296e-07,
  9.32840721e-07, 5.04324485e-05]

qfrc_actuator:
[ 2.43008202e-03, 2.75954598e-02, 8.69934109e-03, 1.65232412e-03,
  3.04772215e-05, 2.74145219e-02, 8.69617648e-03, 1.71813830e-03,
 -2.48085258e-03, 2.76870297e-02, 8.81106266e-03, 1.67430022e-03,
  0.00000000e+00,-1.84057703e-03, 0.00000000e+00,-2.14487294e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960759849390837
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320607061395657
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074902767649086
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.51001587e-05,-1.20616369e-05,-1.50042163e-05, 3.80383134e-05,
  2.20033638e-05, 3.80478794e-05,-3.86944489e-05, 8.19629823e-06,
 -8.12549886e-06, 5.73164470e-05, 6.92619437e-05, 1.59998784e-05,
 -7.05625873e-06, 2.52588722e-05,-7.61459548e-06,-4.58510733e-05,
 -7.70392972e-16,-8.79858799e-17,-7.84800000e+00, 5.55651005e-03,
 -1.59404877e-01,-1.01327001e-03]


--- Step 1997 ---
qpos:
[-5.40417963e-04, 8.77269874e-01,-2.02804919e-02,-2.75865559e-02,
  7.62018351e-03, 8.64692735e-01,-2.80488812e-02, 9.45135153e-03,
  2.22332576e-02, 8.72974029e-01,-2.02474883e-02, 2.24513572e-02,
  1.38769473e+00,-9.91711533e-03, 1.10304040e+00, 6.10132513e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297118e-02, 5.26331490e-01,
 -4.53969736e-01,-5.39764305e-01,-4.74911714e-01]

qacc:
[-1.91306304e-01,-8.42574928e-01, 2.16530758e+00,-5.15678895e-01,
  1.17399133e-01, 1.54519331e-01, 3.96288054e+00,-1.92728377e+01,
  1.67846784e-01,-3.32530442e+00, 1.04726635e+01,-8.77645401e+00,
  1.67368819e-01,-2.02236450e-01,-1.04390499e+01, 3.53495919e+01,
  6.03257429e-07, 7.17928450e-08,-7.98505018e-07,-2.83015172e-07,
  8.76173575e-07, 4.64231817e-05]

qfrc_actuator:
[ 2.40181829e-03, 2.75899067e-02, 8.71642664e-03, 1.65839519e-03,
  4.14280462e-05, 2.74174220e-02, 8.66132150e-03, 1.67011349e-03,
 -2.44598161e-03, 2.76407130e-02, 8.85913879e-03, 1.68161375e-03,
  0.00000000e+00,-1.84178650e-03, 0.00000000e+00,-1.97279162e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076006423287
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320600494310587
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074894392132833
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.55303248e-05,-1.37651601e-05, 1.40688429e-05, 5.77707580e-06,
  2.14285891e-05, 1.65368718e-05,-3.14842712e-05,-4.75769360e-05,
  3.09718015e-05, 6.70129371e-07, 6.89817635e-05, 1.24747797e-05,
  1.68997155e-06, 3.76005589e-06,-1.23543464e-05, 1.67691624e-04,
 -6.61531175e-16,-7.53075037e-17,-7.84800000e+00, 5.55651043e-03,
 -1.59404877e-01,-1.01327003e-03]


--- Step 1998 ---
qpos:
[-5.40595755e-04, 8.77269727e-01,-2.02806711e-02,-2.75867942e-02,
  7.62079367e-03, 8.64693138e-01,-2.80493808e-02, 9.45149783e-03,
  2.22327476e-02, 8.72975588e-01,-2.02458985e-02, 2.24517331e-02,
  1.38777041e+00,-9.91776274e-03, 1.10323184e+00, 6.10135922e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297118e-02, 5.26331490e-01,
 -4.53969735e-01,-5.39764305e-01,-4.74911715e-01]

qacc:
[-1.82583549e-01,-3.36274523e+00, 1.62680539e+01,-3.44481413e+01,
 -7.72499545e-03, 2.01113422e-01, 7.26758498e-01,-4.92767655e+00,
  2.90406020e-01, 2.92367465e-01,-3.77389798e+00, 1.26285103e+01,
  1.65257907e-02,-1.48959689e-02,-9.33271071e-01, 3.43796989e+00,
  5.55340017e-07, 6.58772623e-08,-7.37630444e-07,-2.61081076e-07,
  8.22697382e-07, 4.27335374e-05]

qfrc_actuator:
[ 2.38501163e-03, 2.76045044e-02, 8.74451042e-03, 1.60840304e-03,
  2.98613877e-05, 2.74366460e-02, 8.65865029e-03, 1.65944852e-03,
 -2.40707183e-03, 2.75946008e-02, 8.85117629e-03, 1.70369067e-03,
  0.00000000e+00,-1.84227984e-03, 0.00000000e+00,-1.96021790e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960760256630357
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032059443124387
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074886670986889
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.39030201e-05, 1.00563772e-05, 2.71796182e-05,-4.99813203e-05,
 -1.36436290e-06, 1.99304113e-05,-4.78154222e-06,-1.19729001e-05,
  5.38157952e-05,-3.10080514e-05, 1.07876698e-06, 2.47301997e-05,
  1.67703122e-06, 9.82112860e-07, 1.07634958e-05, 1.98106691e-05,
 -5.67986312e-16,-6.44479250e-17,-7.84800000e+00, 5.55651077e-03,
 -1.59404877e-01,-1.01327005e-03]


--- Step 1999 ---
qpos:
[-5.40860291e-04, 8.77269507e-01,-2.02804865e-02,-2.75872653e-02,
  7.62150786e-03, 8.64693679e-01,-2.80495951e-02, 9.45080163e-03,
  2.22327472e-02, 8.72977081e-01,-2.02450344e-02, 2.24527468e-02,
  1.38784609e+00,-9.91840398e-03, 1.10342338e+00, 6.10134206e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297118e-02, 5.26331489e-01,
 -4.53969735e-01,-5.39764306e-01,-4.74911715e-01]

qacc:
[-4.48344595e-02,-1.59230566e+00, 6.51666580e+00,-1.10671013e+01,
  5.47183102e-02,-2.34509613e+00, 1.21870225e+01,-2.73304252e+01,
  2.64414314e-01, 3.24903535e+00,-1.44081266e+01, 2.66569259e+01,
 -3.39500334e-02, 5.34072075e-02, 1.69337881e+00,-5.71023973e+00,
  5.11239961e-07, 6.04492084e-08,-6.81379439e-07,-2.40852563e-07,
  7.72250110e-07, 3.93380014e-05]

qfrc_actuator:
[ 2.39296249e-03, 2.75955576e-02, 8.76115055e-03, 1.59686026e-03,
  4.04385717e-05, 2.74478961e-02, 8.67509476e-03, 1.61763489e-03,
 -2.38385708e-03, 2.75842418e-02, 8.81017968e-03, 1.73423260e-03,
  0.00000000e+00,-1.84232180e-03, 0.00000000e+00,-1.98852441e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076042893905
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320588833562525
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074879553057726
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-8.35926839e-06, 1.51570806e-07, 2.03387417e-05,-1.11439310e-05,
  9.93047850e-06, 2.08881537e-05, 1.95576689e-05,-4.13583201e-05,
  4.91086448e-05,-2.64600623e-05,-4.64385988e-05, 2.97257247e-05,
  9.93246353e-07, 7.37343484e-07, 2.97727039e-06,-2.67972928e-05,
 -4.87612819e-16,-5.51474899e-17,-7.84800000e+00, 5.55651109e-03,
 -1.59404877e-01,-1.01327007e-03]


--- Step 2000 ---
qpos:
[-5.41299630e-04, 8.77269274e-01,-2.02804200e-02,-2.75871545e-02,
  7.62233452e-03, 8.64693941e-01,-2.80491796e-02, 9.45033037e-03,
  2.22327651e-02, 8.72978382e-01,-2.02443419e-02, 2.24537511e-02,
  1.38792178e+00,-9.91903486e-03, 1.10361485e+00, 6.10132451e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297119e-02, 5.26331489e-01,
 -4.53969734e-01,-5.39764306e-01,-4.74911716e-01]

qacc:
[-9.08690337e-02, 1.51142411e+00,-7.86373747e+00, 1.81195184e+01,
  5.95886494e-02,-1.66334377e+00, 4.44721987e+00,-1.35751627e+00,
  9.41639043e-03, 2.06737138e-01,-1.06551083e+00, 1.31884250e+00,
 -4.36258390e-03, 1.32029711e-02,-8.29008019e-02, 1.52361848e-01,
  4.70652726e-07, 5.54686135e-08,-6.29402003e-07,-2.22196606e-07,
  7.24679282e-07, 3.62130980e-05]

qfrc_actuator:
[ 2.38013824e-03, 2.75903212e-02, 8.75308992e-03, 1.62576793e-03,
  4.64367967e-05, 2.74188411e-02, 8.70262859e-03, 1.62883596e-03,
 -2.40573914e-03, 2.75774696e-02, 8.80342406e-03, 1.73401700e-03,
  0.00000000e+00,-1.84209417e-03, 0.00000000e+00,-1.98737964e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.000279607605832774
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032058366558398
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074872991187928
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.68459372e-05,-1.42443517e-06,-5.90828143e-06, 2.94018840e-05,
  1.07276515e-05,-1.51164954e-05, 3.28244375e-05, 1.19683239e-05,
  1.74754457e-06,-2.99238691e-05,-1.69333489e-05,-2.38360855e-06,
  4.05756204e-07, 8.62386212e-07,-5.62337248e-06,-9.04677631e-07,
 -4.18564382e-16,-4.71834237e-17,-7.84800000e+00, 5.55651138e-03,
 -1.59404877e-01,-1.01327009e-03]


--- Step 2001 ---
qpos:
[-5.42268537e-04, 8.77269283e-01,-2.02802447e-02,-2.75874376e-02,
  7.62306217e-03, 8.64694234e-01,-2.80491097e-02, 9.45071565e-03,
  2.22322869e-02, 8.72979257e-01,-2.02434059e-02, 2.24554366e-02,
  1.38799747e+00,-9.91965342e-03, 1.10380634e+00, 6.10123987e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297119e-02, 5.26331489e-01,
 -4.53969734e-01,-5.39764307e-01,-4.74911716e-01]

qacc:
[-2.75196084e-01,-7.96320041e-01, 4.96130452e+00,-1.21219060e+01,
 -5.21864727e-02, 2.76693696e+00,-1.34243409e+01, 2.87823630e+01,
 -2.57395269e-01, 1.59711351e-01,-4.26141104e+00, 1.59764791e+01,
 -4.93746984e-02, 7.64430864e-02, 2.04666644e+00,-7.12758914e+00,
  4.33297991e-07, 5.08987131e-08,-5.81374534e-07,-2.04990444e-07,
  6.79835510e-07, 3.33372192e-05]

qfrc_actuator:
[ 2.33721904e-03, 2.76227859e-02, 8.76605043e-03, 1.60721381e-03,
  3.18849435e-05, 2.74192235e-02, 8.68309957e-03, 1.67111540e-03,
 -2.45439170e-03, 2.75552485e-02, 8.81694935e-03, 1.76899681e-03,
  0.00000000e+00,-1.84171147e-03, 0.00000000e+00,-2.02212545e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076072153486
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032057889436792
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707486694190949
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.10245775e-05, 3.17100392e-05, 1.29576696e-05,-1.82464880e-05,
 -9.44836990e-06,-7.86061551e-07,-1.81971643e-05, 4.30003608e-05,
 -4.78117938e-05,-4.25912523e-05, 5.15916693e-06, 3.30606969e-05,
  7.22403086e-08, 9.31414826e-07,-6.11779298e-06,-3.63230412e-05,
 -3.59252293e-16,-4.03646147e-17,-7.84800000e+00, 5.55651165e-03,
 -1.59404877e-01,-1.01327011e-03]


--- Step 2002 ---
qpos:
[-5.43383723e-04, 8.77269522e-01,-2.02796344e-02,-2.75883080e-02,
  7.62346268e-03, 8.64694584e-01,-2.80492292e-02, 9.45055483e-03,
  2.22316406e-02, 8.72980209e-01,-2.02427751e-02, 2.24571559e-02,
  1.38807323e+00,-9.92052187e-03, 1.10399755e+00, 6.10128025e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297119e-02, 5.26331488e-01,
 -4.53969733e-01,-5.39764307e-01,-4.74911717e-01]

qacc:
[-7.58438006e-02,-2.12026404e+00, 1.04737667e+01,-2.14880850e+01,
 -1.72002881e-01,-5.20385185e-01, 4.26889622e+00,-1.34600182e+01,
 -8.75880180e-02, 1.02243621e+00,-3.64196769e+00, 4.65746955e+00,
  3.28465403e-01,-5.95263885e-01,-4.20788018e+00, 1.40739249e+01,
  3.98917813e-07, 4.67057091e-08,-5.36997922e-07,-1.89121036e-07,
  6.37578857e-07, 3.06904826e-05]

qfrc_actuator:
[ 2.34767809e-03, 2.76421161e-02, 8.79144390e-03, 1.57867833e-03,
  5.16954980e-06, 2.74193166e-02, 8.67156157e-03, 1.64255714e-03,
 -2.44758908e-03, 2.75773258e-02, 8.80679138e-03, 1.77114908e-03,
  0.00000000e+00,-1.85899445e-03, 0.00000000e+00,-1.95346872e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960760845410076
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320574489490068
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707486136515307
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.40871803e-05, 3.89512497e-05, 3.29069052e-05,-2.70843289e-05,
 -3.12129431e-05,-2.27159181e-06,-1.24574954e-05,-2.83858017e-05,
 -1.62053360e-05, 7.05973665e-07,-1.71917601e-05, 1.14452627e-06,
 -1.57717794e-07,-1.67638021e-05,-1.04426182e-05, 6.50078513e-05,
 -3.08309752e-16,-3.45271448e-17,-7.84800000e+00, 5.55651190e-03,
 -1.59404877e-01,-1.01327012e-03]


--- Step 2003 ---
qpos:
[-5.43945965e-04, 8.77270067e-01,-2.02790441e-02,-2.75891464e-02,
  7.62335388e-03, 8.64694594e-01,-2.80488269e-02, 9.45109070e-03,
  2.22313278e-02, 8.72981335e-01,-2.02417404e-02, 2.24577890e-02,
  1.38814902e+00,-9.92157602e-03, 1.10418850e+00, 6.10153368e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297119e-02, 5.26331488e-01,
 -4.53969733e-01,-5.39764307e-01,-4.74911717e-01]

qacc:
[ 2.87192754e-01, 5.24525226e-01,-1.42057403e+00, 1.78242608e+00,
 -2.67029092e-01,-4.71009475e-01,-1.91125639e+00, 1.33838905e+01,
  1.73447614e-01,-3.13150599e+00, 1.60877230e+01,-3.56618314e+01,
  2.88930827e-01,-5.16976654e-01,-6.84834459e+00, 2.33403007e+01,
  3.67274808e-07, 4.28585968e-08,-4.95995564e-07,-1.74484092e-07,
  5.97773088e-07, 2.82545915e-05]

qfrc_actuator:
[ 2.40774525e-03, 2.76534800e-02, 8.78842227e-03, 1.58001018e-03,
 -2.85762359e-05, 2.74014467e-02, 8.70030552e-03, 1.67907207e-03,
 -2.40764282e-03, 2.76078983e-02, 8.83613266e-03, 1.71847460e-03,
  0.00000000e+00,-1.86886691e-03, 0.00000000e+00,-1.84217577e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960760956420583
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320570422865253
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074856223985024
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 5.32931108e-05, 3.87722617e-05, 8.13411694e-06, 3.61050291e-06,
 -4.86016127e-05,-2.29401115e-05, 2.57562452e-05, 3.54343008e-05,
  3.21518752e-05, 2.74323225e-05, 2.73939085e-05,-5.32215340e-05,
 -4.35444428e-06,-1.39289135e-05,-3.20959116e-07, 1.12920066e-04,
 -2.64560954e-16,-2.95304370e-17,-7.84800000e+00, 5.55651213e-03,
 -1.59404877e-01,-1.01327013e-03]


--- Step 2004 ---
qpos:
[-5.44053403e-04, 8.77270573e-01,-2.02786444e-02,-2.75892150e-02,
  7.62279414e-03, 8.64694317e-01,-2.80486695e-02, 9.45314254e-03,
  2.22312396e-02, 8.72981363e-01,-2.02389897e-02, 2.24585494e-02,
  1.38822488e+00,-9.92301704e-03, 1.10437997e+00, 6.10144817e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297120e-02, 5.26331488e-01,
 -4.53969733e-01,-5.39764308e-01,-4.74911717e-01]

qacc:
[ 2.36246164e-01, 2.06798963e+00,-1.06872553e+01, 2.43245667e+01,
 -2.36818179e-01, 3.42057259e+00,-1.91514021e+01, 4.59971691e+01,
  1.18109397e-01,-5.98114466e+00, 1.86843895e+01,-1.84167290e+01,
  1.27939686e-01,-4.05098488e-01, 1.09941198e+01,-3.73707816e+01,
  3.38150575e-07, 3.93288665e-08,-4.58111922e-07,-1.60983617e-07,
  5.60291566e-07, 2.60127126e-05]

qfrc_actuator:
[ 2.42592605e-03, 2.76243923e-02, 8.76863252e-03, 1.61663071e-03,
 -4.84746010e-05, 2.73731713e-02, 8.68157257e-03, 1.75360655e-03,
 -2.40150271e-03, 2.75014184e-02, 8.90633911e-03, 1.72277363e-03,
  0.00000000e+00,-1.89200995e-03, 0.00000000e+00,-2.02622886e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960761055928485
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032056666854548
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074851484356196
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.38253957e-05,-5.58174198e-06,-1.06638705e-05, 3.86305436e-05,
 -4.30344992e-05,-3.42756876e-05,-1.90742582e-05, 7.51320642e-05,
  2.16170498e-05,-8.77946930e-05, 7.73872668e-05, 5.38217596e-06,
 -5.79109247e-06,-2.75717502e-05, 9.31575463e-06,-1.78538186e-04,
 -2.26994545e-16,-2.52539516e-17,-7.84800000e+00, 5.55651234e-03,
 -1.59404877e-01,-1.01327015e-03]


--- Step 2005 ---
qpos:
[-5.44199538e-04, 8.77270598e-01,-2.02782664e-02,-2.75884527e-02,
  7.62171380e-03, 8.64693571e-01,-2.80482843e-02, 9.45502660e-03,
  2.22312965e-02, 8.72980988e-01,-2.02367058e-02, 2.24601091e-02,
  1.38830068e+00,-9.92446359e-03, 1.10457147e+00, 6.10114493e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297120e-02, 5.26331487e-01,
 -4.53969732e-01,-5.39764308e-01,-4.74911717e-01]

qacc:
[-1.99188956e-02, 1.13753157e+00,-8.47535563e+00, 2.32249003e+01,
 -2.73153068e-01,-1.59902388e+00, 5.51304926e+00,-8.43872060e+00,
  7.53187818e-02, 2.41486056e+00,-1.27601964e+01, 2.76392540e+01,
 -1.76868334e-01, 2.18328929e-01, 6.63136287e+00,-2.31095811e+01,
  3.11344125e-07, 3.60903792e-08,-4.23110613e-07,-1.48531022e-07,
  5.25010512e-07, 2.39493556e-05]

qfrc_actuator:
[ 2.40109936e-03, 2.75712549e-02, 8.75671323e-03, 1.65592127e-03,
 -7.76717975e-05, 2.73387369e-02, 8.68816943e-03, 1.74333903e-03,
 -2.39791808e-03, 2.74736836e-02, 8.87532253e-03, 1.76047782e-03,
  0.00000000e+00,-1.88733461e-03, 0.00000000e+00,-2.13428497e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076114515156
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320563202581854
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074847114882663
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.74287502e-06,-5.68167806e-05,-1.30561543e-05, 3.94331613e-05,
 -4.96850215e-05,-5.43239398e-05,-2.33392573e-07,-1.09361150e-05,
  1.39762344e-05,-6.06347560e-05,-3.94539887e-05, 3.67189639e-05,
 -1.02047304e-05,-3.33158889e-06,-2.06201133e-05,-1.17989972e-04,
 -1.94740683e-16,-2.15943421e-17,-7.84800000e+00, 5.55651253e-03,
 -1.59404877e-01,-1.01327016e-03]


--- Step 2006 ---
qpos:
[-5.44886547e-04, 8.77270563e-01,-2.02787562e-02,-2.75868746e-02,
  7.62020980e-03, 8.64692662e-01,-2.80481939e-02, 9.45642515e-03,
  2.22310759e-02, 8.72980978e-01,-2.02359375e-02, 2.24610469e-02,
  1.38837633e+00,-9.92560174e-03, 1.10476213e+00, 6.10128064e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297120e-02, 5.26331487e-01,
 -4.53969732e-01,-5.39764308e-01,-4.74911718e-01]

qacc:
[-2.81511809e-01, 4.02485597e+00,-1.79007126e+01, 3.34318928e+01,
 -2.22682396e-01,-3.90758167e-01, 3.13051526e+00,-1.09428911e+01,
 -1.45303031e-01, 3.43633394e+00,-8.92616263e+00, 3.15169117e-01,
 -5.37500677e-02, 2.25013569e-01,-1.44831862e+01, 4.88901572e+01,
  2.86670477e-07, 3.31191168e-08,-3.90773213e-07,-1.37044667e-07,
  4.91812853e-07, 2.20502646e-05]

qfrc_actuator:
[ 2.35077975e-03, 2.75751561e-02, 8.71391812e-03, 1.69644474e-03,
 -9.44456134e-05, 2.73364084e-02, 8.67408410e-03, 1.71877293e-03,
 -2.43138245e-03, 2.75106926e-02, 8.80282119e-03, 1.72873893e-03,
  0.00000000e+00,-1.86619483e-03, 0.00000000e+00,-1.89480464e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960761225176434
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032056000285526
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707484308663479
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.21280647e-05,-2.88824662e-05,-5.47760499e-05, 3.84063575e-05,
 -4.04284831e-05,-3.32161710e-05,-2.57113282e-05,-2.71160514e-05,
 -2.67459146e-05,-3.48257922e-06,-8.86322495e-05,-3.49932475e-05,
 -7.05888068e-06, 1.83012218e-05,-2.59255878e-05, 2.29490227e-04,
 -1.67051350e-16,-1.84630179e-17,-7.84800000e+00, 5.55651271e-03,
 -1.59404877e-01,-1.01327017e-03]


--- Step 2007 ---
qpos:
[-5.46141018e-04, 8.77270980e-01,-2.02803445e-02,-2.75845284e-02,
  7.61877967e-03, 8.64691916e-01,-2.80484808e-02, 9.45782698e-03,
  2.22303318e-02, 8.72981208e-01,-2.02357716e-02, 2.24601682e-02,
  1.38845198e+00,-9.92676151e-03, 1.10495238e+00, 6.10186318e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297120e-02, 5.26331487e-01,
 -4.53969732e-01,-5.39764308e-01,-4.74911718e-01]

qacc:
[-2.95644869e-01, 5.25078591e+00,-2.10842607e+01, 3.57824507e+01,
  3.85072716e-02, 1.27566934e+00,-4.24953286e+00, 4.79079166e+00,
 -2.72529295e-01,-1.73674790e+00, 1.43240292e+01,-4.49782684e+01,
  2.93184364e-01,-4.21801685e-01,-1.41151741e+01, 4.84643881e+01,
  2.63959497e-07, 3.03930472e-08,-3.60897748e-07,-1.26449315e-07,
  4.60586594e-07, 2.03023284e-05]

qfrc_actuator:
[ 2.32118732e-03, 2.76308057e-02, 8.67120508e-03, 1.73739073e-03,
 -6.81488466e-05, 2.73709781e-02, 8.66577371e-03, 1.72151779e-03,
 -2.46895892e-03, 2.75326826e-02, 8.77767513e-03, 1.63868311e-03,
  0.00000000e+00,-1.87099337e-03, 0.00000000e+00,-1.66552976e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076129697872
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320557048941756
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707483937294363
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-5.46765560e-05, 2.98288252e-05,-5.40931417e-05, 3.85615957e-05,
  7.05099838e-06, 9.53813417e-06,-1.92720124e-05,-9.61998142e-08,
 -5.04436594e-05, 2.25284632e-07,-3.80017938e-05,-9.39552194e-05,
  3.21196838e-07,-1.70469133e-06, 1.22700304e-05, 2.38419524e-04,
 -1.43283377e-16,-1.57840494e-17,-7.84800000e+00, 5.55651287e-03,
 -1.59404877e-01,-1.01327018e-03]


--- Step 2008 ---
qpos:
[-5.47475477e-04, 8.77271170e-01,-2.02813482e-02,-2.75824304e-02,
  7.61774159e-03, 8.64691486e-01,-2.80486987e-02, 9.45885370e-03,
  2.22296609e-02, 8.72981324e-01,-2.02350727e-02, 2.24592190e-02,
  1.38852772e+00,-9.92822549e-03, 1.10514297e+00, 6.10244768e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297120e-02, 5.26331487e-01,
 -4.53969732e-01,-5.39764308e-01,-4.74911718e-01]

qacc:
[-4.11363504e-02,-2.44661508e+00, 9.32994073e+00,-1.43872506e+01,
  2.05835293e-01,-5.47986749e-01, 4.14231868e+00,-1.09775598e+01,
  3.84014319e-02,-1.78360597e+00, 6.44015327e+00,-8.42980641e+00,
  2.80237683e-01,-5.58734795e-01, 4.07651823e-01,-7.63825221e-01,
  2.43054571e-07, 2.78919392e-08,-3.33297498e-07,-1.16675580e-07,
  4.31224822e-07, 1.86934783e-05]

qfrc_actuator:
[ 2.33977939e-03, 2.76104983e-02, 8.70012957e-03, 1.72505373e-03,
 -3.40904269e-05, 2.74096725e-02, 8.67888125e-03, 1.70484938e-03,
 -2.43763518e-03, 2.75456409e-02, 8.81614041e-03, 1.63934884e-03,
  0.00000000e+00,-1.89114826e-03, 0.00000000e+00,-1.67499705e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960761361428554
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320554321984902
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074835949228845
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-7.71150637e-06,-1.31532889e-05, 2.97624791e-05,-1.21821301e-05,
  3.74158421e-05, 4.00623358e-05, 1.27054913e-05,-1.69293282e-05,
  7.05465947e-06, 1.19569785e-06, 3.05776152e-05,-2.46680366e-06,
 -2.53457903e-09,-2.05602254e-05, 2.90288239e-05, 4.64277698e-06,
 -1.22883805e-16,-1.34923672e-17,-7.84800000e+00, 5.55651302e-03,
 -1.59404877e-01,-1.01327019e-03]


--- Step 2009 ---
qpos:
[-5.48542323e-04, 8.77270813e-01,-2.02814921e-02,-2.75811654e-02,
  7.61710615e-03, 8.64691616e-01,-2.80497523e-02, 9.46004887e-03,
  2.22294068e-02, 8.72981502e-01,-2.02343085e-02, 2.24589845e-02,
  1.38860332e+00,-9.92938372e-03, 1.10533408e+00, 6.10268543e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297121e-02, 5.26331487e-01,
 -4.53969732e-01,-5.39764309e-01,-4.74911718e-01]

qacc:
[ 1.39726330e-01,-4.83887660e+00, 1.97127238e+01,-3.50831055e+01,
  2.10776578e-01, 3.41704594e+00,-1.18246769e+01, 1.56690819e+01,
  2.16599515e-01, 1.36851728e+00,-7.78055412e+00, 2.00012716e+01,
 -5.49806249e-01, 9.20751263e-01, 1.12942036e+01,-3.82870824e+01,
  2.23811634e-07, 2.55972181e-08,-3.07799931e-07,-1.07659544e-07,
  4.03626525e-07, 1.72126133e-05]

qfrc_actuator:
[ 2.36926903e-03, 2.75628700e-02, 8.73528755e-03, 1.68145601e-03,
 -1.34753720e-05, 2.74328721e-02, 8.63353360e-03, 1.71241533e-03,
 -2.40086387e-03, 2.75534376e-02, 8.82086759e-03, 1.67567556e-03,
  0.00000000e+00,-1.86696781e-03, 0.00000000e+00,-1.86055354e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076141930448
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320551804567377
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074832792828704
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.57775559e-05,-4.93564868e-05, 3.56905170e-05,-4.33696306e-05,
  3.84285570e-05, 4.75152461e-05,-3.60910764e-05, 9.39148943e-06,
  4.01661411e-05, 1.46681545e-05, 8.65014459e-06, 3.73880586e-05,
 -4.87873447e-06, 1.90561597e-05, 8.73354394e-06,-1.82790315e-04,
 -1.05377298e-16,-1.15322174e-17,-7.84800000e+00, 5.55651316e-03,
 -1.59404877e-01,-1.01327020e-03]


--- Step 2010 ---
qpos:
[-5.49478340e-04, 8.77270370e-01,-2.02816334e-02,-2.75804317e-02,
  7.61679221e-03, 8.64691946e-01,-2.80512457e-02, 9.46168999e-03,
  2.22292123e-02, 8.72981378e-01,-2.02341174e-02, 2.24589335e-02,
  1.38867852e+00,-9.92920996e-03, 1.10552511e+00, 6.10280153e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297121e-02, 5.26331486e-01,
 -4.53969731e-01,-5.39764309e-01,-4.74911719e-01]

qacc:
[ 6.79859893e-02,-1.21732552e+00, 6.40944914e+00,-1.55323468e+01,
  1.68547044e-01, 2.40906919e+00,-1.00904948e+01, 1.83682480e+01,
  3.07558644e-02, 1.58029534e+00,-6.98733323e+00, 1.13023436e+01,
 -1.35795522e+00, 2.62523194e+00, 3.64491943e+00,-1.27141820e+01,
  2.06098131e-07, 2.34918526e-08,-2.84245526e-07,-9.93422411e-08,
  3.77694296e-07, 1.58495194e-05]

qfrc_actuator:
[ 2.36947636e-03, 2.75702680e-02, 8.73817141e-03, 1.65529115e-03,
 -1.09374629e-06, 2.74286514e-02, 8.60724780e-03, 1.73412840e-03,
 -2.41445476e-03, 2.74869972e-02, 8.77010121e-03, 1.67938398e-03,
  0.00000000e+00,-1.78116916e-03, 0.00000000e+00,-1.91750004e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076147130039
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320549480609684
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074829882853665
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 1.26049064e-05,-1.46735849e-05,-4.41066371e-06,-2.78882198e-05,
  3.06782623e-05, 1.53054693e-05,-2.05894169e-05, 2.26814616e-05,
  5.73742643e-06,-5.48545816e-05,-4.53849521e-05, 5.36232069e-06,
  1.34290345e-06, 8.97768449e-05,-2.15961657e-05,-6.72425137e-05,
 -9.03552889e-17,-9.85583466e-18,-7.84800000e+00, 5.55651329e-03,
 -1.59404877e-01,-1.01327020e-03]


--- Step 2011 ---
qpos:
[-5.50531279e-04, 8.77269961e-01,-2.02821115e-02,-2.75796641e-02,
  7.61670851e-03, 8.64692070e-01,-2.80522743e-02, 9.46287755e-03,
  2.22291467e-02, 8.72980475e-01,-2.02340720e-02, 2.24599975e-02,
  1.38875366e+00,-9.92830009e-03, 1.10571590e+00, 6.10291177e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297121e-02, 5.26331486e-01,
 -4.53969731e-01,-5.39764309e-01,-4.74911719e-01]

qacc:
[-6.09686133e-02, 1.05611684e+00,-3.84143140e+00, 4.93850469e+00,
  1.21276229e-01,-2.50149580e+00, 1.04418449e+01,-1.88871302e+01,
  6.71819759e-02, 1.66867214e+00,-1.21562599e+01, 3.22625100e+01,
 -5.84268192e-01, 1.27461234e+00,-1.16691022e-01, 1.74545428e-02,
  1.89792088e-07, 2.15601955e-08,-2.62486779e-07,-9.16693508e-08,
  3.53336568e-07, 1.45947986e-05]

qfrc_actuator:
[ 2.35214404e-03, 2.75749366e-02, 8.72220409e-03, 1.65737014e-03,
  6.26790868e-06, 2.74081141e-02, 8.62784296e-03, 1.71072696e-03,
 -2.40481468e-03, 2.74296101e-02, 8.75766134e-03, 1.73477716e-03,
  0.00000000e+00,-1.74831131e-03, 0.00000000e+00,-1.91589716e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960761518040084
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320547335263978
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707482720005038
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-1.12679656e-05,-5.62701187e-06,-2.05020775e-05, 7.54887873e-07,
  2.19650931e-05,-1.52542196e-05, 2.20106323e-05,-2.30180270e-05,
  1.23945013e-05,-9.72042013e-05,-2.91760575e-05, 5.15761737e-05,
  2.14072457e-05, 5.62101328e-05,-2.07992756e-05,-5.69062246e-06,
 -7.74666515e-17,-8.42230348e-18,-7.84800000e+00, 5.55651341e-03,
 -1.59404877e-01,-1.01327021e-03]


--- Step 2012 ---
qpos:
[-5.51559106e-04, 8.77269796e-01,-2.02831814e-02,-2.75788872e-02,
  7.61659356e-03, 8.64691862e-01,-2.80524016e-02, 9.46376149e-03,
  2.22293865e-02, 8.72979755e-01,-2.02342845e-02, 2.24609091e-02,
  1.38882883e+00,-9.92693259e-03, 1.10590650e+00, 6.10305268e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297121e-02, 5.26331486e-01,
 -4.53969731e-01,-5.39764309e-01,-4.74911719e-01]

qacc:
[ 1.26023559e-02, 1.99492898e+00,-6.68402722e+00, 7.61355487e+00,
 -1.57563175e-02,-3.57792225e+00, 1.34051580e+01,-1.98615105e+01,
  1.58453324e-01, 6.49631755e-01,-1.31976000e+00,-1.04212464e+00,
 -2.75661263e-01, 7.00099344e-01,-1.17938994e+00, 3.77697245e+00,
  1.74781293e-07, 1.97879118e-08,-2.42387335e-07,-8.45907397e-08,
  3.30464558e-07, 1.34398056e-05]

qfrc_actuator:
[ 2.35998860e-03, 2.75956334e-02, 8.69526441e-03, 1.65829023e-03,
 -7.17240065e-06, 2.73958653e-02, 8.67583780e-03, 1.69648320e-03,
 -2.38132907e-03, 2.75025235e-02, 8.76801937e-03, 1.73141323e-03,
  0.00000000e+00,-1.72940221e-03, 0.00000000e+00,-1.89758855e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960761560077985
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320545354823166
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074824726669158
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 2.42370902e-06, 1.33617107e-05,-3.05945402e-05,-1.50348578e-08,
 -2.98761346e-06,-1.72128704e-05, 4.67647841e-05,-1.45842683e-05,
  2.94356247e-05, 1.47620319e-05,-1.15240010e-05,-7.53585756e-06,
  2.44969848e-05, 3.84826732e-05,-1.29310677e-05, 1.46760732e-05,
 -6.64096528e-17,-7.19658056e-18,-7.84800000e+00, 5.55651352e-03,
 -1.59404877e-01,-1.01327022e-03]


--- Step 2013 ---
qpos:
[-5.52153488e-04, 8.77269990e-01,-2.02846551e-02,-2.75784786e-02,
  7.61600773e-03, 8.64691397e-01,-2.80516542e-02, 9.46445964e-03,
  2.22299165e-02, 8.72979404e-01,-2.02347637e-02, 2.24607126e-02,
  1.38890417e+00,-9.92554520e-03, 1.10609729e+00, 6.10297723e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297121e-02, 5.26331486e-01,
 -4.53969731e-01,-5.39764309e-01,-4.74911719e-01]

qacc:
[ 2.24830777e-01, 8.42563360e-01,-7.65670358e-01,-5.22015511e+00,
 -2.46695553e-01,-3.16300519e+00, 1.15713582e+01,-1.60003913e+01,
  1.50441033e-01,-1.04713405e+00, 9.11944352e+00,-2.81419605e+01,
 -1.90032089e-02, 9.74112742e-02, 6.80005558e+00,-2.34009856e+01,
  1.60962480e-07, 1.81618147e-08,-2.23821222e-07,-7.80602660e-08,
  3.08996225e-07, 1.23765846e-05]

qfrc_actuator:
[ 2.40059667e-03, 2.76257235e-02, 8.67988355e-03, 1.64077319e-03,
 -5.06771089e-05, 2.73887988e-02, 8.72189751e-03, 1.68776556e-03,
 -2.36751687e-03, 2.75286963e-02, 8.75672124e-03, 1.67586383e-03,
  0.00000000e+00,-1.73663096e-03, 0.00000000e+00,-2.01161950e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076159791161
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320543526624463
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707482244634878
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.17771697e-05, 3.12563121e-05,-1.63817941e-05,-1.80034335e-05,
 -4.49291888e-05,-7.65399061e-06, 4.77633456e-05,-8.12118618e-06,
  2.79759891e-05, 3.17456915e-05,-9.92377143e-06,-5.54625856e-05,
  2.20879463e-05, 8.53579378e-06,-7.23085106e-06,-1.15568173e-04,
 -5.69250580e-17,-6.14865762e-18,-7.84800000e+00, 5.55651362e-03,
 -1.59404877e-01,-1.01327022e-03]


--- Step 2014 ---
qpos:
[-5.51918212e-04, 8.77270255e-01,-2.02859459e-02,-2.75782874e-02,
  7.61530168e-03, 8.64691049e-01,-2.80507532e-02, 9.46504938e-03,
  2.22306681e-02, 8.72979489e-01,-2.02354783e-02, 2.24601861e-02,
  1.38897980e+00,-9.92471304e-03, 1.10628788e+00, 6.10286517e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297121e-02, 5.26331486e-01,
 -4.53969731e-01,-5.39764309e-01,-4.74911719e-01]

qacc:
[ 4.31166725e-01,-8.64404418e-01, 4.13314428e+00,-8.23230994e+00,
 -6.30998497e-02,-4.95330109e-01, 2.45056517e+00,-4.65978753e+00,
  1.14823434e-01, 5.55693180e-01, 2.50258672e-01,-5.90830331e+00,
  6.13463359e-01,-1.11986516e+00, 7.76034040e-01,-3.22949962e+00,
  1.48240632e-07, 1.66698606e-08,-2.06671900e-07,-7.20352328e-08,
  2.88849200e-07, 1.13978157e-05]

qfrc_actuator:
[ 2.46044446e-03, 2.76257324e-02, 8.68923950e-03, 1.63032063e-03,
 -4.07578215e-05, 2.74026523e-02, 8.73095684e-03, 1.68236718e-03,
 -2.35961567e-03, 2.75620721e-02, 8.75029413e-03, 1.66103020e-03,
  0.00000000e+00,-1.77704037e-03, 0.00000000e+00,-2.02518027e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076163197811
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320541838987627
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707482034400687
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 7.99532942e-05, 1.33454217e-05, 1.31787715e-05,-1.00316193e-05,
 -1.14666387e-05, 1.90888110e-05, 1.30798140e-05,-4.23205210e-06,
  2.13657816e-05, 4.67180154e-05,-3.00505631e-06,-1.48948259e-05,
  1.35060946e-05,-3.27029507e-05,-1.99295253e-05,-2.18183357e-05,
 -4.87901462e-17,-5.25283975e-18,-7.84800000e+00, 5.55651371e-03,
 -1.59404877e-01,-1.01327023e-03]


--- Step 2015 ---
qpos:
[-5.51285645e-04, 8.77270381e-01,-2.02870475e-02,-2.75775054e-02,
  7.61497667e-03, 8.64690620e-01,-2.80493731e-02, 9.46557278e-03,
  2.22312025e-02, 8.72980296e-01,-2.02364009e-02, 2.24587560e-02,
  1.38905554e+00,-9.92430689e-03, 1.10647771e+00, 6.10323626e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297121e-02, 5.26331486e-01,
 -4.53969731e-01,-5.39764310e-01,-4.74911719e-01]

qacc:
[ 2.06622023e-01, 5.04904150e-01,-4.55375822e+00, 1.45630430e+01,
  2.00466577e-01,-1.58022294e+00, 5.76094823e+00,-7.61778431e+00,
 -1.13274165e-01,-3.25677403e-01, 6.35943533e+00,-2.21978141e+01,
  7.21831876e-01,-1.24034842e+00,-1.57645634e+01, 5.34059689e+01,
  1.36528378e-07, 1.53009243e-08,-1.90831754e-07,-6.64765193e-08,
  2.69951663e-07, 1.04967682e-05]

qfrc_actuator:
[ 2.46025596e-03, 2.76078360e-02, 8.69525961e-03, 1.65960820e-03,
  1.05356833e-06, 2.73932802e-02, 8.75369264e-03, 1.67895730e-03,
 -2.39081381e-03, 2.76173064e-02, 8.74686494e-03, 1.61703340e-03,
  0.00000000e+00,-1.80128574e-03, 0.00000000e+00,-1.76635933e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960761662680633
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320540281110883
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707481840573996
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 3.82822252e-05,-8.12929661e-06, 1.00587730e-05, 3.01194871e-05,
  3.63559735e-05, 3.82082379e-06, 2.81381617e-05,-2.22326833e-06,
 -2.09123413e-05, 8.01081529e-05, 5.34064834e-06,-4.23871350e-05,
 -9.27701856e-07,-2.90062929e-05,-1.40545560e-05, 2.54446666e-04,
 -4.18136326e-17,-4.48713131e-18,-7.84800000e+00, 5.55651379e-03,
 -1.59404877e-01,-1.01327023e-03]


--- Step 2016 ---
qpos:
[-5.51020855e-04, 8.77270369e-01,-2.02880325e-02,-2.75763734e-02,
  7.61509483e-03, 8.64690472e-01,-2.80478391e-02, 9.46568174e-03,
  2.22316216e-02, 8.72981466e-01,-2.02375643e-02, 2.24575485e-02,
  1.38913132e+00,-9.92418796e-03, 1.10666728e+00, 6.10401031e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297121e-02, 5.26331485e-01,
 -4.53969730e-01,-5.39764310e-01,-4.74911719e-01]

qacc:
[-1.90962592e-01, 2.12648362e-01,-2.49684309e+00, 8.46167504e+00,
  2.32747243e-01,-9.11261452e-01, 5.53777181e+00,-1.31645531e+01,
 -6.01632908e-02, 1.61223674e+00,-5.98990756e+00, 9.96019199e+00,
  4.75348026e-01,-8.40506960e-01,-1.25896542e+01, 4.34072935e+01,
  1.25745261e-07, 1.40448662e-08,-1.76201271e-07,-6.13478247e-08,
  2.52229448e-07, 9.66724473e-06]

qfrc_actuator:
[ 2.40639357e-03, 2.75971311e-02, 8.69919885e-03, 1.67651356e-03,
  2.60417844e-05, 2.74233821e-02, 8.76649456e-03, 1.65898918e-03,
 -2.39186350e-03, 2.76141869e-02, 8.72754858e-03, 1.62725479e-03,
  0.00000000e+00,-1.81573981e-03, 0.00000000e+00,-1.56219210e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076169036543
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320538843034142
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074816618729838
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-3.54443891e-05,-1.18765869e-05, 4.54733203e-06, 1.74918490e-05,
  4.22923390e-05, 3.79573749e-05, 1.69722527e-05,-1.88765741e-05,
 -1.11008995e-05, 4.09519968e-05,-3.57529209e-06, 1.30168668e-05,
 -7.39597196e-06,-2.19689609e-05, 2.03205245e-05, 2.16158697e-04,
 -3.58311948e-17,-3.83270185e-18,-7.84800000e+00, 5.55651387e-03,
 -1.59404877e-01,-1.01327024e-03]


--- Step 2017 ---
qpos:
[-5.51267276e-04, 8.77270440e-01,-2.02884522e-02,-2.75757983e-02,
  7.61539172e-03, 8.64690699e-01,-2.80470470e-02, 9.46560088e-03,
  2.22323464e-02, 8.72981917e-01,-2.02382196e-02, 2.24575979e-02,
  1.38920691e+00,-9.92373308e-03, 1.10685744e+00, 6.10458885e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297121e-02, 5.26331485e-01,
 -4.53969730e-01,-5.39764310e-01,-4.74911720e-01]

qacc:
[-2.65331432e-01,-2.61613271e+00, 1.18316159e+01,-2.24208818e+01,
  9.32782792e-02, 2.17349868e+00,-6.23323701e+00, 3.86174472e+00,
  1.59454700e-01, 2.13386824e-01,-7.45121872e+00, 2.89236305e+01,
 -5.23149170e-01, 8.86012934e-01, 6.81114049e+00,-2.24814990e+01,
  1.15817267e-07, 1.28923448e-08,-1.62688400e-07,-5.66157885e-08,
  2.35615416e-07, 8.90354406e-06]

qfrc_actuator:
[ 2.37419088e-03, 2.76263014e-02, 8.73739164e-03, 1.65048870e-03,
  2.29689233e-05, 2.74235813e-02, 8.72021186e-03, 1.64721340e-03,
 -2.35708652e-03, 2.75228649e-02, 8.73432130e-03, 1.68699492e-03,
  0.00000000e+00,-1.78878223e-03, 0.00000000e+00,-1.67598997e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076171535031
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320537515557818
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074814971166502
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.92576305e-05, 2.42182870e-05, 3.69119340e-05,-2.60348180e-05,
  1.70613031e-05, 2.41170677e-05,-3.70172774e-05,-9.93242371e-06,
  2.94418867e-05,-6.86198125e-05, 1.52434652e-05, 6.16266735e-05,
 -8.97267671e-06, 1.95449801e-05, 2.97479050e-05,-1.00019145e-04,
 -3.07017404e-17,-3.27343645e-18,-7.84800000e+00, 5.55651394e-03,
 -1.59404877e-01,-1.01327024e-03]


--- Step 2018 ---
qpos:
[-5.51956033e-04, 8.77270822e-01,-2.02882163e-02,-2.75759213e-02,
  7.61538006e-03, 8.64690490e-01,-2.80458999e-02, 9.46506317e-03,
  2.22334299e-02, 8.72981562e-01,-2.02377610e-02, 2.24576418e-02,
  1.38928243e+00,-9.92300407e-03, 1.10704851e+00, 6.10439514e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297121e-02, 5.26331485e-01,
 -4.53969730e-01,-5.39764310e-01,-4.74911720e-01]

qacc:
[-2.29571756e-01,-2.85904929e+00, 1.37284441e+01,-2.70712059e+01,
 -1.61721796e-01,-2.50353310e+00, 1.00240182e+01,-1.81821206e+01,
  1.87333287e-01,-4.18528614e+00, 1.34037153e+01,-1.46867599e+01,
 -7.50201014e-01, 1.19449142e+00, 2.47195819e+01,-8.44090503e+01,
  1.06676344e-07, 1.18348102e-08,-1.50208106e-07,-5.22496399e-08,
  2.20044819e-07, 8.20042472e-06]

qfrc_actuator:
[ 2.35527457e-03, 2.76614775e-02, 8.77788865e-03, 1.61722521e-03,
 -1.46060623e-05, 2.73701282e-02, 8.72807575e-03, 1.62254153e-03,
 -2.33669367e-03, 2.74860768e-02, 8.79160007e-03, 1.68655990e-03,
  0.00000000e+00,-1.77299121e-03, 0.00000000e+00,-2.08270978e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.00027960761737918366
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032053629018732
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074813452157278
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.26133253e-05, 5.52220053e-05, 4.91468954e-05,-3.14563207e-05,
 -2.94509134e-05,-4.80475316e-05, 7.93183969e-06,-2.51148037e-05,
  3.45502358e-05,-6.93710059e-05, 4.71173408e-05,-1.64892275e-06,
 -4.19661912e-07, 1.87179708e-05,-3.44734258e-06,-4.09876524e-04,
 -2.63041118e-17,-2.79554405e-18,-7.84800000e+00, 5.55651401e-03,
 -1.59404877e-01,-1.01327025e-03]


--- Step 2019 ---
qpos:
[-5.53153937e-04, 8.77271272e-01,-2.02873678e-02,-2.75764081e-02,
  7.61517316e-03, 8.64690302e-01,-2.80442612e-02, 9.46382034e-03,
  2.22342535e-02, 8.72980831e-01,-2.02367161e-02, 2.24573160e-02,
  1.38935818e+00,-9.92288245e-03, 1.10723940e+00, 6.10385111e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297122e-02, 5.26331485e-01,
 -4.53969730e-01,-5.39764310e-01,-4.74911720e-01]

qacc:
[-2.64216167e-01,-2.37133834e+00, 1.01153516e+01,-1.74300532e+01,
 -1.02293794e-01,-2.79346068e+00, 1.29804493e+01,-2.59899915e+01,
 -1.34577430e-01,-2.89317849e+00, 1.11577380e+01,-1.82167341e+01,
  4.29030799e-01,-9.15358440e-01, 1.02686900e+01,-3.64042319e+01,
  9.82598449e-08, 1.08643971e-08,-1.38681931e-07,-4.82210387e-08,
  2.05457766e-07, 7.55306174e-06]

qfrc_actuator:
[ 2.32671305e-03, 2.76467386e-02, 8.80169919e-03, 1.59773524e-03,
 -1.92086241e-05, 2.74094111e-02, 8.76762756e-03, 1.59047497e-03,
 -2.37836448e-03, 2.74823814e-02, 8.82511547e-03, 1.66853200e-03,
  0.00000000e+00,-1.81723057e-03, 0.00000000e+00,-2.25032281e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076175831941
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320535159071978
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074812051659505
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-4.90590081e-05, 2.49281806e-05, 4.01762638e-05,-1.60385651e-05,
 -1.86256351e-05, 1.29711328e-05, 2.97304997e-05,-3.43395736e-05,
 -2.50559690e-05,-3.28147227e-05, 2.49335369e-05,-1.94029663e-05,
  3.19158065e-06,-3.90586740e-05,-5.29217772e-05,-1.92227813e-04,
 -2.25342917e-17,-2.38722448e-18,-7.84800000e+00, 5.55651407e-03,
 -1.59404877e-01,-1.01327025e-03]


--- Step 2020 ---
qpos:
[-5.54582268e-04, 8.77271803e-01,-2.02864827e-02,-2.75767402e-02,
  7.61503240e-03, 8.64690699e-01,-2.80427380e-02, 9.46251643e-03,
  2.22341381e-02, 8.72979901e-01,-2.02358853e-02, 2.24568098e-02,
  1.38943410e+00,-9.92350573e-03, 1.10742937e+00, 6.10360490e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297122e-02, 5.26331485e-01,
 -4.53969730e-01,-5.39764310e-01,-4.74911720e-01]

qacc:
[-1.19727156e-01, 3.22759618e-01,-1.64722783e+00, 4.20147789e+00,
  3.44629939e-02, 9.67343341e-01,-2.07197077e+00, 7.70691548e-01,
 -4.87941520e-01,-3.72428235e-02, 5.11071735e-01,-3.14430898e+00,
  8.94105108e-01,-1.67078211e+00,-1.04181859e+01, 3.43261442e+01,
  9.05100909e-08, 9.97391603e-09,-1.28037083e-07,-4.45037568e-08,
  1.91794987e-07, 6.95701301e-06]

qfrc_actuator:
[ 2.32811342e-03, 2.76376746e-02, 8.79752587e-03, 1.60420678e-03,
 -4.01761965e-06, 2.74685486e-02, 8.77265565e-03, 1.58990787e-03,
 -2.45679834e-03, 2.74629291e-02, 8.80894976e-03, 1.65806736e-03,
  0.00000000e+00,-1.86121103e-03, 0.00000000e+00,-2.08032302e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076177677895
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00020320534114978694
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0001707481076042433
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[-2.22026213e-05, 1.24656673e-05, 5.36071646e-06, 8.61598839e-06,
  6.32766242e-06, 7.10507020e-05, 1.01722619e-05, 3.49218135e-07,
 -9.04946431e-05,-3.34753801e-05,-2.05445502e-05,-1.13852253e-05,
 -8.67853790e-06,-5.24808323e-05,-4.73807564e-05, 1.52090340e-04,
 -1.93029769e-17,-2.03838148e-18,-7.84800000e+00, 5.55651413e-03,
 -1.59404877e-01,-1.01327025e-03]


--- Step 2021 ---
qpos:
[-5.55552717e-04, 8.77272423e-01,-2.02859122e-02,-2.75769685e-02,
  7.61483280e-03, 8.64691653e-01,-2.80417856e-02, 9.46194104e-03,
  2.22330888e-02, 8.72979213e-01,-2.02360212e-02, 2.24561777e-02,
  1.38950997e+00,-9.92438762e-03, 1.10761916e+00, 6.10345469e-02,
 -1.46338827e+00,-1.25435902e-02, 6.29297122e-02, 5.26331485e-01,
 -4.53969730e-01,-5.39764310e-01,-4.74911720e-01]

qacc:
[ 2.37694646e-01, 1.21222883e+00,-4.58570683e+00, 6.81673457e+00,
 -3.14183640e-02, 3.82711246e+00,-1.56555327e+01, 2.87719055e+01,
 -4.85925145e-01, 2.76210650e+00,-8.85028973e+00, 8.03567724e+00,
  2.11475970e-01,-4.82307832e-01,-3.17666253e+00, 1.06966412e+01,
  8.33740495e-08, 9.15676219e-09,-1.18206539e-07,-4.10736658e-08,
  1.79001684e-07, 6.40819455e-06]

qfrc_actuator:
[ 2.38292113e-03, 2.76319758e-02, 8.77689328e-03, 1.60812981e-03,
 -1.26390340e-05, 2.74857695e-02, 8.73962712e-03, 1.62563108e-03,
 -2.50324911e-03, 2.74872554e-02, 8.76354124e-03, 1.65209927e-03,
  0.00000000e+00,-1.86915043e-03, 0.00000000e+00,-2.03238319e-03,
  0.00000000e+00, 0.00000000e+00, 0.00000000e+00, 0.00000000e+00,
  0.00000000e+00, 0.00000000e+00]

Contact:
<MjContact
  H: array([0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0., 0.,
       0., 0.])
  dim: 3
  dist: -0.0002796076179349405
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.49005328,  0.05582069,  0.0498602 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.0002032053315121768
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44646185, -0.07070462,  0.0498984 ])
  solimp: array([9.0e-01, 9.5e-01, 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: -0.00017074809569916916
  efc_address: 6
  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([ 0, 43], dtype=int32)
  geom1: 0
  geom2: 43
  includemargin: 0.0
  mu: 0.31622776601683794
  pos: array([-1.44886271,  0.01803963,  0.04991463])
  solimp: array([9.0e-01, 9.5e-01, 1.0e-03, 5.0e-01, 2.0e+00])
  solref: array([0.02, 1.  ])
  solreffriction: array([0., 0.])
  vert: array([-1, -1], dtype=int32)
>

qfrc_smooth:
[ 4.41247916e-05, 2.72893165e-06,-1.71090202e-05, 4.80871625e-06,
 -5.60111847e-06, 5.90478194e-05,-1.71024521e-05, 3.91251380e-05,
 -8.99981979e-05, 8.80781870e-07,-5.52450686e-05,-8.33295208e-06,
 -1.76948233e-05,-2.29679816e-05,-5.09542647e-06, 5.02594928e-05,
 -1.65335246e-17,-1.74037916e-18,-7.84800000e+00, 5.55651418e-03,
 -1.59404877e-01,-1.01327026e-03]


